MPCNet: GNSS Multipath Error Compensation
Network via Multi-task learning
Sangjae Cho
CCS Graduate School of Mobility CCS Graduate School of Mobility
KAIST
Daejeon, South Korea Daejeon, South Korea
sanje@kaist.ac.kr hwseok@kaist.ac.kr
2023 IEEE Intelligent Vehicles Symposium (IV) | 979-8-3503-4691-6/23/$31.00 ©2023 IEEE | DOI: 10.1109/IV55152.2023.10186566
Abstract—In a multipath channel environment, classifying non-
line-of-sight (NLOS) Global Navigation Satellite (GNSS) satellites
and compensating multipath ranging error (MRE) is the most
important task for improving GNSS positioning accuracy in
urban areas. Recently, Signal-to-noise ratio (SNR), pseudorange,
and other measurements have been used to classify NLOS
satellites, but these measurements have limited representation
of NLOS channel characteristics. In this paper, we propose a
Multipath error Compensation Network (MPCNet) that uses
an Autocorrelation function (ACF) output and 3D Geographic
Information System (GIS) as inputs to classify NLOS satellites
and compensate for MRE. MPCNet is composed of two heads for
each task and a shared network that learns relevant information
about the multipath channel environment from the ACF output.
The performance evaluation of MPCNet was performed in a
real urban environment, and the NLOS classification accuracy
was compared with that of conventional deep learning-based
NLOS classifiers, and the positioning performance of conven-
tional positioning methods was also compared. MPCNet showed
an NLOS classification performance of about 97% and an
improvement in positioning accuracy of about 57% compared
to conventional positioning methods, demonstrating that it is a
robust and accurate MRE compensation technique in multipath
environment.
Index Terms—GNSS, multipath, NLOS, deep learning
I. I NTRODUCTION
Modern people living in urban environments are actively
using location services through services such as personal cars,
emergency vehicles, Intelligence Transportation System (ITS),
and autonomous vehicles [1]. In these location services, the
Global navigation satellite system (GNSS) is an important
element and the most basic system [2]. Recently, several
countries that service GNSS on their own have been increasing
the number of GNSS satellites as the main goal of improving
GNSS positioning performance [3]. However, even with the
increase in the number of satellites, in urban areas, there is
a very poor performance with positioning errors of several
tens of meters [4]. The most representative cause of poor
positioning performance is the multipath channel environment
caused by high building exteriors or surfaces of objects in
urban areas [5].
Multipath signal is divided into two types such as Non-
line of sight (NLOS) and LOS depending on the wireless
˚ Corresponding author (e-mail: skong@kaist.ac.kr)
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Hong-Woo Seok Seung-Hyun Kong˚
CCS Graduate School of Mobility
KAIST KAIST
Daejeon, South Korea
skong@kaist.ac.kr
signal propagation channel environment. LOS multipath signal
means first signal that arrive to the receiver directly and other
signals that are received after being reflected by propagation.
Conventional GNSS receivers that receive LOS multipath
signal can easily classify direct signals from the signal through
the auto-correlation function (ACF). Also, even if the receiver
cannot classify direct signals, LOS multipath signal only
causes several meters of positioning errors, so they are not
decisive for the positioning performance in urban areas [6].
However, NLOS multipath signal, which consists only of
signals reflected and diffracted from obstacles, cause sig-
nificant positioning errors of several tens of meters due to
distorted propagation time. NLOS channel environments are
commonly found in dense urban areas with many high-rise
buildings. Additionally, multipath ranging error (MRE) from
the distorted propagation time can vary greatly depending on
the receiving environment (e.g. arrangement of surrounding
buildings, relative position of satellites and receivers), making
it difficult for receivers to correct for the errors. Therefore, a
way for a GNSS receiver to estimate and compensate for MRE
is the most reliable way to improve positioning performance
in urban areas.
Two ways have been attempted to mitigate MRE. The first
is to classify satellites with a large MRE, such as NLOS
satellites, and exclude their measurements from the receiver’s
position calculation process [7], [8]. [7] used a Support Vector
Machine (SVM) based on the signal-to-ratio (SNR), elevation
angle, and pseudorange measurement to classify NLOS satel-
lites, while [8] used a Recurrent Neural Network (RNN) [9]
based on time-series satellite measurements for classification.
