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However, complex urban environments, such as urban canyons and tunnels, can easily interfere with GNSS signal qualities. Current smartphone-based positioning technologies using the GNSS signal still pose great challenges. Since the last satellite of the BeiDou navigation system (BDS) was successfully launched on 23 June 2020, it is possible to use a low-cost Android device to realize the localization based on the BDS signals worldwide. This research focuses on smartphone-based outdoor pedestrian navigation utilizing the GPS\/BDS multi-constellation system. To improve the localization accuracy, we proposed the Weighted Factor Graph Optimization localization model (W-FGO). In this paper, firstly, we evaluate the signal qualities of the BDS via the data collected by the static experiment. Then, we structure the cost function based on the pseudo-range and the time series data for the traditional Factor Graph Optimization (FGO). Finally, we design the weight model based on the signal quality of each satellite and the time fading factor to further improve the localization accuracy of the conventional FGO method. An Android smartphone is utilized to collect the GNSS data for the evaluation and the localization. The experiment results demonstrate the superior performance of the proposed method.<\/jats:p>","DOI":"10.3390\/rs15102506","type":"journal-article","created":{"date-parts":[[2023,5,11]],"date-time":"2023-05-11T01:37:24Z","timestamp":1683769044000},"page":"2506","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["Pedestrian Smartphone Navigation Based on Weighted Graph Factor Optimization Utilizing GPS\/BDS Multi-Constellation"],"prefix":"10.3390","volume":"15","author":[{"ORCID":"https:\/\/orcid.org\/0009-0003-6836-8901","authenticated-orcid":false,"given":"Chen","family":"Chen","sequence":"first","affiliation":[{"name":"School of Automation, Nanjing University of Science and Technology, Nanjing 210094, China"}]},{"given":"Jianliang","family":"Zhu","sequence":"additional","affiliation":[{"name":"School of Automation, Nanjing University of Science and Technology, Nanjing 210094, China"}]},{"given":"Yuming","family":"Bo","sequence":"additional","affiliation":[{"name":"School of Automation, Nanjing University of Science and Technology, Nanjing 210094, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0148-3609","authenticated-orcid":false,"given":"Yuwei","family":"Chen","sequence":"additional","affiliation":[{"name":"Department of Remote Sensing and Photogrammetry, Finnish Geospatial Research Institute, Vuorimiehentie, FI-02150 Espoo, Finland"}]},{"given":"Changhui","family":"Jiang","sequence":"additional","affiliation":[{"name":"AME-GEOLOC, Gustave Eiffel University, F-44340 Bouguenais, France"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4366-4547","authenticated-orcid":false,"given":"Jianxin","family":"Jia","sequence":"additional","affiliation":[{"name":"Department of Remote Sensing and Photogrammetry, Finnish Geospatial Research Institute, Vuorimiehentie, FI-02150 Espoo, Finland"}]},{"given":"Zhiyong","family":"Duan","sequence":"additional","affiliation":[{"name":"School of Physical and Microelectronics, Zhengzhou University, Zhengzhou 450001, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4320-8007","authenticated-orcid":false,"given":"Mika","family":"Karjalainen","sequence":"additional","affiliation":[{"name":"Department of Remote Sensing and Photogrammetry, Finnish Geospatial Research Institute, Vuorimiehentie, FI-02150 Espoo, Finland"}]},{"given":"Juha","family":"Hyypp\u00e4","sequence":"additional","affiliation":[{"name":"Department of Remote Sensing and Photogrammetry, Finnish Geospatial Research Institute, Vuorimiehentie, FI-02150 Espoo, Finland"}]}],"member":"1968","published-online":{"date-parts":[[2023,5,10]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"116","DOI":"10.1016\/j.neunet.2018.11.004","article-title":"Emergent neural turing machine and its visual navigation","volume":"110","author":"Zheng","year":"2019","journal-title":"Neural Netw."},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Zhang, R., Mi, J., Li, J., and Wang, Q. 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