Abstract

Multipath is one of the critical constraints in millimeter-level BeiDou navigation satellite system (BDS) positioning. Since multipath hemispherical map (MHM) can be conducted in relatively real-time and kinematic scenarios, it has great potential in real BDS applications. However, limited studies focus on the mitigation performance and efficiency problem based on MHM with the second-generation regional system (BDS2) and third-generation global system (BDS3). In this paper, the MHM is systematically studied in BDS2/BDS3 relative precise positioning, including the issues of MHM about the modeling, refinement, and evaluation. Specifically, at first, a rigorous modeling procedure of MHM with quality control is given, where the high-precision and high-reliability multipath corrections can be obtained. Second, based on a consecutive eleven-day designed experiment, different MHM models considering the systems, satellites, and frequencies are formed and compared comprehensively. Third, the MHM models are systematically evaluated on the positioning performance, including ambiguity resolution, float solution, and fixed solution. The results show that in MHM models, the multipath corrections for low elevation angles are more significant, and the multipath effects are usually different in different directions due to the obstacles. The behaviors of MHM models are dependent on the system, satellite, and frequency types. Besides, the MHM models are relatively stable over seven consecutive days. After applying the MHM models, the success rate of ambiguity resolution can be improved in millimeter-level positioning. Approximately 7 cm improvements can be obtained for the float solution in the 3D direction. The MHM models can improve the positioning accuracy by approximately 13% for the fixed solution especially in locations where the multipath is more severe. Moreover, the unified MHM method of the previous day with quality control can replace the refined MHM method when considering the balance between accuracy and efficiency.

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