An advanced GNSS code multipath detection and estimation algorithm

A novel maximum likelihood-based range estimation algorithm is designed to provide robustness to multipath, which is recognized as a dominant error source in DS-CDMA-based navigation systems. The detection–estimation problem is jointly solved to sequentially estimate the parameters of each individual multipath component and predict the existence of a next possible component. A comparison between contemporary maximum likelihood-based multipath estimation techniques and this new technique is provided. A selection of realistic channel simulation models is used to assess relative performance under different operating situations. A set of real GPS L1/CA data processing results are also presented to further assess the applicability of the proposed algorithm for urban navigation.