Low-Cost Receiver Robust-RTD Algorithm Based on the Constraints of Velocity

The improvement of low-cost receiver performance and the development of Multi-GNSS will make high-precision dynamic positioning, which is for the general public, become the main growth point of GNSS applications gradually. However, under the complex road conditions of the city, there are apparent facts that seriously affect the continuity and reliability of GNSS positioning, like satellite occlusion, the multi-path effects and so on, and restrict the rapid development of GNSS mass navigation. In this paper, based on the static and dynamic data of dual system (GPS + BDS) acquired by ublox M8T module and ordinary ceramic patch antenna, an algorithm of phase smoothed pseudorange is used to improve the accuracy of pseudorange observations, the speed and direction of the receiver are constrained by doppler observations. The joint pseudorange and velocity pseudo-observations are used to establish the robust kalman filter for real-time dynamic positioning. The experimental results show that the proposed algorithm can guarantee the fast and reliable positioning of the low-cost receiver, under the open environment, the sub-meter level positioning accuracy can be basically achieved, and the reliable positioning within 2 m can be guaranteed effectively; in the complex environment, the positioning accuracy within 5 m can also be basically guaranteed.