We present a novel method to detect the GNSS NLOS and correct the NLOS pseudorange measurements based on on‐board sensing. This paper demonstrates the use of LiDAR scanner and a list of building heights to describe the perceived environment. To estimate the geometry and pose of the top edges of buildings (TEBs) relative to the GNSS receiver, a surface segmentation method is employed to detect the TEBs of surrounding buildings using 3D LiDAR point clouds. The top edges of the building are extracted and extended using the building height list in Skyplot to identify the NLOS‐affected ones. Innovatively, the NLOS delay in pseudorange is corrected based on the detected TEBs. Weighted least squares (WLS) is used to cooperate the corrected NLOS and other pseudorange measurements. Vehicle experiments are conducted in two different urban canyons to verify the effectiveness of the proposed method in improving GNSS single point positioning (SPP) accuracy.

中文翻译：

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通过3D LiDAR和建筑物高度校正NLOS以改善GNSS单点定位

我们提出了一种新颖的方法来检测GNSS NLOS并根据机载感应校正NLOS伪距测量。本文演示了LiDAR扫描仪的使用以及建筑物高度列表，以描述可感知的环境。为了估计建筑物（TEB）相对于GNSS接收器的顶部边缘的几何形状和姿态，采用表面分割方法使用3D LiDAR点云来检测周围建筑物的TEB。使用Skyplot中的建筑物高度列表提取并扩展建筑物的顶部边缘，以识别受NLOS影响的建筑物。创新地，基于检测到的TEB校正伪距中的NLOS延迟。加权最小二乘（WLS）用于配合校正后的NLOS和其他伪距测量。