Analysis of BeiDou/Galileo combined pseudo-range positioning performance in urban environment

Abstract The observation conditions have a significant influence on the positioning performance. GNSS signals are easily blocked in urban environments, which leads to discontinuity and instability of position solution. With the construction of BeiDou and Galileo satellite navigation system in the final stage, multi-satellite fusion will be the future development trend of GNSSs. This paper introduces the mathematical fusion model of Galileo and BeiDou satellite navigation system, typical urban coverage conditions are simulated, and a detailed in the aspects of number of visible satellites, positioning error and PDOP values are analysed. The results show that the positioning accuracy of the integrated navigation system in the horizontal is within 3 m, the elevation is within 5 m, and the PDOP value are less than 1.5 in the open sky condition. In any coverage conditions, Galileo stand-alone system cannot guarantee the positioning continuity in the whole day, and positioning performance is the worst in the north coverage condition, unable to obtain the position solutions for more than 40% time in the whole day. In the north coverage condition, BeiDou has the best positioning performance, with a minimum of 4 visible satellites and 99% of PDOP values are less than 10.