Description  Claims  Drawing  Cited references 

JP2005195493A   [0005]  [0005] 
JP2011163817A   [0005]  [0005] 
WO0075683A1   [0006] 
US2010079332A1   [0008] 

Multipath detection with 3D digital maps for robust multi-constellation GNSS/INS vehicle localization in urban areas   [0065] 
The Possibility of the Precise Positioning and Multipath Error Mitigation   [0180] 
Performance comparison of multipath mitigating receiver architectures   [0199]