Bayesian Time Delay Estimation of GNSS Signals in Dynamic Multipath Environments

Figure 5

The Markov process chosen in this paper to model the channel with $N_m$ paths. Dotted arrows—shown only for a small subset of the transitions—indicate the constraint that $\mathrm{>\Delta }{\tau }_{i\mathrm{,}k}\ge 0$. For an explanation of the terms, see the text leading up to (27).