GNSS RTK/UWB/DBA Fusion Positioning Method and Its Performance Evaluation

As a significant space–time infrastructure, the Global Navigation Satellite System (GNSS) provides high-precision positioning, navigation, and timing (PNT) information to users all over world. However, GNSS real-time kinematic (RTK) mobile receiver signal attenuation is obvious in complex environments such as under trees, urban canyons, indoors, among others, it incapable of meeting demand multi-level mass for indoor outdoor seamless positioning applications. The goal this study was address limitations vulnerabilities RTK above-mentioned. First, we propose RTK/UWB/DBA fusion model provide detailed algorithm steps various types observations. performance occlusion then thoroughly evaluated using static dynamic cart experiments. experiment results show that elevation mask angle increases, number available satellites decreases ambiguity resolution success rate decreases; comparison RTK, proposed can significantly improve spatial geometry distribution observations, reduce position dilution precision (PDOP) value, rate. At an 50 degrees, combination by 20% 60%, error less than 5 cm 50%. It also indicates has higher accuracy effectively availability reliability local harsh environment.