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                <title xml:lang="en">Scalable GNSS Performance Assessment and Environment Categorization Under Vegetation</title>
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                <term xml:lang="en">GNSS</term>
                <term xml:lang="en">Multipath</term>
                <term xml:lang="en">Vegetation</term>
                <term xml:lang="en">Urban Areas</term>
                <term xml:lang="en">Environment Categorization</term>
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              <p>&lt;div&gt;&lt;p&gt;While GNSS performance can be significantly affected by environmental factors such as urban buildings and vegetation, a scalable correlation between environmental features and positioning performance still remains to be developed, particularly in complex environments containing both vegetation and buildings. In this study, dynamical GNSS datasets collected in diverse GNSS operating environments of both Hong Kong and France are assessed based on the categorization from environmental features and satellite reception states. In general, positioning performance degrades the most within Urban environments compared to Vegetation environments, while Vegetation/Urban Mixed environments are more complex due to high geometry dependency. At the measurement level, vegetation tends to introduce higher degradations at medium elevation angles while urban buildings tend to introduce more significant degradations at low elevation angles. Moreover, the potential environment classification parameters are discussed, in which the significant variations of measurement features from low elevation angle satellites can indicate the presence of urban buildings, while the rapid fluctuation of pseudorange error and carrier to noise density ratio can be used to indicate the presence of vegetation.&lt;/p&gt;&lt;/div&gt;</p>
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