Bayesian Time Delay Estimation of GNSS Signals in Dynamic Multipath Environments

Figure 3

Illustration of the hidden Markov estimation process for three time instances. Our channel measurements are the sequence $\{z_i\mathrm{,}\hspace{0.17em}\hspace{0.17em}i=1,\dots \mathrm{,}k\}$, and the channel parameters to be estimated are $\{x_i\mathrm{,}\hspace{0.17em}\hspace{0.17em}i=1,\dots \mathrm{,}k\}$.