Full
Outline
In urban environments, range measurement errors caused by non-line-of-sight (NLOS) signals significantly impact the precise positioning performance of global navigation satellite systems (GNSS), especially for low-cost devices and precise point positioning (PPP) that require accurate error processing. To address this issue, this paper designs a method for detecting NLOS signals based on the inertial navigation system (INS) and fisheye camera, and proposes an equivalent weight matrix update scheme for NLOS signals based on observation residuals to mitigate the adverse effects of NLOS signals on PPP. In the experiments, low-cost helical antennas and u-blox boards were used to collect two sets of vehicle-mounted data in Wuhan and Zhengzhou. The results show that the proportion of NLOS signal occurrences varies significantly across different scenarios, with tree shading and building blockage being the main factors causing NLOS signals. The optimized PPP achieves significant improvements in positioning accuracy and stability, especially in bridge-shaded and tree-shaded environments. The positioning errors were reduced from 21.259 m and 11.814 m to 17.071 m and 9.239 m, respectively, with improvement rates of 19.7% and 21.8%.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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