BDS multipath errors reducing method based on EMD-LSTM coupled prediction model

The multipath errors in short baseline measurement of BeiDou Navigation Satellite System (BDS) were the main errors affecting positioning accuracy. Aiming at the nonlinearity of multipath errors and the non-stationarity of coordinate series, a coupled prediction model of EMD-LSTM was proposed by combining empirical mode decomposition (EMD) with long short-term memory (LSTM) to predict multipath errors and weaken the influence of multipath errors. The experimental results show that the EMD-LSTM coupled prediction model can effectively reduce the multipath errors, and the E, N,and U directions were respectively improved by 22％, 36％, and 40％.