Study on real-time identification of GNSS multipath errors and its application

This paper presents a novel method to real-time identification Global Navigation Satellite System (GNSS) multipath errors in GNSS/INS integrated measurement system. Based on Inertial Navigation System (INS) characteristics, in the sampling period of the INS, the velocity increment and the position increment are observed data. The first neuron is developed to real-time monitor the continuity and stability of GNSS output. Based on the current statistical model of maneuvering target, and error characteristics of inertial sensors, the second neuron is developed to real-time monitor the reliability of GNSS output. Experiments and comparison analysis have been conducted, demonstrating that the proposed method can effectively clean out GNSS multipath errors.