Currently, large amounts of mobile devices including mobile phones, vehicles and other mobile devices use satellite signals as the positioning method. However, to achieve vehicle safety requirement, satellite positioning accuracy needs to approach lane-level at least. The accuracy of the current commercial positioning solutions still exist a large space to improve to meet the requirement. In this thesis, we combine inertial navigation element with the satellite positioning device, and also propose the method of continuously monitoring the satellite that may be obscured. We mutually switch the positioning method based on the obscured satellite index to eliminate the positioning errors caused by multipath. The results show that the calibration method can improve the accuracy performance of GPS positioning notably.
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