For weak GNSS signal area and long road area, it is recommended that we do not process GNSS signal when processing.
For weak GNSS signal area, it is recommended not to deal with GNSS when processing, and only process by SLAM, if you need absolute coordinates, please set control points. For long road areas, it is recommended to measure multiple ranges, one range every 300-500 meters, and keep more than 20% overlap between adjacent ranges; it is better to alternate between left and right side of the road than to walk in a straight line.