3D Mapping Database-Aided GNSS RTK and Its Assessments in Urban Canyons

Different revolutionary applications, like the unmanned autonomous systems, require a highly precise positioning with centimetre-level accuracies. And real-time kinematic (RTK) GNSS stands chance to these potential applications. RTK can provide in open-sky or suburban environments. However, performance is limited deep urban canyon severe multipath and cycle slip effects. The measurements noise will introduce error results bad solution quality. Therefore, removal on remain those good-condition signals become essential for performing environment. Based this idea, article proposes using 3D building model position hypothesis select healthy satellites positioning. We believed that better exclude unhealthy nonline-of-sight satellite compared fixed high elevation angle mask. compare between mapping-aided Geodetic- commercial-grade receivers are employed perform experiments environment of Hong Kong. experiment geodetic-grade receiver showing 3DMA accuracy 10 cm averagely.