Methods of Robust Snapshot Positioning in Multi-Antenna Systems for Inland water Applications

As the Global Navigation Satellite Systems (GNSS) are increasingly used as the main source of Positioning, Navigation and Timing (PNT) information for maritime and inland water applications, it becomes of crucial importance to ensure the reliability and the accuracy of the GNSS-based navigation solution for certain challenging environments. The presented work extends the previously reported GPS L1C positioning algorithms using robust estimation framework for the scenarios with multiple separate GNSS antennas. The performance of a robust method suitable for multiple outlier mitigation is compared to one of the robust methods designed for a single antenna. The presented schemes are evaluated using real measurement data from inland water scenario with multiple bridges and a waterway lock. The initial results are encouraging and indicate the scalability of the previously suggested robust GPS positioning schemes for setups with multiple GNSS antennas as well as the potential of the methods to be used in integrated navigation systems.