Patent ID: 8843313

Claim:
A method to improve navigation for a vehicle by utilizing detected multipath on the vehicle, the method comprising: receiving, with a monitor antenna, at least one first signal, wherein the monitor antenna is located at a position on a front area of the vehicle; receiving, with a reference antenna, at least one second signal, wherein the reference antenna is located at a position on a back area of the vehicle; processing, with at least one monitor receiver, the at least one first signal to obtain monitor measurement information; processing, with at least one reference receiver, the at least one second signal to obtain reference measurement information; generating, with at least one processor, an estimate of a state of the reference antenna by using the monitor measurement information, the reference measurement information, and estimates of speed and direction of the vehicle; and calculating, with the at least one processor, the monitor measurement information for multipath detection to determine whether to isolate and exclude the reference measurement information obtained from the at least one second signal from individual satellites by measuring the correlation of the reference measurement information and the monitor measurement information by using sensors of vehicle speed and direction, and by increasing a significance of the monitor measurement information when the reference antenna passes close to previous locations of the monitor antenna.