These NLOS classifications have shown accuracy of over 90%,
and have led to an improvement of over 50% in positioning
performance when only the remaining satellites after NLOS
removal are used for positioning. This approach is a definite
way to avoid MRE in multipath channels, but there is a serious
problem in dense urban areas where the minimum number of
satellites required for receiver positioning cannot be secured.
Mainly, MRE that occurs in dense urban areas is a problem
caused by a mostly sealed environment, so even if the number
of navigation satellites increases, it can only be resolved
through MRE estimation and compensation. Most research on
MRE mitigation in signal processing processes are complex in
terms of environment setup, and have high computational cost
due to increased correlators and repeated operations, and there
are limitations in that they do not consider satellite navigation
performance. [10] uses grid-shaped sample signals obtained
after signal processing and ray tracing simulation to calculate
MRE and improve navigation performance, and shows high
computational complexity due to grid-shaped search.
In this paper, we propose MPCNet, which is based on
a deep learning network that shows robust performance in
non-linearity, similar to [8]. MPCNet takes in 3D spatial
information of buildings, and the most primitive output of
the receiver, the ACF output, to estimate MRE. Finally, in
the positioning process, the estimated MRE is compensated
for each satellite. Below is a summary of the advantages of
MPCNet.
‚ MPCNet is significantly less complex in terms of calcu-
lation of MRE and does not require repetitive iterations,
as it is only composed of simple matrix multiplication
operations, compared to [11]–[13].
‚ It learns relevant information for multipath channel en-
vironments through a shared network for NLOS classi-
fication and MRE estimation, and performs both tasks
simultaneously.
‚ Unlike GNSS augmentation systems such as Differential
GPS(DGPS) that require real-time differential correction,
it only uses offline GIS information, so the receiver’s
online status and additional hardware are not necessary.
The structure of this paper is as follows. In Section II,
we describe the overall structure of MPCNet and the input
and output data of MPCNet. In Section III, we discuss the
performance evaluation of MPCNet. Section IV draws the
conclusion on this paper.
II. M ULTIPATH ERROR C OMPENSATION N ETWORK
A. Successive-ACF outputs
In this section, we derive the mathematical expression for
the main input of MPCNet, Successive-ACF (S-ACF) output.
In this paper, we limit ourselves to GPS L1 C/A signals as
a representative example among various GNSS signals. Since
the navigation data Dptq of GPS L1 C/A is constant as 1 or
-1 within the bit interval pl ´ 1qTb ď t ă lTb , we substitute
Dptq with the constant value of 1 in this paper. As introduced
in [14], the Binary phase-shift keying (BPSK) signal yptq
generated by the PRN sequence is defined as follows.
Ncode
8
ÿ ÿ´1
yptq “ D crn ´ kNcode srupt ´ nTc ´ kTp q
k“´8 n“0
´ upt ´ pn ` 1qTc ´ kTp qs, (1)
where Tc is the chip interval of the C/A code, which is
0.98µsec. crns is the pn ` 1qth code value of the binary PRN
sequence with a code length of Ncode p“ 1023q, and uptq is the
unit step function. yptq has a period of Tp (i.e., Tp “ Ncode Tc ).
The yptq that passes through the multipath channel in the urban
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area after transmitted from the satellite is converted into sptq.
sptq can be found as.
sptq “ yptq ˚ hptq ` nptq, (2)
where hptq represents the multi-path channel expressed as the
channel impulse response in the time domain, nptq is a com-
plex additive white Gaussian noise process with a two-sided
power spectral density of N0 {2. 1 ˚1 represents a convolution
operation. The receiver’s ACF performs a correlation operation
between the received signal sk ptq and the replica code signal
cR ptq generated by the receiver during the coherent correlation
period Tcorr . The normalized in-phase ACF output Rk´I pτ q
is defined as follows.
