A LiDAR SLAM Algorithm Considering Dynamic Extraction of Feature Points in Underground Coal Mine

There is limited discussion on the impact of SSR corrections based on different ACs on RT ZTD accuracy. In this study, RT-PPP based on multiple ACs is used to estimate the positioning performance and ZTD accuracy of SSR products based on different ACs. GNSS from 8 IGMAS stations is increased from 355 in 2023 to 14 in 2024. WHU-SSR has a higher accuracy of RT-PPP derived ZTD with an RMSE of 6.06 mm and a perfect availability with an integrity rate of 89 %.