A measurement discarding algorithm for robust multi-constellation multi-frequency RTK positioning

Low quality measurements cause performance degradation in global navigation satellite system (GNSS) high precision positioning techniques. Based on a real-time kinematic (RTK) technique that integrates measurements from different navigation constellations and signal frequencies, an algorithm that identifies and discards low quality measurements to ensure high carrier cycle integer ambiguity fix rate and improve positioning precision is proposed. Field collected Global Positioning System (GPS) and BeiDou Navigation Satellite System (BDS) data from drive tests are used to validate the algorithm. Results show that the fix rate and positioning precision are improved by applying the proposed algorithm.