{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T01:31:59Z","timestamp":1760146319883,"version":"build-2065373602"},"reference-count":45,"publisher":"MDPI AG","issue":"21","license":[{"start":{"date-parts":[[2024,10,27]],"date-time":"2024-10-27T00:00:00Z","timestamp":1729987200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["42474015"],"award-info":[{"award-number":["42474015"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Remote Sensing"],"abstract":"<jats:p>The availability of Global Navigation Satellite System (GNSS) raw observations in smartphones has driven research into low-cost GNSS solutions, especially in challenging urban environments, which have garnered significant attention from scholars in recent years. This study proposes an improved smartphone-based velocity-aided positioning method and conducts vehicle-mounted experiments in urban roads representing typical scenarios. The results show that when transitioning from low- to high-multipath environments, the number of visible satellites and carrier phase observations are highly sensitive to environmental factors, with frequent multipath effects. The introduction of robust pre-fit and post-fit residual algorithms has proven to be an effective quality control method. Additionally, using more refined observation models and appropriate parameter estimation algorithms led to a slight 6% improvement in velocity performance. The improved Kalman filter position estimation model (KFSPP-P) strategy, by incorporating velocity uncertainty into the state estimation process, overcomes the limitations of conventional velocity-aided smartphone positioning methods (KFSPP-V) in complex urban environments. In low-multipath environments, the accuracy of the KFSPP-P strategy is comparable to that of KFSPP-V, with an approximate 8% improvement in horizontal accuracy. However, in more challenging environments, such as tree-lined roads and urban environments, the KFSPP-P strategy shows significant improvements, particularly enhancing horizontal positioning accuracy by approximately 50%. These advancements demonstrate the potential of using smartphones to provide reliable positioning services in complex urban environments.<\/jats:p>","DOI":"10.3390\/rs16213988","type":"journal-article","created":{"date-parts":[[2024,10,28]],"date-time":"2024-10-28T07:04:04Z","timestamp":1730099044000},"page":"3988","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["An Improved Velocity-Aided Method for Smartphone Single-Frequency Code Positioning in Real-World Driving Scenarios"],"prefix":"10.3390","volume":"16","author":[{"given":"Zhaowei","family":"Han","sequence":"first","affiliation":[{"name":"Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing 100094, China"},{"name":"School of Electronic, Electrical and Communicating Engineering, University of Chinese Academy of Sciences, Beijing 101408, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1720-6630","authenticated-orcid":false,"given":"Xiaoming","family":"Wang","sequence":"additional","affiliation":[{"name":"Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing 100094, China"},{"name":"College of Resources and Environment, University of Chinese Academy of Sciences, Beijing 100049, China"}]},{"given":"Jinglei","family":"Zhang","sequence":"additional","affiliation":[{"name":"Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing 100094, China"}]},{"given":"Shiji","family":"Xin","sequence":"additional","affiliation":[{"name":"Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing 100094, China"},{"name":"School of Electronic, Electrical and Communicating Engineering, University of Chinese Academy of Sciences, Beijing 101408, China"}]},{"given":"Qiuying","family":"Huang","sequence":"additional","affiliation":[{"name":"Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing 100094, China"},{"name":"School of Electronic, Electrical and Communicating Engineering, University of Chinese Academy of Sciences, Beijing 101408, China"}]},{"given":"Sizhe","family":"Shen","sequence":"additional","affiliation":[{"name":"Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing 100094, China"},{"name":"School of Electronic, Electrical and Communicating Engineering, University of Chinese Academy of Sciences, Beijing 101408, China"}]}],"member":"1968","published-online":{"date-parts":[[2024,10,27]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"607","DOI":"10.1007\/s00190-015-0802-8","article-title":"Accuracy and Reliability of Multi-GNSS Real-Time Precise Positioning: GPS, GLONASS, BeiDou, and Galileo","volume":"89","author":"Li","year":"2015","journal-title":"J. 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