Doppler-aided position estimation for HS-GNSS

During the last decade, because of the growing needs for indoor navigation, many authors tends to improve the processing gain of the GNSS receivers by increasing the observation time. In this paper, we show that this gain can also be improved by considering the Doppler information during the trilateration step. Indeed, whereas this information is not enough precise to be taken into account for small observation time, it becomes more relevant as the integration time increases. Moreover, the Doppler information is less sensitive to multipath when the receiver is static. For all these reasons, the Doppler information should be exploited in indoor environments. In this paper, we show how to exploit the Doppler information in an optimal sense to get a more precise position. The proposed Doppler-aided algorithm is shown to be a corrected version of the standard trilateration procedure that uses only the pseudo-ranges. Numerical simulations attest to the validity of this approach in indoor scenarios.