Skip to main content
SpringerLink
Log in

Real-time multipath mitigation based on spatiotemporal correlations in BDS precise point positioning

  • Original Article
  • Published:
GPS Solutions Aims and scope Submit manuscript

Abstract

The BeiDou Navigation Satellite System (BDS) features a heterogeneous constellation, which poses challenges in accurately characterizing the spatiotemporal correlations of multipath effects and effectively mitigating these effects using a single model. The widely used sidereal filtering (SF) and multipath hemispherical map (MHM) models cannot simultaneously reveal the spatiotemporal correlations of multipath. Therefore, we propose a satellite-dependent multipath model based on spatiotemporal correlations to mitigate multipath effects in BDS precise point positioning (PPP). Compared with the high-reliability MHM model with quality control and high-precision SF model with denoising, the static PPP positioning accuracy in the three-dimensional direction using the proposed model can be improved by up to 17.5 and 7.2%, respectively, and 9.3 and 3.5% improvements can be obtained in the kinematic PPP, respectively. For the convergence time of MHM and SF models, up to 0.5 and 49.2 min can be shortened in the static PPP using the proposed model. The proposed model not only exhibits superior accuracy in comparison to the high-reliability MHM and high-precision SF models but also has a relatively short convergence time.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11
Fig. 12
Fig. 13

Similar content being viewed by others

Data availability

The experimental data of this study are available from the corresponding author for academic purposes on reasonable request.

References

  • Bock Y, Nikolaidis R, Jonge P, Bevis M (2000) Instantaneous geodetic positioning at medium distances with the global positioning system. J Geophys Res Solid Earth 105(B12):28223–28253

    Article  Google Scholar 

  • Choi K, Bilich A, Larson K, Axelrad P (2004) Modified sidereal filtering: implications for high-rate GPS positioning: HIGH-RATE GPS POSITIONING. Geophys Res Lett 31(22):178–198

    Article  Google Scholar 

  • Dong D, Wang M, Chen W, Zeng Z, Song L, Zhang Q, Cai M, Cheng Y, Lv J (2016) Mitigation of multipath effect in GNSS short baseline positioning by the multipath hemispherical map. J Geod 90(3):255–262

    Article  Google Scholar 

  • Fuhrmann T, Luo X, Knöpfler A, Mayer M (2015) Generating statistically robust multipath stacking maps using congruent cells. GPS Solut 19(1):83–92

    Article  Google Scholar 

  • Geng J, Teferle F, Meng X, Dodson A (2011) Toward PPP-RTK: ambiguity resolution in real-time precise point positioning. Adv Space Res 47(10):1664–1673

    Article  Google Scholar 

  • Genrich J, Bock Y (1992) Rapid resolution of crustal motion at short ranges with the global positioning system. J Geophys Res Solid Earth 97(B3):3261–3269

    Article  Google Scholar 

  • Guo Z, Yu X, Hu C, Jiang C, Tan H, Zhu M, Xie S (2023) The extraction and characterization of pseudorange multipath based on BDS-3 multi-frequency observations. Sensors 23(13):6151

    Article  Google Scholar 

  • Larson K, Bilich A, Axelrad P (2007) Improving the precision of high-rate GPS. J Geophys Res Solid Earth 112(B5):B05422

    Article  Google Scholar 

  • Leick A, Rapoport L, Tatarnikov D (2015) GPS satellite surveying. John Wiley & Sons, Hoboken

    Book  Google Scholar 

  • Li J, Yang Y, He H, Guo H (2017) An analytical study on the carrier-phase linear combinations for triple-frequency GNSS. J Geod 91(2):151–166

    Article  Google Scholar 

  • Liu H, Li X, Ge L, Rizos C, Wang F (2011) Variable length LMS adaptive filter for carrier phase multipath mitigation. GPS Solut 15(1):29–38

    Article  Google Scholar 

  • Liu C, Tao Y, Xin H, Zhao X, Liu C, Hu H, Zhou T (2021) A single-difference multipath hemispherical map for multipath mitigation in BDS-2/BDS-3 Short baseline positioning. Remote Sens 13(2):304

    Article  Google Scholar 

  • Lu R, Chen W, Dong D, Wang Z, Zhang C, Peng Y, Yu C (2021) Multipath mitigation in GNSS precise point positioning based on trend-surface analysis and multipath hemispherical map. GPS Solut 25(3):119

    Article  Google Scholar 

  • Lu R, Chen W, Zhang C, Li L, Peng Y, Zheng Z (2022) Characteristics of the BDS-3 multipath effect and mitigation methods using precise point positioning. GPS Solut 26(2):41

    Article  Google Scholar 

  • Malys S, Jensen P (1990) Geodetic point positioning with GPS carrier beat phase data from the CASA UNO experiment. Geophys Res Lett 17(5):651–654

    Article  Google Scholar 

  • Odijk D, Zhang B, Khodabandeh A, Odolinski R, Teunissen P (2016) On the estimability of parameters in undifferenced, uncombined GNSS network and PPP-RTK user models by means of S-system theory. J Geod 90(1):15–44

    Article  Google Scholar 

  • Ragheb A, Clarke P, Edwards S (2007) GPS Sidereal filtering: coordinate- and carrier-phase-level strategies. J Geod 81(5):325–335

    Article  Google Scholar 

  • Shen N, Chen L, Wang L, Lu X, Tao T, Yan J, Chen R (2020) Site-specific real-time GPS multipath mitigation based on coordinate time series window matching. GPS Solut 24(3):82

    Article  Google Scholar 

  • Shi Q, Dai W, Zeng F, Kuang C (2016) The BDS multipath hemispherical map based on double difference residuals and its application analysis. In: China Satellite Navigation Conference (CSNC) 2016 Proceedings: Volume I. Lecture Notes in Electrical Engineering, vol 388. Springer, Singapore

