Detection of variance changes and mean value jumps in measurement noise for multipath mitigation in urban navigation

This paper studies an urban navigation filter for land vehicles. Typical urban-canyon phenomena as multipath and GPS outages seriously degrade positioning performance. To deal with these scenarios a hybrid navigation system using GPS and dead-reckoning sensors is presented. This navigation system is complemented by a two-step detection procedure that classifies outliers according to their associated source of error. Two different situations will be considered in the presence of multipath. These situations correspond to the presence or absence of line of sight for the different GPS satellites. Therefore, two kinds of errors are potentially ldquocorruptingrdquo the pseudo-ranges, modeled as variance changes or mean value jumps in noise measurements. An original multiple model approach is proposed to detect, identify and correct these errors and provide a final consistent solution.