Abstract: A mitigation method for global navigation satellite system (GNSS) multipath errors based on redundant measurement in intertial navigation system (INS)/GNSS integrated system is introduced to solve the problem of the GNSS measurement affected by multipath effects. This method includes an innovation-based chi-square test algorithm and an adaptive Kalman filter. According to the characteristic of the zero mean of the innovation, the chi-square test is used to detect the multipath error in GNSS measurement. When the multipath errors are detected, the adaptive filter can estimate GNSS measurement noise covariance by using the redundant measurement of INS to adjust the weights of measurements, which improves the filtering performance. Finally, the simulation and real test validate that the proposed method can effectively mitigate GNSS multipath errors and improve the accuracy of the navigation solution.

Key words: global navigation satellite system (GNSS) multipath errors, measurement noise covariance estimation, integrated navigation, adaptive Kalman filtering