Abstract
The multipath effect inhibits the centimeter-accuracy positioning in Android smart devices which have poor multipath suppression. We investigate the multipath extraction effectiveness in the reduction of the noise of low-accuracy positioning devices. Considering the multipath error frequency characteristics, we combine the wavelet-based method and empirical mode decomposition (EMD) to reduce the noise of code-minus-carrier (CMC) observation by multiple levels of denoising, which can be used to precisely study the pseudorange error under multipath conditions. Compared to using the wavelet-based or EMD method alone, the proposed method can retain effective frequency components corresponding to the multipath error. Also, this method can improve the RMS of CMC residuals to about 30–50%, and the improvement rate of denoising performance of different receivers compared to the wavelet-based method can be up to 22%. The code multipath error of the Android GNSS receivers is assessed experimentally. The multipath error is around 1–3 m and is linearly proportional to the C/N0, but not to the elevation.
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The data supporting this research are collected by the experimental device. If needy, please contact us by email, liwq63@mail2.sysu.edu.cn.
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Acknowledgements
This work was supported by the Key Special Projects of the National Key Research and Development Plan (Grant No. 2018YFB0505200), the National Natural Science Foundation of China (Grant No. 61973328, Grant No. 91938301). Thanks to the authors of the Android application Geo++ RINEX Logger.
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Li, W., Zhu, X., Chen, Z. et al. Code multipath error extraction based on the wavelet and empirical mode decomposition for Android smart devices. GPS Solut 25, 91 (2021). https://doi.org/10.1007/s10291-021-01122-1
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DOI: https://doi.org/10.1007/s10291-021-01122-1