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Multipath and non-line-of-sight (NLOS) signals are the major causes of pooraccuracy of a global navigation satellite system (GNSS) in urban areas. Despitethe wide usage of the GNSS in populated urban areas, it is difficult to suggesta generalized method because multipath errors are user-specific errors thatcannot be eliminated by the DGNSS or a real-time kinematic technique. Thispaper introduces a real-time multipath estimation and mitigation technique,which considers compensation for the time offset between constellations. Italso presents a mode-switching algorithm between the DGNSS and multipathmitigating mode and shows that this technique can be effectively utilized forautomobiles in a deep urban environment without any help from sensors otherthan GNSS. The availability is improved from 64% to 100% and the error RMS isreduced from 11.1 m to 1.2 m on Teheran-ro, Seoul, Korea. Because this methoddoes not require prior information or additional sensor implementation forhigh-positioning performance in deep urban areas, it is expected to gain wideusage in not only the automotive industry but also future intelligenttransportation systems.

Seamless Accurate Positioning in Deep Urban Area based on Mode Switching Between DGNSS and Multipath Mitigation Positioning