一种GNSS多星座的抗差伪距单点定位算法

为抑制因导航星座间差异和故障卫星对多星座伪距单点定位产生的负面影响，通过分析多星座与单星座伪距单点定位的异同和多星座粗差探测方法，提出了在不同伪距质量下选择不同方法对伪距偏差状况进行估计，再基于平差理论、M估计和核函数构造三段式权值，实现能在不同环境下选择较优模型的对不同卫星赋予不同权值的新型抗差伪距定位算法。通过国际GPS服务组织（IGS）站点实测数据验证，该算法在不同情况下均能实现较高精度的定位结果，具有较优的抗差性能和定位精度。与传统抗差定位算法比较进一步验证了所提算法的优越性。相关结论对未来多星座定位算法的研究具有较大意义。

A robust single point positioning algorithm for GNSS multi-constellation

To resist the negative impacts of the differences between navigation constellations and the faults of satellites on multi-constellation pseudo-range single pointing,a new robust single point positioning algorithm is proposed according to analysis of the similarities and differences of multi-constellation and single-constellation pseudo-range single point positioning method and multi-constellation gross error detection method.This algorithm chooses different methods to estimate different pseudo-range qualities deviations first,then forms three-stage weight based on adjustment theory,M-estimation and kernel function so as to give different weights to different satellites by a better model depending on the different environment.The new algorithm is validated by the data at International GPS Service(IGS) stations.Examples illustrates that the new algorithm achieves higher-precision positioning results in different situations and has better robustness and accuracy.Comparison between traditional robust positioning algorithm and the proposed algorithm further verifies its superiority.The conclusion in this paper has great significance for future researches on multi-constellation positioning algorithm.