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.
Gnss vulnerabilities and existing solutions: A review of the literature,
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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.