GNSS direct position estimation-inspired positioning with pseudorange correlogram for urban navigation

Multipath (MP) reception has been among the main issues for accurate and reliable positioning in urban environments. It has been shown to introduce positioning errors of up to tens of meters for conventional two-step (2SP) receivers. The direct position estimation (DPE) has been introduced as a more robust positioning algorithm compared to the conventional two-step (2SP) receivers in terms of MP mitigation. However, its high computational load prevents DPE from real-time positioning for commercial receivers. Thus, we present a novel grid-based maximum likelihood estimation (MLE) algorithm based on DPE by making use of pseudorange measurements to obtain the correlogram on a predefined searching space. Unlike DPE, which performs correlations at the intermediate frequency (IF) level, correlations are done by directly comparing the code phase of each candidate position, velocity, and timing with the incoming pseudorange. This way, the proposed method retains MP mitigation properties from DPE through the use of MLE from DPE and allows for a significantly reduced computational load compared to DPE. The proposed method was tested with both open-sourced datasets collected in urban environments as well as IF simulation data, and its performance is evaluated against a 2SP receiver. Results show that the proposed method manages to acquire the MP mitigation capability of DPE and outperforms 2SP by up to around 23