System and method to determine the location of a
receiver in a multipath environment are provided. The received
signal is correlated with the reference signals associated with the transmitting sources. Each
correlation function is processed to derive various types of
signal constraints, such as probability densities and uncertainty regions or intervals. In some embodiments, these constraints are for the code-phases and the Doppler frequencies. These
signal constraints are transformed into constraints on the
receiver variables and then fused together into a unified
receiver constraint. A-priori constraints, such as constraints on the location of the receiver or the
timestamp, may be incorporated into the unified receiver constraint. Some embodiments estimate a location based also on the estimated
Doppler frequency. The constraints used by the invention are based on models of multipath effects and are geared towards mitigating these effects. In one of these models, a probability density for code-phase is obtained by convolving a
gaussian distribution with an exponential distribution that describes the extra
delay introduced by multipath. Another approach is based on identifying outliers in the set of code-phases. In other approaches, uncertainty region constraints and probability densities are combined. The present invention achieves faster and more sensitive
signal acquisition and higher location accuracy in multipath environment, without compromising performance in other environments.