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In GPS navigation, an accuracy of about 10 m can be currently obtained, but this performance can be strongly degraded in a multipath environment. The multipath directly impacts the distribution of the additive noise corrupting the distance measurements between the satellites and the GPS receiver. They are modeled either as variance jumps if there is a direct path between the satellites and the receiver or as mean-value jumps otherwise. The originality of their approach is to take into account the spatial dependencies between GPS measurements when modeling multipath occurrences. Indeed, if two signals from satellites have close directions of arrival, they are very likely to be simultaneously degraded by multipath.
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