SYSTEM AND METHOD FOR POSITIONING IN URBAN CANYONS

摘要

A method of determining position includes providing a GNSS positioning receiver, a controller, and a non-transient computer-readable data storage. The data storage is provided with at least one 3-dimensional building model having a geographical identifier. The method also includes receiving at least one GNSS position signal. The method further includes calculating an approximate position based on the at least one GNSS position signal and that a respective GNSS position signal of the at least one GNSS position signal is a non-line-of-sight signal. The method further includes calculating, based on the building model and the respective GNSS position signal, a modeled position, and refining the modeled position based on a current heading and speed of the positioning receiver and a carrier-phase of the at least one GNSS position signal. The method still further includes calculating a final position based on the approximate position, the modeled position, and the refining step.