A Rao-Blackwellized particle filter that estimates position and velocity separately, with NLOS rejection, improves GNSS positioning accuracy in urban environments without integer ambiguity resolution.
Improvement of reliability determination performance of real time kinematic solutions using height trajectory,
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Robust Position Estimation by Rao-Blackwellized Particle Filter without Integer Ambiguity Resolution in Urban Environments
A Rao-Blackwellized particle filter that estimates position and velocity separately, with NLOS rejection, improves GNSS positioning accuracy in urban environments without integer ambiguity resolution.