ż Tcorr
1
Rk´I pτ q “ sk ptqc˚R pt ´ τ qdt, (3)
Tcorr 0
where Rk´I pτ q is based on the collected signal during
rkTp , kTp ` Tcorr s. p¨q˚ is the complex conjugate func-
tion. Futhermore, the quadrature-phase auto-correlation out-
put Rk´I pτ q and Rk´Q pτ q are transformed into Rk pτ q
(i.e.,Rk pτ q “ ∥ Rk´I pτ q∥ ` ∥ Rk´Q pτ q∥) through a non-
coherent integration process. We stack Rk pτ q in the following
way in order to input S-ACF outputs R1:Ncorr pτ q into the
NLOS signal classifier.
R1:Ncorr pτ q “ concat pR1 pτ q, R2 pτ q . . . RNcorr pτ qq , (4)
where Ncorr refers to the continuous time and takes integer
multiples of 1 ms as its unit. R1:Ncorr pτ q is a stacked ACF
outputs with a size of rNcorr ˆ Tcorr s, and is the input for
MPCNet.
Fig. 1a and 1b are examples of S-ACF outputs for LOS
and NLOS signals generated based on (3) and (4) for a
duration of 10ms (i.e., Ncorr “ 10). In Fig. 1, only ´1.5Tc
to 2.5Tc are shown based on the chip delay indicated by
the peak of the initial ACF output R1 pτ q. The S-ACF for
the LOS signal shows peaks with values of approximately
0.5 or higher as a function of continuous time, whereas the
NLOS signal shows very small values compared to LOS and
the envelope’s thickness is relatively wider because the ACF
output is overlapped by multiple paths.
B. Uses of 3D GIS
In this paper, we use GIS information from [15] on the
surrounding signal collection environment to estimate MRE.
The GIS we used only contains information on the location
and height of buildings in the urban area. We extract the ele-
vation boundary through the GIS and the receiver’s reference
position. Then, we annotate the NLOS of the satellite through
the boundary and the azimuth and elevation of the satellite,
as shown in Fig. 2. Note that satellites with an elevation
lower than the 15-degree cutoff elevation are considered NLOS
regardless of the boundary.
In a multipath channel environment, it is almost impossible
to extract accurate surrounding spatial information using Sin-
gle Point Positioning (SPP), so only the average and standard

(a) LOS channel environment
(b) NLOS channel environment
Fig. 1. example of R1:Ncorr pτ q.
Fig. 2. An example of NLOS annotation.
deviation of the heights of buildings within 50m of the initial
position rlatinit , loninit s calculated from SPP are extracted to
use rough surrounding spatial information.
C. MRE calculation using Pseudo Range Correction and
Reference Location
In this paper, the MRE target value for MPCNet is calcu-
lated based on Pseudo Range Correction (PRC) and reference
position. The observation equation for pseudorange psr , for
each satellite s at receiver r, used in this study can be
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expressed as follows.
psr “ ρsr ` c pδtr ´ δts q ` Tr
` Irs ` dr,j ` dsj ` M Prs ` εsr , (5)
where
ρsr geometric distance
c speed of light
δtr receiver clock bias
δts satellite clock bias
Tr tropospheric delay
Irs ionospheric delay
dr,j receiver hardware bias
dsj satellite code hardware bias
M Prs multipath error
εsr random pseudorange noise
δtr and δts are sources of common error in all receivers,
while non-common errors, consisting of Irs , Tr , and M Prs are
dependent on the environment of the receiver. M Prs differs
with the environmental conditions, however, in the case of Irs
and Tr , it relies on spatial correlation related to the geometric
distance between receivers, and so the amount of correlated
error sources are comparable [16]. That is when receivers
are located close, the spatial correlation is strengthened as
the baseline decreases, and if the observation and position
of the reference station are provided, the correlated errors
between receivers can be calculated. If the horizontal baseline
between receivers is lower than 20km, it is possible to consider
that there is a high correlation [17]. Therefore, the correlated
errors that occur in two receivers can be calculated through
the base receiver already known for the precise coordinate. In
the pseudorange, the sum of common error sources is defined
as PRC δpsr and can be expressed as follows.
