Owing to the existence of non-line-of-sight (NLOS) signals in global navigation satellite system (GNSS) challenged environment, the real-time kinematic (RTK) position precision is seriously damaged. In order to improve the position accuracy, the authors propose a robust positioning method which tackles this problem by detecting the NLOS through a decision tree and estimating the double-differenced multipath errors in real time. The NLOS detection performance of the proposed method is 95.64%. The field experiment shows that the ambiguity fixing rate has improved by 43% in the instantaneous mode, and the 3D position accuracy is about 81.77% higher better than that of normal RTK method which is implemented by using RTKLIB software.

中文翻译：

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GNSS挑战环境中基于NLOS检测和多径消除的鲁棒实时运动定位方法

由于在全球导航卫星系统（GNSS）面临挑战的环境中存在非视距（NLOS）信号，因此实时运动（RTK）位置精度受到严重损害。为了提高定位精度，作者提出了一种鲁棒的定位方法，该方法通过通过决策树检测NLOS并实时估计双差多径误差来解决此问题。该方法的NLOS检测性能为95.64％。现场实验表明，在瞬时模式下，模糊度固定率提高了43％，与使用RTKLIB软件实现的常规RTK方法相比，其3D定位精度提高了约81.77％。