Abstract: To address the issue of reduced positioning performance of the single BeiDou Navigation Satellite System (BDS) when the number of visible satellites is insufficient,a fusion positioning algorithm combining the BDS and raw 5G observation data is proposed.Firstly,a fusion positioning algorithm model based on the BDS and 5G is established.Secondly,the least squares method results are imported into the Kalman filter and combined with prediction and observation information for analysis to obtain the final positioning result.Finally,the positioning performance of the proposed fusion positioning strategy is experimentally tested and evaluated under three occlusion environments: mild,moderate,and severe.The experimental results show that in the mild occlusion environment,the root mean square error (RMSE) is reduced by more than 50%; in the moderate occlusion environment,the accuracy is improved by nearly 80%; and in the severe occlusion environment,even when the BeiDou satellite signal is limited,the fusion system can still provide continuous high-precision positioning with an RMSE as low as 1.412 m.Increasing the number of 5G base stations can further optimize the positioning effect,especially in severe occlusion environment.

Key words: BeiDou Navigation Satellite System, 5G, fusion positioning, base station