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Modern industrial environments with automated production machinery often require special indoor positioning and localization techniques, due to the presence of objects and of the infrastructure that may obstruct the line-of-sight propagation or interfere with the behaviour of electromagnetic waves. These challenges are difficult to overcome by the widely employed GNSS positioning system designed for use in outdoor areas. One of existing indoor positioning systems are the pseudolites, which transmit positioning signals similar to the ones used by GNSS systems. One of the sources of errors for pseudolites is the multipath propagation. Our paper compares the performances of several multipath propagation detection techniques, using Binary Offset Carrier (BOC) navigation signal and determines that errors increases sharply when the receiver uses navigation signals that have multipath propagation. The techniques that we present improve the positioning accuracy, which leads to more precise industrial processes

Comparison of Detection Techniques for Multipath Propagation of Pseudolite Signals Used in Dense Industrial Environments