A distribution model of the GNSS code noise and multipath error considering both elevation angle and orbit type

Commonly, the code noise and multipath error is considered to fully obey the Gaussian distribution. While in the cases with different elevation angles and orbit types, the assumption may be inappropriate. Based on an empirical study, by considering both the elevation angle and the orbit type, a new code noise and multipath distribution model is proposed to describe a more accurate code noise and multipath distribution in this paper. Actual code noise and multipath data from 10 observation stations during two months are researched, and the parameters and elevation angle range of code noise and multipath distribution model are determined. The code noise and multipath distribution model is verified to be more accurate than the model presented in the Global Navigation Satellite System Evolutionary Architecture Study report, according to the analysis on the code noise and multipath overbounding, position error overbounding, and the availability of receiver autonomous integrity monitoring. This model provides more accurate prior information for receiver autonomous integrity monitoring, especially its availability.