Nonlinear Bayesian Tracking Loops for Multipath Mitigation

<table>Pseudorange error in DLL and MEPF schemes in an urban scenario at an elevation of <svg height="14.2625" id="M288" style="vertical-align:-0.1638pt" version="1.1" viewbox="0 0 22.6 14.2625" width="22.6" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.625,13.438)"><path d="M153 550l-26 -186q79 31 111 31q90 0 141.5 -51t51.5 -119q0 -93 -89 -166q-85 -69 -173 -71q-32 0 -61.5 11.5t-41.5 23.5q-18 17 -17 34q2 16 22 33q14 9 26 -1q61 -50 124 -50q60 0 93 43.5t33 104.5q0 69 -41.5 110t-121.5 41q-53 0 -102 -20l38 305h286l6 -8
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<g transform="matrix(.012,-0,0,-.012,16.937,5.275)"><path d="M326 255q0 -56 -41 -96t-99 -40t-99 40t-41 96t41 96t99 40t99 -40t41 -96zM274 255q0 38 -25.5 65t-62.5 27t-62.5 -27t-25.5 -65t25.5 -65t62.5 -27t62.5 27t25.5 65z" id="x2218"></path></g>
</svg>, as modeled by Jahn’s model.</table>

International Journal of Navigation and Observation

Nonlinear Bayesian Tracking Loops for Multipath Mitigation

Figure 8