@inproceedings{bitner_multipath_2015,
	title = {Multipath and {Spoofing} {Detection} {Using} {Angle} of {Arrival} in a {Multi}-{Antenna} {System}},
	url = {http://www.ion.org/publications/abstract.cfm?jp=p&articleID=12651},
	abstract = {This paper presents and validates a proposed algorithm for the detection and exclusion of erroneous GPS signals using angle of arrival (AOA) of GPS signals and differential carrier phase measurements. First, the attitude of the instrumented vehicle is estimated using a multi-antenna GPS receiver. Once an attitude estimate has been established, it can be propagated forward between GPS measurements using an IMU in a GPS/INS extended Kalman filter (EKF). New measurements may then be checked for angle of arrival, with accepted measurements used to further estimate position and attitude. New attitude estimates are then propagated forward to repeat the checking stage of the algorithm. Results show that the proposed algorithm is a viable method of rejecting signals. Rejected signals are verified as multipath by plotting positioning solutions before and after signal removal on a map of the area the data was taken. Rejected signals are also verified by comparing the expected and measured pseudorange measurements over the periods of time before, during, and after a signal is rejected.},
	language = {en},
	urldate = {2024-06-20},
	author = {Bitner, Thomas and Preston, Sarah and Bevly, David},
	month = jan,
	year = {2015},
	pages = {822--832},
}

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