Patent ID: 8717233

Claim:
A method for mitigating the effect of multipath error in a GNSS device, the method comprising: receiving signals from a plurality of GNSS satellites; receiving image data from at least one image sensor; receiving orientation data from at least one orientation sensor, wherein the orientation data comprises inclination data that describes a pitch and roll of the GNSS device with respect to a horizon; determining obstruction data based on the image data and the orientation data, wherein the obstruction data indicates an obstruction region; based on the obstruction data, the orientation data, and GNSS satellite location data, determining the position of at least one GNSS satellite of the plurality of GNSS satellites relative to the obstruction region, wherein the GNSS satellite location data describes the location of the at least one GNSS satellite; determining whether a satellite of the at least one GNSS satellite is an obstructed satellite if its position is within the obstruction region; and determining the location of the GNSS device based on the signals from the plurality of GNSS satellites, wherein measurements based on signals from obstructed satellites are excluded or de-weighted relative to measurements based on other satellites of the plurality of GNSS satellites.