Verification of GNSS Multipath and Positioning in Urban Areas Using 3D maps

The reflections and diffractions of global navigation satellite system (GNSS) signals from buildings may produce large measurement errors. Detecting non-line-of-sight signals using 3D maps is a means to detect and exclude satellites with large measurement errors. However, the true position is typically needed for using 3D maps. In this study, we verify the assumption that an approximate user position can be used when using 3D maps. We found that the correct fixed position of real-time kinematic GNSS (RTK-GNSS) could be achieved when approximate positions for RTK-GNSS assisted by 3D maps were within 5-15 m from the true position