Patent ID: 8768611

Claim:
A method for processing a plurality of groups of navigation signals with a navigation receiver mounted on a moving vehicle, the method comprising the steps of: receiving, at the navigation receiver mounted on the moving vehicle, the plurality of groups of navigation signals, wherein each particular group of navigation signals in the plurality of groups of navigation signals corresponds to a particular global navigation satellite in a plurality of global navigation satellites; for each group of navigation signals in the plurality of groups of navigation signals: separating the group of navigation signals into a first set of navigation signals and a second set of navigation signals, wherein: each navigation signal in the first set of navigation signals is a direct navigation signal; and each navigation signal in the second set of navigation signals is a reflected navigation signal; separating the second set of navigation signals into a first subset of navigation signals and a second subset of navigation signals, wherein: each navigation signal in the first subset of navigation signals is a navigation signal reflected from an object; and each navigation signal in the second subset of navigation signals is a navigation signal reflected from an environmental surface; and detecting the object based at least in part on the first subset of navigation signals in each group of navigation signals in the plurality of groups of navigation signals.