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Alternate abstract:
In a complex urban environment,navigation based on single BeiDou navigation satellite system (BDS) will be interfered by multipath (MP) and non-line-of-sight (NLOS) signals, which degrades the accuracy of positioning. In order to solve this problem, a robust unscented Kalman filter (UKF) with motion constraint is proposed. The algorithm constructs an equivalent weight function based on the innovation vector, which will overcome the problem of performance degradation of conventional robust method caused by inaccurate initial values of the position and receiver clock offset. In addition, the approximate moving direction and elevation of the carrier are used to further enhance the filtering solution. The actual on-board experiment results show that this method can effectively suppress the interference of MP and NLOS signals, and improve the accuracy of BDS navigation in urban environments.
