TheCarrier-Phase-DerivedDoppler (CPDD) observation is an important type of observation for high-precision standalone velocity\nestimation (SVE) with the BeiDou Navigation Satellite System (BDS) receiver. The CPDD observation is susceptible to receiver\nclock jump, carrier-phase cycle slips, and multipath error. How to improve the accuracy and reliability of the SVE method based\non the CPDD observation has become an urgent problem to be solved. Based on the Velocity Domain Selective Fusion (VDSF)\nstrategy, this paper proposes the VDSF-ARUKF method for accuracy and reliability improvement of the SVE results of the original\nARUKF method. In this improved ARUKF method, the CPDD observation and the raw Doppler observation are fused together\nbased on the detection statistic under the framework of the Adaptively Robust Unscented Kalman Filter (ARUKF). Based on actual\nobservations of the BDS receiver, a set of testing experiments were designed to verify the effectiveness of this improved ARUKF\nmethod. The experimental results show that the SVE method of the BDS receiver based on the VDSF-ARUKF can improve the\naccuracy and reliability of the ARUKF SVE results of the BDS receiver. In the case of multidimensional gross errors in the CPDD\nobservations, the VDSF-ARUKF method can still obtain the SVE results with the highest accuracy on the order of several \n10-2m/s when compared with the VDFF-ARUKF method and the ARUKF method using the CPDD observations.
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