Abstract
This paper shows a method to achieve a sub-meter level navigation in urban areas. Before the proposed method, the present RTK-GPS performance in urban areas is introduced. It is known that the carrier phase is vulnerable to obstruction and low signal to noise ratio. In order to compensate of the weakness of the carrier phase, the proposed method uses the velocity vector deduced from the Doppler frequency. In this paper, by using both carrier phase and Doppler frequency with reliability check method of these observations, sub-meter level navigation was demonstrated even in the medium urban areas. Furthermore, this paper shows the limitations of GNSS side on other sensors.
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