Performance evaluation of GNSS receiver clock modelling in urban navigation using geodetic and high-sensitivity receivers

Abstract In urban areas, the Global Navigation Satellite System (GNSS) can lead to position errors of tens meters due signal obstruction and severe multipath effects. cases 3D-positioning, vertical coordinate is estimated less accurately than are horizontal coordinates. Multisensor systems enhance navigation performance in terms accuracy, availability, continuity integrity. However, addition multiple sensors increases system cost, thereby applicability low-cost applications limited. By using concept receiver clock modelling (RCM), estimation be made more robust; use high-sensitivity (HS) GNSS receivers improve availability continuity. This paper investigates integration a HS with an external conditions; subsequently, gain evaluated. kinematic data recorded environment geodetic-grade receivers. The stability information incorporated through process noise matrix Kalman filter when estimating position, velocity time states. Results shows that improvement precision height component both about 70% RCM compared estimates obtained without applying RCM. Pertaining found 50% geodetic receivers, respectively. delivers 100% output receiver, which provides 99⋅4% total experiment duration.