GNSS Multipath Detection Using Continuous Time-Series C/N₀

The reduction of multipath errors is a significant challenge in the Global Navigation Satellite System (GNSS), especially when receiving non-line-of-sight (NLOS) signals. However, selecting line-of-sight (LOS) satellites correctly is still a difficult task in dense urban areas, even with the latest GNSS receivers. This study demonstrates a new method of utilization of C/N₀ of the GNSS to detect NLOS signals. The elevation-dependent threshold of the C/N₀ setting may be effective in mitigating multipath errors. However, the C/N₀ fluctuation affected by NLOS signals is quite large. If the C/N₀ is over the threshold, the satellite is used for positioning even if it is still affected by the NLOS signal, which causes the positioning error to jump easily. To overcome this issue, we focused on the value of continuous time-series C/N₀ for a certain period. If the C/N₀ of the satellite was less than the determined threshold, the satellite was not used for positioning for a certain period, even if the C/N₀ recovered over the threshold. Three static tests were conducted at challenging locations near high-rise buildings in Tokyo. The results proved that our method could substantially mitigate multipath errors in differential GNSS by appropriately removing the NLOS signals. Therefore, the performance of real-time kinematic GNSS was significantly improved.