  In this paper, we propose a 3D LiDAR aided global navigation satellite system
(GNSS) non-line-of-sight (NLOS) mitigation method caused by both static
buildings and dynamic objects. A sliding window map describing the surrounding
of the ego-vehicle is first generated, based on real-time 3D point clouds from
a 3D LiDAR sensor. Then, NLOS receptions are detected based on the sliding
window map using a proposed fast searching method which is free of the initial
guess of the position of the GNSS receiver. Instead of directly excluding the
detected NLOS satellites from further positioning estimation, this paper
rectifies the pseudorange measurement model by (1) correcting the pseudorange
measurements if the reflecting point of NLOS signals is detected inside the
sliding window map, and (2) remodeling the uncertainty of the NLOS pseudorange
measurement using a novel weighting scheme. We evaluated the performance of the
proposed method in several typical urban canyons in Hong Kong using an
automobile-level GNSS receiver. Moreover, we also evaluate the potential of the
proposed NLOS mitigation method in GNSS and inertial navigation systems
integration via factor graph optimization.