  • Su M, Zheng J, Yang Y, Wu Q (2018) A New multipath mitigation method based on adaptive thresholding wavelet denoising and double reference shift strategy. GPS Solut 22(2):40

    Article  Google Scholar 

  • Teunissen P, Khodabandeh A (2015) Review and principles of PPP-RTK methods. J Geod 89(3):217–240

    Article  Google Scholar 

  • Wang M, Wang J, Dong D, Li H, Han L, Chen W (2018) Comparison of three methods for estimating GPS multipath repeat time. Remote Sens 10(2):6

    Article  Google Scholar 

  • Wang Z, Chen W, Dong D, Wang M, Cai M, Yu C, Zheng Z, Liu M (2019) Multipath mitigation based on trend surface analysis applied to dual-antenna receiver with common clock. GPS Solut 23(4):104

    Article  Google Scholar 

  • Wang Y, Zou X, Deng C, Tang W, Li Y, Zhang Y, Feng J (2020) A novel method for mitigating the GPS multipath effect based on a multi-point hemispherical grid model. Remote Sens 12(18):3045

    Article  Google Scholar 

  • Yang Y, Mao Y, Sun B (2020) Basic performance and future developments of BeiDou global navigation satellite system. Satell Navig 1:1

    Article  Google Scholar 

  • Ye S, Chen D, Liu Y, Jiang P, Tang W, Xia P (2015) Carrier phase multipath mitigation for BeiDou navigation satellite system. GPS Solut 19(4):545–557

    Article  Google Scholar 

  • Yuan H, Zhang Z, He X, Li G, Wang S (2022) Stochastic model assessment of low-cost devices considering the impacts of multipath effects and atmospheric delays. Measurement 188:110619

    Article  Google Scholar 

  • Zhan W, He X, Jia D, Zhang Z, Zhang Y (2022) Mitigation of multipath effects in GPS and BDS positioning using window matching method based sidereal filtering. Acta Geod Geoph 57(3):427–446

    Article  Google Scholar 

  • Zhang Z (2021) Code and phase multipath mitigation by using the observation-domain parameterization and its application in five-frequency GNSS ambiguity resolution. GPS Solut 25(4):144

    Article  Google Scholar 

  • Zhang Z, Li B, Gao Y, Shen Y (2019) Real-time carrier phase multipath detection based on dual-frequency C/N0 data. GPS Solut 23(1):7

    Article  Google Scholar 

  • Zhang Q, Yang W, Zhang S, Liu X (2018) Characteristics of BeiDou navigation satellite system multipath and its mitigation method based on Kalman filter and Rauch-Tung-Striebel smoother. Sens 18(1):198

    Article  Google Scholar 

  • Zhang Z, Dong Y, Wen Y, Luo Y (2023) Modeling, refinement and evaluation of multipath mitigation based on the hemispherical map in BDS2/BDS3 relative precise positioning. Measurement 213:112722

    Article  Google Scholar 

  • Zheng K, Zhang X, Li X, Li P, Chang X, Sang J, Ge M, Schuh H (2019a) Mitigation of unmodeled error to improve the accuracy of multi-GNSS PPP for crustal deformation monitoring. Remote Sens 11(19):2232

    Article  Google Scholar 

  • Zheng K, Zhang X, Li P, Li X, Ge M, Guo F, Sang J, Schuh H (2019b) Multipath extraction and mitigation for high-rate multi-GNSS precise point positioning. J Geod 93(10):2037–2051

    Article  Google Scholar 

  • Zhong P, Ding X, Yuan L, Xu Y, Kwok K, Chen Y (2010) Sidereal filtering based on single differences for mitigating GPS multipath effects on short baselines. J Geod 84(2):145–158

    Article  Google Scholar 

  • Zumberge J, Heflin M, Jefferson D, Watkins M, Webb F (1997) Precise point positioning for the efficient and robust analysis of GPS data from large networks. J Geophys Res Solid Earth 102(B3):5005–5017

    Article  Google Scholar 

Download references

Acknowledgements

This work was supported by the National Natural Science Foundation of China (42374014, 42004014), the Beijing Key Laboratory of Urban Spatial Information Engineering (NO. 20230108).

Author information

Authors and Affiliations

  1. School of Earth Sciences and Engineering, Hohai University, Nanjing, 211100, China

    Hao Wang, Zhetao Zhang, Yi Dong, Wei Zhan & Yuan Li

  2. Beijing Key Laboratory of Urban Spatial Information Engineering, Beijing, 100038, China

    Hao Wang, Zhetao Zhang & Yi Dong

Authors
  1. Hao Wang
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Zhetao Zhang
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Yi Dong
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Wei Zhan
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Yuan Li
    View author publications

    You can also search for this author in PubMed Google Scholar

Contributions

HW developed the software, designed the experiments, worked out the technical details, and wrote the paper. ZZ proposed the methods, derived the formulae, developed the software, and wrote the paper. YD and WZ developed the software. YL modified the original manuscript. All authors approved of the manuscript.

Corresponding author

Correspondence to Zhetao Zhang.

Ethics declarations

Conflict of interest

The authors declare no competing interests.

Additional information

Publisher's Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Rights and permissions

Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law.

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Wang, H., Zhang, Z., Dong, Y. et al. Real-time multipath mitigation based on spatiotemporal correlations in BDS precise point positioning. GPS Solut 28, 37 (2024). https://doi.org/10.1007/s10291-023-01576-5

Download citation

  • Received:

  • Accepted:

  • Published:

  • DOI: https://doi.org/10.1007/s10291-023-01576-5

Keywords

Search

Navigation