## 4 Data Description
### Description of Real Data Collection  
All the static and kinematic datasets listed in Tables 5 and 6 were collected at the University of Nottingham Ningbo China (UNNC) using Javad Triumph VS receivers. All the data shown in Table 5 were collected with static antennas. Dataset STR1 was collected on the South Pillar on the \begin{table}
\begin{tabular}{c c c c c} \hline \hline
**Datasets** & **Date** & **Time (GPST)** &
\begin{tabular}{c} **No. of available** \\ **Satellites** \\ \end{tabular} & **Average GDOP** \\ \hline SIMTR & 18 June 2015 & 00:00:00–03:59:59 & 2–7 & 8.8 (1.8–50+) \\ SIMTU & 18 June 2015 & 04:00:00–11:59:59 & 3–8 & 4.6 (1.5–50+) \\ SIMTE & 18 June 2015 & 12:00:00–23:59:59 & 2–8 & 6.3 (1.5–50+) \\ \hline \hline \end{tabular}
\end{table} 
Table 4: List of data collected with a GNSS simulator; GDOP denotes Geometric Dilution of Precision. Figure 5: A simulated urban canyon environment in the Spinent GPS signal simulation. roof of the Science and Engineering Building (SEB) at UNNC with a clear open environment shown in Figure 6a. Datasets STR2, STU, and STE were collected in a multipath environment (near a wall) shown in Figure 6b. Dataset STU is only used for parameter tuning of the detector. The reference station of Datasets STR1, STR2, STU, and STE is set on the North Pillar at SEB. A rotating arm rig was used to collect real kinematic data. The rig has four parts, as shown in Figure 7: a base, a cabinet, a rotating arm, and two platforms. The base with a motor and a battery is at the bottom of the center. Above the base, there is a cabinet to place GPS receivers, and an antenna can be \begin{table}
\begin{tabular}{c c c c c} \hline \hline
**Datasets** & **Date** & **Time (GPST)** & \begin{tabular}{c} **No. of Available** \\ **Satellite** \\ \end{tabular} & \
\begin{tabular}{c} **Average** \\ **GDOP** \\ \end{tabular} &
\begin{tabular}{c} **Environment of** \\ **Data Collection** \\ \end{tabular} \\ \hline STR1 & 18 January 2017 & 00:00:00–03:59:59 & 6–9 & 2.9 (1.3–4.0) & Open clear area \\ STR2 & 21 January 2017 & 04:00:00–07:59:59 & 4–9 & 3.3 (1.8–5.5) & Near to a wall \\ STU & 21 January 2017 & 08:00:00–11:59:59 & 5–11 & 3.6 (1.2–17.1) & Near to a wall \\ STE & 21 January 2017 & 12:00:00–23:59:59 & 6–9 & 2.8 (1.3–3.4) & Near to a wall \\ \hline \hline \end{tabular}
\end{table} 
Table 5: Details of the collection of the real static data. Figure 6: Images show the environments for the collection of **(a)** Dataset STR1; **(b)** Datasets STR2; STU, STE; **(c)** Dataset KTR1; **(d)** Datasets KTR2, KTU, KTE1; **(e)** Dataset KTE2; and **(f)** Dataset KTE3. installed on the top of the cabinet. The total length of two arms (i.e., diameter of the circular trajectory) is 4 m. At the end of the rotor arm, there are two platforms. The rectangular platform is used to host an antenna and the circular one is used to hold equivalent weight to balance the arms. A rotating rig can provide a fixed trajectory (surveyed by total station) so that the 'true' carrier phase residuals can be calculated. In addition, when the rig is placed next to a wall, the rotation of the rig can simulate the transition between low and high multipath environments. Multipath errors change from time to time and place to place during a sidereal day; therefore, the phases and magnitudes of multipath errors in a rotation of the rotating arm rig are not repetitive (each rotation is treated separately). All the data shown in Table 6 were collected with a kinematic antenna. Datasets KTR1 and KTR2 were collected with the rotating arm rig in a clear open environment as shown in Figure 6c and a multipath environment shown in Figure 6d, respectively. Datasets KTU and KTE1 were collected with the rotating arm rig near a wall. Dataset KTU is only used for parameter tuning of the proposed multipath detector. After tuning and training, the detector is then validated by test sets KTE1 and KTE2.