Detecting Multipath Errors in Terrestrial GNSS Applications

This paper describes a method for detecting multipath errors in satellite navigation services for terrestrial vehicles. The proposed method uses multiple satellite receivers and compares their measurements to detect differences in the rate of change of the carrier phase. The proposed method is tested for nominal operation on real data; faulted operation is studied in two experiments: using real data with an injected fault, and using a simulated signal with an occlusion of the line of sight. In all cases this method outperforms the fault detection capability of a previously existing method, reducing the probability of mis-detecting a given fault by a factor of more than 1010.