Particle Filtering for Multipath Effects Reduction in Land Vehicule Positioning

Many applications using global navigation satellite systems (GNSS) like the well known GPS or the future Galileo face with the problem of multipaths leading to inaccurate estimation of the position. This problem is a part of a more general one when the observation model used in the estimation process does not correspond to the environment. This article tackles this problem. The authors propose a new particle filtering based algorithm to switch between several possible observation models