Evaluation of Multipath Removal for GNSS/IMU Reliability Determination in Urban Areas

Abstract

The objective of this study is to estimate the reliability of position estimation. In conventional methods, the accuracy of the observation likelihood affects the reliability’s performance. However, obtaining an accurate GNSS observation likelihood in urban areas is difficult due to multipath. In this study, we evaluate outlier removal in the GNSS/IMU integration method to obtain an accurate observation likelihood in urban areas. By analyzing the error distribution of GNSS after outlier removal, we aim to improve the accuracy of the observation likelihood.