EAAI Journal 2026 Journal Article
A dual-algorithm fusion positioning method based on global navigation satellite system signal quality assessment mode
- Xirui Zhang
- Runze Gu
- Junxiao Liu
- Lina Zhang
- Xian Wu
- Sheng Wei
In global navigation satellite system signal-constrained environments such as forests and tall buildings, the inaccurate global navigation satellite system positioning results are caused by the occlusion effect or reflection of the signals by dense tree canopies and structures, and this global observation degradation will directly affect the robustness and accuracy of the fused positioning system. This paper proposes an adaptive high-precision positioning framework that dynamically selects global navigation satellite system-inertial measurement unit fusion or lidar–inertial measurement unit odometry based on a global navigation satellite system quality evaluation model. By integrating lidar elevation constraints in the global navigation satellite system available phase and incorporating tightly coupled lidar–inertial measurement unit odometry with point cloud data-map-based global correction in global navigation satellite system denied conditions, the framework achieves robust real-time global localization across varying environments. The proposed localization method was evaluated on the KITTI (Karlsruhe Institute of Technology and Toyota Technological Institute at Chicago) and UrbanNav-HK-Data datasets (High-Precision Localization Dataset for Urban Navigation in Hong Kong) using official ground-truth trajectories. These datasets provide authoritative benchmarks for fair, objective, and quantitative evaluation due to their diverse scenarios and high-precision real-world trajectories. Experimental results show that the core indicators improved by 30%. Furthermore, real-world experiments in a rubber plantation demonstrate positioning accuracy and consistency comparable to high-precision RTK(Real-Time Kinematic), validating the robustness and effectiveness of the proposed method in both open and global navigation satellite system-degraded environments. This will provide technical support for artificial intelligence in navigation algorithms.