Reflection Point Single-Point Positioning via GNSS NLOS Signal’s TOA and DOA Estimation

Yiran Luo, Yi-Fen Tseng, and Naser El-Sheimy

Peer Reviewed

Abstract:	A typical global navigation satellite system (GNSS) receiver measures line-of-sight (LOS) signals of a visible satellite, thereby modeling its measurements and computing users’ position, velocity, and timing (PVT). In this paper, we investigate an innovative satellite navigation receiver technique leveraging the non-line-of-sight (NLOS) signals’ time-of-arrival (TOA) and direction-of-arrival (DOA) along with the LOS signals’ TOA measured in the baseband processor. By measuring and modeling the LOS and NLOS signals simultaneously, we propose a nonlinear least squares (NLS) optimization to estimate the single-point positioning (SPP) of a satellite signal’s reflection point (RP) with respect to the user’s antenna in the Earth’s coordinate system. Additionally, we exhibit a grid search approach implemented in the navigator to traverse the third dimension estimation of the RP position. Simulations validate the effectiveness of the proposed method of successfully computing the three-dimensional (3D) RP position within a snapshot epoch.
Published in:	Proceedings of the 38th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2025) September 8 - 12, 2025 Hilton Baltimore Inner Harbor Baltimore, Maryland
Pages:	2827 - 2835
Cite this article:	Luo, Yiran, Tseng, Yi-Fen, El-Sheimy, Naser, "Reflection Point Single-Point Positioning via GNSS NLOS Signal’s TOA and DOA Estimation," Proceedings of the 38th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2025), Baltimore, Maryland, September 2025, pp. 2827-2835. https://doi.org/10.33012/2025.20461
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