δpsr “ psr ´ ρsr ` cδts (6)
“ ´pcδtr ` Tr ` Irs ` dr,j
` dsj ` M Prs ` εsr q. (7)
δpsr , as defined by the Radio Technical Commission for
Maritime Services (RTCM), is a system that should remove
δtr , δts and minimize M Prs [18]. In this study, only δts and
dsj were considered and M Prs assumed that nearly zero in
open sky. Also, only GPS L1 is used so that δtr and δts can
not be removed separately. Therefore, we did not remove dr,j
when calculating δpsr , as it is included in δtr in the receiver’s
positioning algorithm. The position of the receiver and δpsr
can be used to understand the MRE M Pus caused by the
positioning environment, and it can be represented as follows
with δpsr generated by receiver u and reference station b as
reference.
M Pus “ psu ´ ρsu ` cp∆δtb,u ´ δts q ` δpsb ` εsu , (8)
where ∆δtb,u is differenced receiver clock bias. As b is located
in the open sky environment, within a short baseline, M Pbs can
be considered to have less impact than spatial decorrelation,
so M Pus can be used as a reference value.
D. MPCNet Structure
The proposed MPCNet is performed after SPP is carried out,
as shown in Fig. 3. It takes as input R1:Ncorr pτ q, the elevation
angle of the satellite, and the mean and standard deviation of
the building height around the receiver extracted from GIS.
The MPCNet outputs the NLOS status of the received signal
and the multipath error compensation value. Here, the Doppler
frequency is used to generate R1:Ncorr pτ q, and the initial
position of the receiver [latinit , loninit ] obtained in SPP is
used to extract the mean and standard deviation of the building
height around the receiver from GIS information as explained
in the subsection II-B.
MPCNet uses a shared network to extract common features
from R1:Ncorr pτ q for NLOS Classification and MRE estima-
tion, and uses the output of the network as input for each task-
specific head. The shared network is lighter ResNet than the
one presented in [19]. MPCNet has two task-specific heads,
one for NLOS Classification and one for MRE estimation.
The NLOS Classification head takes the output of the shared
network as input and is trained through Binary Cross Entropy
(BCE) Loss, comparing its output p̂sN LOS to the NLOS pres-
ence (i.e., 0 or 1) of the satellite, p̂˚s
N LOS . The MRE Estimation
head takes the output of the shared network, the elevation angle
of the satellite, and the average and standard deviation of the
height of surrounding buildings, concatenated into a vector, as
input and is trained through Mean Square Error(MSE) Loss,
comparing its output M z P sr to the M Prs calculated through the
reference location and PRC. Therefore, MPCNet improves the
generalization performance of the NLOS Classification and
MRE estimation tasks by sharing relevant information from
S-ACF output through a shared network.
Fig. 3. Proposed MPC Network structure.
III. P ERFORMANCE E VALUATION
A. Experiment environment
The training and performance evaluation of MPCNet is
based on GPS signals collected from real-world environments.
We performed signal collection in four city regions, consid-
ering the positioning situation in general multipath channel
environments, as shown in Fig. 4. The signal collection was
performed by collecting 5-minute GNSS signal samples using
NLS Stereo SDR [20] with a sampling frequency of 16MHz
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and u-blox F9P [21]. All the numerical experiments were
performed on a PC with 64GB of physical memory and an
I9-11900K CPU with 3.5GHz. Furthermore, the training of
MPCNet was performed on Nvidia’s RTX 3070.
B. Performance Results
To avoid the imbalance problem in the training data, the
ratio of NLOS and LOS satellite numbers within the samples
was made similar. About 50,000 samples were used for
training, and the evaluation data accounts for 10% of the entire
dataset.
