Abstract
Global Navigation Satellite System (GNSS) receivers make use of the United States' Global Positioning System (GPS), Russia's Global Navigation Satellite System (GLONASS), Europe's Galileo, China's Beidou, and Japan's Quasi-Zenith Satellite System constellations to determine the geolocation of the receiver based on the location of satellites and measurements of the distance and travel time of the GNSS signals. GNSS signals are dependent on line of sight to satellites with reflections or obstructions resulting in errors in the estimated position [1]. GNSS systems, while having their origin in military applications [2], have been adopted for many civilian uses from recreational navigation [3] to automated vehicle location systems [4]. While the GPS Standard Positioning Service without any correction sources establishes a 30 m range error limit for civilian use, GPS receivers typically perform better than this standard with errors primarily from atmospheric interference [5]. This is further improved in mobile devices by assisted GPS, WiFi, and cellular positioning when available [6].
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