3d lidar aided global navigation satellite system and the method for non-line-of-sight detection and correction

A high-precision satellite positioning method assisted by three-dimensional lidar. The present application provides a method for using a satellite positioning system to support vehicle positioning. The method comprises: generating a sliding window map (SWM) in real time based on a 3D point cloud from a 3DLiDAR sensor and an attitude heading reference system (AHRS), wherein the SWM provides an environment description for detection and NLOS reception; accumulating a 3D point cloud from the previous frame into the SWM to enhance the field of view of the 3D LiDAR sensor; Receiving GNSS measurements from satellites via GNSS receivers; using the SWM to detect the NLOS reception from the GNSS measurements; when no reflection point can be found in the SWM, the NLOS reception is corrected by NLOS reconstruction; and estimation of GNSS positioning by least squares algorithms. The purpose of the present application is to provide a method for mitigating NLOS caused by static buildings and dynamic objects.