TABLE I
NLOS CLASSIFICATION ACCURACY COMPARISON
MPCNet MPCNet
Classifier SVM-based [7] RNN-based [8]
(single task) (multi-task)
Accuracy(%) 75% 90% 95% 97%
Table I represents the NLOS classification accuracy for
MPCNet, the classifier presented in [7], [8], and single task
MPCNet without MRE estimation. As shown in Table I,
SVM-based [7] has the lowest accuracy because it uses SVM
with relatively lower performance when using processed GPS
measurements. Next, RNN-based [8] uses input from GPS
measurements over time to learn the time-series features, thus
showing better performance than SVM-based. However, MPC-
Net uses the S-ACF output which is the most primitive receiver
output without processing, making it possible to learn complex
features of NLOS signal, resulting in an accuracy that is 5-7%
better than RNN-based. Here, MPCNet shows better accuracy
when performing MRE estimation simultaneously than when
performing a single task alone. This means that MPCNet’s
shared network is more useful at extracting information about
the multipath channel environment from S-ACF output than
a single task network. Therefore, MPCNet is the best NLOS
classifier among those compared in terms of accuracy.
Fig. 5 shows the horizontal positioning error of the urban
s
area positioning results from M y P r by MPCNet, compared
to the conventional SPP and DGPS results. To assist with
visual understanding, we also added circular error probability
50 (CEP50) to Fig. 5. There are all results from data collected
in different environments, as described in Subsection III-A,
and it can be seen that multipath errors that occur differently
depending on the environment have a significant impact on po-
sitioning accuracy. Overall, MPCNet’s results show relatively
small errors around the Ground truth point. Other positioning
results show biased results compared to MPCNet. Note that
DGPS, which uses differential correction, shows results similar
to SPP. The fact that MPCNet’s results are not biased by the
environment and is relatively smaller than other positioning
method in Fig. 5b, 5c, means that it is very effective in
mitigating multipath errors in environments where they occur
greatly. We discuss the numerical error results in Table II.
Table II shows the root mean square of horizontal (H),
vertical (V) and 3D direction positioning errors for SPP,
 (a) between tall apartments, average height “ 51 m (b) between very tall apartments, average height “ 95 m

(c) intersection in urban area, average height “ 36 m (d) in dense urban area, average height “ 77m
Fig. 4. GPS signal collection environment.

TABLE II IV. C ONCLUSION

COMPARISON OF POSITIONING ACCURACY
In this paper, we have proposed MPCNet for improving GPS
SPP [m] DGPS[m] MPCNet[m] positioning performance in a multipath channel environment.
case
H V 3D H V 3D H V 3D
1 39.28 106.57 113.58 42.25 122.78 128.94 10.61 26.91 28.93 MPCNet is a network that performs multi-task of NLOS
2 117.89 110.87 161.83 113.20 121.33 165.94 42.47 44.75 61.70
3 43.98 43.07 61.56 43.82 43.96 62.07 25.26 44.36 51.05 classification and MRE estimation using only S-ACF output
4 19.96 27.06 33.63 21.35 34.77 40.80 11.03 22.94 25.45 and building height information from GIS. More specifically,
MPCNet is composed of a shared network based on ResNet
and two task-specific heads. To prove the superiority of MPC-
Net, we compared NLOS classification and positioning results
based on actual collected data. We have proven that the NLOS
classifier of MPCNet, which performs multi-task, is superior
DGPS and MPCNet for case 1-4 as shown in Fig. 5. Gen- to the previously proposed single task network-based NLOS
erally, positioning systems used in transportation field handle classifier. Additionally, by comparing the positioning errors
horizontal positioning more than 3D spatial positioning, so in urban environments with SPP and DGPS, we have proven
we represented the smallest value of horizontal positioning the excellent multipath error compensation performance of
error in Table II with bold. As previously described, even MPCNet.
though DGPS uses correction information, it still shows simi-
lar positioning errors to SPP due to the lack of elimination ACKNOWLEDGEMENT
of multipath errors. Overall, as seen in Fig. 5, MPCNet This work was supported by the National Research Foun-
showed the smallest error. Especially in case 2 of Fig. 5b dation of Korea(NRF) grant funded by the Korea govern-
where SPP and DGPS show serious errors of about 110m ment(MSIT) (No. 2021R1A2C3008370).
and 160m in horizontal and 3D space, MPCNet shows about
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