{
  "abstract": "Positioning solutions based on global navigation satellite systems remain vulnerable to local multipath and non-line-of-sight conditions, a challenge for autonomous systems that must operate reliably across diverse environments. To support context-aware navigation, we quantify pseudorange multipath effects across four environmental settings: canyon, urban, trees, and open sky. Given a known receiver position, the range-free double difference (RFDD) can be used to isolate multipath errors. We propose a refinement accounting for clock biases in a commercial off-the-shelf receiver, which otherwise distort geometric range estimates-a key input to the RFDD. Applying our method to data collected in Toulouse, France, we statistically analyze how multipath errors can be modeled as a function of carrier-to-noise ratio (C/N 0 ) within each labeled environmental context. Histograms and the first four moments-mean, variance, skewness, and kurtosis-offer complementary perspectives, showing that the multipath component of the RFDD may be described by a chi-square-like distribution.",
  "abstract_shown": true,
  "affiliations": [],
  "article_type": null,
  "arxiv": null,
  "author_total": 3,
  "authors": [
    {
      "name": "Maximilian von Arnim"
    },
    {
      "name": "Damien Vivet,"
    },
    {
      "name": "Yoko Watanabe"
    }
  ],
  "bibtex": "https://research.draconitic.com/paper/8rhzprgt3e9qd.bib",
  "cited_by": 0,
  "doi": "10.33012/navi.790",
  "fulltext_url": null,
  "id": "8rhzprgt3e9qd",
  "issns": [
    "0028-1522"
  ],
  "landing_url": "https://hal.science/hal-05781276v1",
  "language": "en",
  "licence": "CC-BY-4.0",
  "licence_label": "CC BY 4.0",
  "licence_source": "article",
  "licence_url": "https://creativecommons.org/licenses/by/4.0/",
  "metadata_licence": null,
  "native_subjects": [
    [
      "hal",
      "0.spi"
    ],
    [
      "hal",
      "0.stat"
    ],
    [
      "hal",
      "1.spi.signal"
    ],
    [
      "openalex",
      "2202|GNSS positioning and interference"
    ]
  ],
  "openalex": "W7214592620",
  "pdf_url": "https://hal.science/hal-05781276/document",
  "pmcid": null,
  "pmid": null,
  "published": "2026-08-31",
  "publisher": "Institute of Navigation",
  "ris": "https://research.draconitic.com/paper/8rhzprgt3e9qd.ris",
  "sources": [
    {
      "first_seen": "2026-10-30T12:17:49Z",
      "native_id": "hal-05781276",
      "source": "hal",
      "url": "https://hal.science/hal-05781276v1"
    }
  ],
  "subjects": [
    {
      "field": "mathematics",
      "origin": "hal:0.stat",
      "subfield": "statistics"
    }
  ],
  "title": "Quantifying GNSS Multipath Statistics by Signal Properties in Urban, Suburban, and Rural Environments",
  "title_text": "Quantifying GNSS Multipath Statistics by Signal Properties in Urban, Suburban, and Rural Environments",
  "type": "peer-reviewed",
  "updated_at": "2026-10-30T12:17:49Z",
  "url": "https://research.draconitic.com/paper/8rhzprgt3e9qd",
  "venue": "Navigation",
  "versions": []
}