Abstract: Aiming at the problem that the satellite data quality of Android smartphones is poor, some satellite observation data are only single-frequency data, and the traditional carrier phase smoothing pseudoranging algorithm is susceptible to the ionospheric delay leading to filter dispersion, a single/dual-frequency mixed carrier phase smoothing pseudoranging (MF-Hatch) algorithm is proposed. The method makes comprehensive use of the mixed data on the basis of Hetch filtering, adopts the ionosphere-free combination method for the dual-frequency data to eliminate the ionosphere delay, smoothes the combination pseudorange and the single-frequency pseudorange with the moving open window carrier phase smoothing pseudorange method, and avoids the dispersion of the filter due to the effects of the ionosphere anomaly and the circumferential hopping by setting a threshold value. The experiment proves that, relative to the result of directly using raw data for localization, the MF-Hatch algorithm improves the E, N, and U upward localization accuracy by 33.62%, 18.14%, and 26.78%, respectively, in single-point static localization, and improves the E, N, and U upward localization accuracy by 23.14%, 28.69%, and 16.91%, respectively, in dynamic localization in an urban environment.

Key words: Android smart terminal, single/dual-frequency mixed data, phase smoothing range, SPP, Hatch filtering