Positioning method for suppressing urban canyon multipath satellite signals and positioning system thereof

GNSS vehicle-mounted positioning and GNSS-inertia combined navigation are widely applied at present. However, GNSS satellite signals are liable to be shielded and reflected by the buildings of the both roadsides and the multipath effect is severe because of shielding of the high-rise buildings of the both roadsides when the vehicle is driven in the urban canyon environment, and huge positioning error is introduced if non-line-of-sight satellites caused by signal reflection cannot be effectively discriminated so that eliminating the GNSS multipath error is one of the urgent problems in the field of vehicle navigation and positioning and even ITS at present in the urban canyon environment. The invention provides a positioning method for suppressing urban canyon multipath satellite signals and a positioning system thereof, and aims at the defects in the prior art. According to the method, the fact that the buildings only have large shielding on the satellites of the left-right direction and have no shielding on