目前包含手機、車輛等移動裝置多以衛星為主要定位方式。但衛星定位若要應用於車輛安 全，精準度至少須達到車道等級，目前市售定位裝置提供的定位精準度與需求仍有很大一段差 距。在此我們結合慣性導航元件與衛星定位裝置，並提出利用衛星定位裝置持續監控某可能被遮 蔽衛星之訊號，做為相互切換之依據，同時藉此消除衛星訊號之多重路徑與遮蔽效應所造成之誤 差。經實際測試證實提出之演算法大幅改善定位的精準度。

Currently, large amounts of mobile devices including mobile phones, vehicles and other mobile devices use satellite signals as the positioning method. However, to achieve vehicle safety requirement, satellite positioning accuracy needs to approach lane-level at least. The accuracy of the current commercial positioning solutions still exist a large space to improve to meet the requirement. In this thesis, we combine inertial navigation element with the satellite positioning device, and also propose the method of continuously monitoring the satellite that may be obscured. We mutually switch the positioning method based on the obscured satellite index to eliminate the positioning errors caused by multipath. The results show that the calibration method can improve the accuracy performance of GPS positioning notably.