In urban areas, the accuracy and reliability of global navigation satellite systems (GNSS) vehicle positioning decline due to substantial non-line-of-sight (NLOS) signals and multipath effects. Recently, positioning enhancement approaches with supervised GNSS signal type classification based on 3D building model-aided labelling have received widespread attention. Despite the reduced computing costs and improved real-time performance, the strict requirements of 3D building models on accuracy and timeliness limit the popularization of the technology to some extent. Meanwhile, the diversity of anomalous observation sources is beyond the reach of NLOS/multipath detection methods. This paper attempts to construct an alternative framework for quality identification of GNSS observations combining clustering-based anomaly detection and supervised classification, in which the hierarchical density-based spatial clustering of applications with noise (HDBSCAN) algorithm is used to label the offline dataset as normal and anomalous observations without the aid of 3D building models, and the supervised classifier in the online system learns the classification rule for real-time anomaly detection. The experimental results based on the measured vehicle GPS/BeiDou data show that after excluding anomalous observations the single point positioning accuracy of the offline dataset is improved by 87.0%, 45.9%, and 69.6% in the east, north, and up directions, respectively, and the positioning accuracy of two online datasets is improved by 48.4%/45.7%, 39.6%/63.3%, and 49.6%/49.1% in the three directions. Through a large number of comparative experiments and discussion on key issues, it is certified that the proposed method is highly feasible and has great potential in the practical application of urban GNSS vehicle positioning.

Vehicular positioning in urban environments has become a research hotspot in recent years, and global navigation satellite system/inertial navigation system (GNSS/INS) tightly coupled positioning is a commonly used method. With the broadcast of BDS-3 and Galileo four-frequency signals, the multi-frequency and multi-system tightly coupled positioning method provides more possibilities for vehicular positioning in urban environments. At present, most of the studies on multi-frequency and multi-system mainly focus on static or baseline solutions, and there are few studies on the urban dynamic environment. In this paper, based on the triple-frequency GPS/BDS-2/INS tightly coupled positioning model, the BDS-3 four-frequency observation is introduced to conduct a preliminary study on the performance of GPS/BDS-2/BDS-3/INS tightly coupled positioning. Taking into account the positioning accuracy and calculation efficiency of the tightly coupled positioning, single epoch extra-wide-lane/wide-lane (EWL/WL) observation is used to participate in the modeling of tightly coupled positioning. The EWL/WL ambiguity is solved by the geometry-free (GF) method, in which triple-frequency carrier ambiguity resolution (TCAR) and four-frequency carrier ambiguity resolution (FCAR) are used for triple-frequency and four-frequency observations, respectively. Finally, the positioning performance of the tightly coupled method in this paper is evaluated through vehicular experiment. The experimental results show that in the urban dynamic environment, due to the higher quality of the linear combination of BDS-3 four-frequency, the positioning accuracy of the BDS-3/INS tightly coupled was slightly better than that of the triple-frequency BDS-2/INS. Compared with GPS/BDS-2/INS, the GPS/BDS-2/BDS-3/INS tightly coupled positioning accuracy increased by 29.1% and 58.7% in horizontal and vertical directions, respectively, which can realize decimeter positioning accuracy in urban environments.

As one of the commonly used solutions for vehicular dynamic positioning, the stability of Global Navigation Satellite Systems (GNSS)/ Inertial Navigation System (INS) integrated positioning when applied in an urban environment is still struggling. Generally, carrier-phase ambiguity fixing requires continuous several epochs, the stability and continuity of integrated positioning are significantly reduced if the signal is frequently blocked. To reduce the impact of frequent signal blockage, an improved tightly-coupled algorithm is proposed in this paper. Firstly, a step-wise ambiguity processing method is introduced to form instantaneous fixed Wide-Lane (WL) observations for calibrating INS measurement. Secondly, by estimating the differential inter-system bias (DISB) parameter, the pivot satellite can be shared between different constellations, to increase the number of usable satellites under the limited observation conditions and improve the positioning performance. The proposed method is verified with vehicular experiments on semi-simulated and actual urban canyon scenarios. In the artificial GNSS outage experiment, in the situation of 4 satellites that can be observed in BeiDou Navigation Satellite System (BDS) and Global Positioning System (GPS), the positioning accuracy of the proposed algorithm can achieve 4.1cm horizontally and 15.2cm vertically. An improvement of 26.9% horizontally and 20.4% vertically is gained accordingly compared to the conventional method. In the actual urban environment experiment, in case of insufficient satellite and low signal-to-noise ratio (SNR), when the conventional method can no longer maintain a fixed solution of GNSS/INS integrated positioning, the proposed algorithm can still achieve an accuracy of 49.7cm horizontally and 67.0cm vertically.

Vehicular dynamic positioning based on tightly coupled (TC) Global Navigation Satellite System (GNSS)/Inertial Navigation System (INS) integration in urban areas is due to either low accuracy of pseudorange or poor continuity of carrier phase, resulting in insufficient positioning performance. To enhance the stability while ensuring positioning accuracy, this paper proposed a tightly coupled Beidou Navigation Satellite System (BDS)/INS integration scheme by improving measurement modelling with triple-frequency observations: first, a stepwise single-epoch ambiguity resolution of extra-wide-lane (EWL)/wide-lane (WL) combined observations and then modelling the measurement equation with fixed WL observation instead of conventional pseudorange or carrier phase. Experiments were carried out for verification with data collected in real traffic by a measurement vehicle. The proposed method achieved single-epoch output with an RMS statistical accuracy of decimetre level of 0.152 m horizontally and 0.196 m vertically. The signal outage experiment verified that the proposed algorithm is restoring high-accuracy positioning output in single-epoch once the signal is recaptured. The proposed method obtained a positioning accuracy improvement of 43.6% horizontally and 6.2% vertically in signal outage sections compared to the conventional method. This avoids the multiepoch ambiguity searching to fix with conventional carrier-phase processing, thereby improving the positioning stability.