Experiment and Analysis of Mitigation of Pseudolite Multipath Bias

GPS augmentation with pseudolites positioning can compensate some shortages of only GPS positioning,such as the limitations of GPS satellite geometry,but integration of GPS and pseudolites measurements introduces some new errors.Multipath bias of pseudolite positioning are presented.According to the mechanism and features of multipath effect,the weight function of robust least square estimation is derived,based on classical least square estimation theory.The new weight function is employed to mitigate pseudolite multipath bias of actual observation data.The result shows that the new weight function is a valid for the mitigation of pseudolite multipath bias.