| CPC G01S 19/22 (2013.01) [G01S 3/50 (2013.01); G01S 19/215 (2013.01)] | 14 Claims |
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1. A Global Navigation Satellite System (GNSS) receiver comprising:
at least two antennas including a first antenna and a second antenna configured to receive a plurality of GNSS signals; and
processing circuitry configured to estimate a plurality of arrival directions respectively corresponding to the plurality of GNSS signals, wherein
to estimate a given arrival direction corresponding to a given GNSS signal among the plurality of arrival directions respectively corresponding to the plurality of GNSS signals, the processing circuitry is configured to:
acquire, based on satellite orbit information, a direction, viewed from the at least two antennas, of a satellite corresponding to the given GNSS signal received by the at least two antennas; and
estimate the given arrival direction of the given GNSS signal by determining a phase difference of a carrier wave of the given GNSS signal, or by determining a difference between a first timing when a Pseudorandom noise (PRN) code included in the given GNSS signal is received by the first antenna, and a second timing when the PRN code included in the given GNSS signal is received by the second antenna, and
the processing circuitry is further configured to:
determine whether the plurality of GNSS signals received by the at least two antennas indicate different source satellites;
determine whether the plurality of arrival directions of the plurality of GNSS signals estimated by the processing circuitry are similar to each other by determining whether angular spectra of the plurality of GNSS signals are similar to each other, wherein the angular spectra are determined by measuring signal strengths at a range of angles of arrival; and
determine that the GNSS signal is a non-line-of-sight (NLOS) GNSS signal when the plurality of arrival directions are similar to each other although the plurality of GNSS signals received by the at least two antennas indicate different source satellites.
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