{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,25]],"date-time":"2026-06-25T14:36:38Z","timestamp":1782398198550,"version":"3.54.5"},"reference-count":48,"publisher":"MDPI AG","issue":"23","license":[{"start":{"date-parts":[[2022,11,23]],"date-time":"2022-11-23T00:00:00Z","timestamp":1669161600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Basic Research Program of Shanxi Province","award":["202303021212284"],"award-info":[{"award-number":["202303021212284"]}]},{"name":"Basic Research Program of Shanxi Province","award":["SKLGED2022-3-4, SKLGED2022-3-3"],"award-info":[{"award-number":["SKLGED2022-3-4, SKLGED2022-3-3"]}]},{"name":"Basic Research Program of Shanxi Province","award":["CEPNT2022B07"],"award-info":[{"award-number":["CEPNT2022B07"]}]},{"name":"Open Foundation of the State Key Laboratory of Geodesy and Earth\u2019s Dynamics","award":["202303021212284"],"award-info":[{"award-number":["202303021212284"]}]},{"name":"Open Foundation of the State Key Laboratory of Geodesy and Earth\u2019s Dynamics","award":["SKLGED2022-3-4, SKLGED2022-3-3"],"award-info":[{"award-number":["SKLGED2022-3-4, SKLGED2022-3-3"]}]},{"name":"Open Foundation of the State Key Laboratory of Geodesy and Earth\u2019s Dynamics","award":["CEPNT2022B07"],"award-info":[{"award-number":["CEPNT2022B07"]}]},{"name":"Open Foundation of the State Key Laboratory of Satellite Navigation System and Equipment Technology","award":["202303021212284"],"award-info":[{"award-number":["202303021212284"]}]},{"name":"Open Foundation of the State Key Laboratory of Satellite Navigation System and Equipment Technology","award":["SKLGED2022-3-4, SKLGED2022-3-3"],"award-info":[{"award-number":["SKLGED2022-3-4, SKLGED2022-3-3"]}]},{"name":"Open Foundation of the State Key Laboratory of Satellite Navigation System and Equipment Technology","award":["CEPNT2022B07"],"award-info":[{"award-number":["CEPNT2022B07"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Remote Sensing"],"abstract":"<jats:p>As a significant space\u2013time infrastructure, the Global Navigation Satellite System (GNSS) provides high-precision positioning, navigation, and timing (PNT) information to users all over the world. However, GNSS real-time kinematic (RTK) mobile receiver signal attenuation is obvious in complex environments such as under trees, urban canyons, and indoors, among others, and it is incapable of meeting the demand of multi-level mass users for indoor and outdoor seamless positioning applications. The goal of this study was to address the limitations and vulnerabilities of the GNSS RTK positioning above-mentioned. First, we propose a GNSS RTK\/UWB\/DBA fusion positioning model and provide detailed algorithm steps for various types of observations. The performance of the GNSS RTK\/UWB\/DBA fusion positioning under various occlusion environments is then thoroughly evaluated using static and dynamic cart experiments. The experiment results show that as the elevation mask angle increases, the number of available GNSS satellites decreases and the ambiguity resolution success rate decreases; in comparison to GNSS RTK, the proposed GNSS RTK\/UWB\/DBA fusion positioning model can significantly improve the spatial geometry distribution of observations, reduce the position dilution of precision (PDOP) value, and improve the ambiguity resolution success rate. At an elevation mask angle of 50 degrees, GNSS RTK\/UWB\/DBA combination positioning can improve the ambiguity resolution success rate by 20% to 60%, and a positioning error less than 5 cm by 20% to 50%. It also indicates that the GNSS RTK\/UWB\/DBA fusion positioning model has higher positioning accuracy and can effectively improve the availability and reliability of GNSS RTK in a local harsh environment.<\/jats:p>","DOI":"10.3390\/rs14235928","type":"journal-article","created":{"date-parts":[[2022,11,24]],"date-time":"2022-11-24T02:54:05Z","timestamp":1669258445000},"page":"5928","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":15,"title":["GNSS RTK\/UWB\/DBA Fusion Positioning Method and Its Performance Evaluation"],"prefix":"10.3390","volume":"14","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6095-287X","authenticated-orcid":false,"given":"Shengliang","family":"Wang","sequence":"first","affiliation":[{"name":"College of Mining Engineering, Taiyuan University of Technology, Taiyuan 030024, China"},{"name":"State Key Laboratory of Geodesy and Earth\u2019s Dynamics, Innovation Academy for Precision Measurement Science and Technology, Chinese Academy of Sciences, Wuhan 430077, China"},{"name":"State Key Laboratory of Satellite Navigation System and Equipment Technology, Shijiazhuang 050081, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xianshu","family":"Dong","sequence":"additional","affiliation":[{"name":"College of Mining Engineering, Taiyuan University of Technology, Taiyuan 030024, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Genyou","family":"Liu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Geodesy and Earth\u2019s Dynamics, Innovation Academy for Precision Measurement Science and Technology, Chinese Academy of Sciences, Wuhan 430077, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ming","family":"Gao","sequence":"additional","affiliation":[{"name":"Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing 100094, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Gongwei","family":"Xiao","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Geodesy and Earth\u2019s Dynamics, Innovation Academy for Precision Measurement Science and Technology, Chinese Academy of Sciences, Wuhan 430077, China"},{"name":"School of Communications and Information Engineering, Xi\u2019an University of Posts and Telecommunications, Xi\u2019an 710121, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2798-7186","authenticated-orcid":false,"given":"Wenhao","family":"Zhao","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Geodesy and Earth\u2019s Dynamics, Innovation Academy for Precision Measurement Science and Technology, Chinese Academy of Sciences, Wuhan 430077, China"},{"name":"College of Earth and Planetary Sciences, University of Chinese Academy of Sciences, Beijing 100049, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8023-0820","authenticated-orcid":false,"given":"Dong","family":"Lv","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Geodesy and Earth\u2019s Dynamics, Innovation Academy for Precision Measurement Science and Technology, Chinese Academy of Sciences, Wuhan 430077, China"},{"name":"College of Earth and Planetary Sciences, University of Chinese Academy of Sciences, Beijing 100049, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2022,11,23]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"8685","DOI":"10.3390\/s150408685","article-title":"Performance Analysis on Carrier Phase-Based Tightly-Coupled GPS\/BDS\/INS Integration in GNSS Degraded and Denied Environments","volume":"15","author":"Han","year":"2015","journal-title":"Sensors"},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Cristodaro, C., Dovis, F., Falco, G., and Pini, M. 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