GNSS Method and Apparatus for UAV positioning by multipath error mitigation of GNSS data

摘要

The present invention can provide a method of positioning an apparatus based on a satellite navigation signal. At this time, the positioning method of the device includes determining the initial position of the device, setting a certain range and a grid within a certain range based on the determined initial position, and indicating the initial position through the set grid, based on the initial position on the grid. Searching for satellite navigation signals that the device can receive, based on the building modeling information stored in the database, confirming the elevation angle and azimuth angle of the boundary of the buildings in the grid corresponding to the initial position, and the elevation angle of the identified boundary And searching for blocked signals among the satellite navigation signals searched through an azimuth angle, and estimating a location of the device in consideration of the number of visible satellites and the blocked signals.