The invention discloses a multi-
system dynamic PPP resolving method based on robust self-adaption Kalman
smoothing. The method includes the steps that receiving
machine outline coordinates and receiving
machine clock bias of all systems are solved through selecting-weight-iteration pseudo-range single-point positioning, and accordingly all positioning error correction values are calculated according to an
error correction model in combination with the
satellite precise
ephemeris and
satellite precise
clock bias; strict
data quality control is conducted on
observation data. Due to the fact that dynamic PPP accuracy is easily affected by undetected small cycle slips or the gross error and the like, an observation equation weight matrix is adjusted according to the observation value residual vectors, and the undetected small cycle slips or the gross error and other influence factors are removed; self-adaption factors are determined according to the state predictive information, and thus the influence on parameter
estimation of the predictive information is controlled. By means of the method, when multi-
system dynamic PPP is conducted through a single receiving
machine, the feature that the number of multi-
system satellites is increased greatly, on the basis that the stability of the
satellite structure is guaranteed, the influence of the gross error is weaken effectively, the
dynamic noise abnormity in
dynamic positioning is improved, and finally the high-precision and high-stability multi-system dynamic PPP result is achieved.