Fig.1

Effects of height state estimation error convariance"

Tab.1

Performance parameters of IMU"

Tab.2

IF PPP/INS tightly coupled estimation method"

待估参数	估计策略
对流层延迟τ	天顶干延迟(Saastamoinen模型改正) 天顶湿延迟(估计为随机游走)
GPS接收机钟差dtr，IF，k	估计为白噪声
系统间偏差ISBk	估计为随机游走
无电离层组合浮点模糊度	估计为常值浮点解
加速度计偏差	估计为随机游走
陀螺仪偏差(με)	估计为随机游走

Fig.2

Experiment trajectory of datasets"

Fig.3

Height variation during vehicle experiment of datasets"

Tab.3

Satellite partial and complete outages settings"

Fig.4

Number of visible satellites and corresponding PDOP of datasets"

Tab.4

Constraint models"

模型	约束	函数模型	随机模型
1	无约束(HCF)	无	无
2	顾及高程变化定权的高程常值约束模型(HRWHC)		Rhc，k=(dh)2
3	历元间高程常值约束模型(ICHC)		Rhc，k=Pk－1
4	自适应短时高程变化率的高程约束模型(ASTHVRC)

Fig.5

Measuring errors of four constraint models of datasets"

Fig.6

Variance of the height constraint and squared error of the height constraint value of dataset 1"

Fig.7

Variance of the height constraint and squared error of the height constraint value of dataset 2"

Fig.8

Positioning errors in three directions by different models of datasets"

Tab.5

RMS of positioning errors using four models"

Fig.9

Height positioning errors of dataset 1 and dataset 2"

Tab.6

RMS and absolute maximum height positioning errors of dataset 1"

Tab.7

RMS and absolute maximum height positioning errors of dataset 2"

Tab.8

Positioning errors in three directions by different models under different interruption times of dataset 1 and dataset 2"

Fig.10

Experiment trajectory and height variation during vehicle experiment of dataset 3"

Fig.11

Number of visible satellites and corresponding PDOP"

Tab.9

Time span and road slope at occlusion"

Fig.12

Positioning errors in three directions by different models"

Tab.10

RMS of positioning errors using four models"

Tab.11

RMS and absolute maximum height positioning errors of dataset 3"