中文摘要：

伪距观测值的精度对相对定位解算的收敛速度有很大影响。相关研究发现BDS伪距观测值中存在与高度角相关的多路径偏差,严重降低了伪距观测值的精度。通过EMD滤波和多项式拟合建立基于高度角的多路径改正模型对这类误差进行消除。实验结果表明,基于高度角的多路径改正模型可以有效提高伪距观测值精度,加快相对定位结果收敛速度,改正后四个时段的2h定位结果精度分别提高了64.1%、43.9%、35.3%、66.0%。

英文摘要：

The accuracy of pseudorange observation has a great impact on the rate of rel- ative positioning solution convergence. Related research found the exist of multipath devia- tion in the BDS pseudorange observation,which is associated with evelation angle and severe- ly reduces the pseudorange observation precision. By the EMD filter and polynomial fitting we established a multipath correction model based on elevation angle to eliminate this kind of error. Experimental results show that the multipath correction model based on elevation an- gle can effectively improve the accuracy of pseudorange observation, and speed up the rate of relative positioning results convergence. After correction the precision of four times 2h posi- tioning results increased by 64.1%, 43.9 %, 35.3% and 43.9% respectively.