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This paper proposes an improved global navigation satellite system (GNSS)positioning method that explores the time correlation between consecutiveepochs of the code and carrier phase measurements which significantly increasesthe robustness against outlier measurements. Instead of relying on the timedifference carrier phase (TDCP) which only considers two neighboring epochsusing an extended Kalman filter (EKF) estimator, this paper proposed to employthe carrier-phase measurements inside a window, the so-called windowcarrier-phase (WCP), to constrain the states inside a factor graph. A left nullspace matrix is employed to eliminate the shared unknown ambiguity variablesand therefore, correlated the associated states inside the WCP. Then thepseudorange, Doppler, and the constructed WCP measurements are integratedsimultaneously using factor graph optimization (FGO) to estimate the state ofthe GNSS receiver. We evaluated the performance of the proposed method in twotypical urban canyons in Hong Kong, achieving the mean positioning error of1.76 meters and 2.96 meters, respectively, using the automobile-level GNSSreceiver. Meanwhile, the effectiveness of the proposed method is furtherevaluated using a low-cost smartphone level GNSS receiver and similarimprovement is also obtained, compared with several existing GNSS positioningmethods.

Time-correlated Window Carrier-phase Aided GNSS Positioning Using Factor Graph Optimization for Urban Positioning