Single Frequency Carrier Smoothing Pseudorange Algorithm and Accuracy Analysis Based on Moving Window

The traditional single‐frequency carrier phase smoothing pseudorange algorithm is prone to divergence of smoothing results due to the influence of ionospheric delay variation. In this paper, a moving window method is proposed to reduce the influence of unmodeled ionospheric delay, and a mathematical model is established. Formula deduction shows that moving window method can eliminate the influence of ionospheric delay trend term. In the static positioning experiment, the accuracy of this algorithm in three directions of north, east and up is 9.5 cm, 18.0 cm and 13.7 cm, which is 2.4, 1.5 and 3.6 times higher than the original pseudorange positioning results. The results show that the proposed algorithm can significantly reduce the ionospheric influence and greatly improve the positioning accuracy. It is also suitable for both static and dynamic positioning. Its optimal result accuracy is comparable to that of weighted Hatch filtering, but the window selectivity is wider and the result is smoother. On various application scenarios, the uniform smoothing window is recommended for 7 minutes.