Mobile laser scanning enhanced GNSS precise point positioning

Abstract Considering the respective advantages of mobile laser scanning (MLS) and global navigation satellite system (GNSS) precise point positioning (PPP), a method is proposed that enhances GNSS PPP positioning using MLS data. The trajectory extracted from MLS is employed to constrain the GNSS PPP position parameters. This constraint is implemented using a sliding window, the length of which is determined based on various performance factors. The proposed method is tested using collected data. The results demonstrate that the trajectory extracted from MLS achieves an accuracy of 1.31 mm when compared with that of a standard gauge. This matches the actual trajectories and provides a reliable foundation for applying trajectory constraints to enhance GNSS PPP positioning accuracy. By using the extracted trajectory to constrain GNSS PPP processing, the results show that the constraints significantly improve positioning accuracy. Smaller window sizes yield higher accuracy, achieving a 10 cm improvement in three-dimensional positioning compared to traditional GNSS PPP.