GNSS signal multipath error characterization in urban environments using LiDAR data aiding

In this paper, multipath error on Global Navigation Satellite System (GNSS) signals in urban environments is characterized with the help of Light Detection and Ranging (LiDAR) measurements. For this purpose, LiDAR equipment and Global Positioning System (GPS) receiver were used to collect data in an urban environment. LiDAR measurements are used to extract environment features. GPS raw measurements are processed with a multipath estimating architecture and validated by comparison with the environmental features extracted by the LiDAR. The work presented in this paper aims at demonstrating the benefits of the joint processing of information from the two sources in order to obtain robust positioning in harsh environments.