Abstract
Graph optimization (GO) can correlate more historical information to increase the resistance against the GNSS outliers. Therefore, GO has the potential to obtain a higher accuracy and robust position in urban canyon. Here, we develop POSGO (POSition based on Graph Optimization), an open-source software designed for single-point positioning and relative positioning with multi-GNSS pseudorange in a GO framework. It is coded in C/C+ + language and recommended to run in the Linux environment. It can be easily extended to process the carrier phase and fuse the data from multiple sensors by adding corresponding graph factors. To assess the performance of the current version, data from a kinematic vehicle experiment in urban area are processed. The results indicate GO has better accuracy and robustness than classic least squares or Kalman filters, particularly in areas with severe occlusions.
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The source code, user manual and sample data sets of POSGO can be found on the GPS Toolbox Web at https://geodesy.noaa.gov/gps-toolbox/ or GitHub at https://github.com/lizhengnss/POSGO.
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Acknowledgements
This study is financially supported by the National Natural Science Foundation of China (41974035, 42030109), Yong Elite Scientists Sponsorship Program by China Association of Science and Technology (2018QNRC001), and Fundamental Research Funds for the Central Universities (2042021kf0065). The editor and reviewers are acknowledged.
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ZL and JG contributed to the initial idea; ZL assisted in coding, data analysis, and draft prepared; JG was involved in the data analysis; JG and QZ performed the manuscript review and revision.
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Li, Z., Guo, J. & Zhao, Q. POSGO: an open-source software for GNSS pseudorange positioning based on graph optimization. GPS Solut 27, 187 (2023). https://doi.org/10.1007/s10291-023-01528-z
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DOI: https://doi.org/10.1007/s10291-023-01528-z