Analysis of GNSS/Pseudolite Integrated Positioning Accuracy in Urban Canyon Environment

The pseudolite positioning system can enhance Global Navigation Satellite System (GNSS) by improving satellite geometry and providing independent services in environments where GNSS is unavailable. This paper investigates a GNSS/Pseudolite integrated positioning system and verifies its positioning service performance in urban canyon environments. The experimental results indicate that in challenging urban canyon environments, the number of visible satellites for the GNSS significantly decreases, leading to a substantial decline in positioning accuracy. The GNSS/Pseudolite integrated system demonstrates its advantages. Even in favorable experimental conditions, compared to using GNSS PPP alone, the GNSS/Pseudolite integrated PPP improves horizontal accuracy by 10% and 3D accuracy by 12%. When the obstruction is severe, such as when the cut-off elevation angle is 50°, the GNSS/Pseudolite integrated PPP improves horizontal accuracy by ${7 2. 5 \%}$ and 3D accuracy by 79.2% compared to GNSS PPP. In challenging urban canyon environments, the GNSS/Pseudolite integrated system can still provide high-precision positioning services.