Mobile radio-frequency ranging-aided satellite pseudorange error suppression method

In urban canyon and highly dynamic scenarios, satellite pseudorange observations are severely affected by atmospheric modeling residuals, multipath effects, and measurement noise, resulting in increased pseudorange errors with pronounced non-stationary characteristics. To address this issue, a mobile radio-frequency (RF) ranging-aided satellite pseudorange error suppression method is proposed. The method introduces mobile RF ranging measurements with independent measurement characteristics into the original BeiDou pseudorange observations to construct complementary observation constraints. By exploiting the independence of error sources between RF ranging and satellite pseudoranges, the propagation and amplification of pseudorange errors are effectively suppressed during the joint estimation process, without directly modifying the pseudorange measurements. Dynamic UAV experiments conducted under complex environments demonstrate that the proposed method significantly reduces the root mean square (RMS) of BeiDou pseudorange residuals, achieving an RMS reduction of 82.3% compared with the carrier-phase smoothed pseudorange method. Moreover, the proposed approach exhibits improved robustness and stability in dynamic and obstructed conditions, overcoming the strong dependence of carrier-phase smoothing on continuous carrier tracking and its limited capability in mitigating slowly varying bias components. This work provides an effective and practical solution for satellite pseudorange error suppression and observation quality improvement in challenging environments.