The invention discloses a multi-
source data fusion method and
system for mobile Beidou high-precision positioning, and relates to the technical field of high-precision navigation positioning, the problem of
satellite observation value quality degradation in a complex environment is inhibited through tight
coupling layer explicit modeling and online
estimation of multipath errors, and in the tight
coupling depth fusion and calculation process, the real-time performance of the
satellite observation value is improved. The constructed first
factor graph model takes the multi-path error as a
state parameter to be estimated for explicit modeling, the multi-path error is incorporated into a Beidou original observation factor, and in the joint optimization solution process, the first
factor graph model takes the multi-path error as an independent degree of freedom for online real-
time estimation and updating, so that the multi-path error is estimated in real time; according to the method, the part, attributable to multi-path interference, in the observation residual error is actively distributed and absorbed into the state parameters, so that a tight
coupling resolving module can still output a more reliable tight coupling optimal
pose sequence with higher anti-interference capability and provide a stable absolute position even if the
satellite observation condition is seriously polluted by multiple paths.