Multipath interference has been one of the most difficult problems when using global navigation satellite system-based vehicular navigation in urban environments. In this article, we develop a multipath mitigation algorithm exploiting the sparse estimation theory that improves the absolute positioning accuracy in urban environments. The navigation observation model is established by considering the multipath bias as additive positioning errors, and the assumption for the proposed method is that global navigation satellite system signals contaminated due to multipath are the minority among the received signals, which makes the unknown bias vector sparse. We investigated an improved elastic net method to estimate the sparse multipath bias vector, and the global navigation satellite system measurements can be corrected by subtracting the estimated multipath error. The positioning performance of the proposed method is verified by analytical and experimental results.
Smooth Bias Estimation for Multipath Mitigation Using Sparse Estimation
