Abstract: A method of modeling mutable environmental structures includes receiving an estimated location of a Global Navigation Satellite Systems (GNSS) receiver in an environment and a plurality of GNSS-related features corresponding to a GNSS signal received at the GNSS receiver. The method also includes determining a plurality of candidate positions about the estimated location for the GNSS receiver. Each candidate position corresponds to a possible actual location of the GNSS receiver in the environment. For each candidate position, the method further includes generating, as an output from a GNSS localization model configured to receive the plurality of GNSS-related features as input, a respective probability that the respective candidate position includes the actual location of the GNSS receiver. The method also includes selecting from the plurality of candidate positions, the respective candidate position having a greatest probability as the actual location of the GNSS receiver.

Abstract: A method of processing signal paths includes receiving an estimated location for a GNSS receiver in an environment. The method also includes generating a plurality of candidate positions about the estimated location where each candidate position corresponds to a possible actual location of the GNSS receiver. The method further includes, for each available satellite at each candidate position, modeling a plurality of candidate signal paths by ray-launching a raster map of geographical data Here, the plurality of candidate signal paths includes one or more reflected signal paths. At each candidate position, the method also includes comparing, the plurality of candidate signal paths modeled for each available satellite at the respective candidate position to measured GNSS signal data from the GNSS receiver and generating a likelihood that the respective candidate position includes the actual location of the GNSS receiver based on the comparison.

Abstract: A method of localization using bearing from environmental features includes receiving an estimated location of a global navigation satellite system (GNSS) receiver associated with a user and a corresponding bearing for the GNSS receiver. The method also includes identifying one or more environmental features about the estimated location of the GNSS receiver. The method further includes determining whether an orientation of a respective environmental feature of the one or more environmental features correlates to the corresponding bearing for the GNSS receiver. When the orientation of the respective environmental feature correlates to the corresponding bearing for the GNSS receiver, the method includes generating an updated bearing for the GNSS receiver or locational system that matches the orientation of the respective environmental feature.

Abstract: A method of Doppler-based localization includes establishing an estimated position for a moving receiver. The method also includes generating a plurality of candidate positions about the estimated position. Each candidate position corresponds to a possible actual location of the moving receiver. For each available satellite, the method includes receiving a measured Doppler effect for a signal from the respective available satellite caused by the moving receiver. For each available satellite, the method also includes, at each candidate position, determining a predicted direction of the signal based on ray-launching the signal to the respective satellite and generating a predicted Doppler effect for the moving receiver.

Abstract: A method of modeling mutable environmental structures includes receiving an estimated location of a Global Navigation Satellite Systems (GNSS) receiver in an environment and a plurality of GNSS-related features corresponding to a GNSS signal received at the GNSS receiver. The method also includes determining a plurality of candidate positions about the estimated location for the GNSS receiver. Each candidate position corresponds to a possible actual location of the GNSS receiver in the environment. For each candidate position, the method further includes generating, as an output from a GNSS localization model configured to receive the plurality of GNSS-related features as input, a respective probability that the respective candidate position includes the actual location of the GNSS receiver. The method also includes selecting from the plurality of candidate positions, the respective candidate position having a greatest probability as the actual location of the GNSS receiver.

Abstract: A method of processing signal paths includes receiving an estimated location for a GNSS receiver in an environment. The method also includes generating a plurality of candidate positions about the estimated location where each candidate position corresponds to a possible actual location of the GNSS receiver. The method further includes, for each available satellite at each candidate position, modeling a plurality of candidate signal paths by ray-launching a raster map of geographical data Here, the plurality of candidate signal paths includes one or more reflected signal paths. At each candidate position, the method also includes comparing, the plurality of candidate signal paths modeled for each available satellite at the respective candidate position to measured GNSS signal data from the GNSS receiver and generating a likelihood that the respective candidate position includes the actual location of the GNSS receiver based on the comparison.

Abstract: A method of localization using bearing from environmental features includes receiving an estimated location of a global navigation satellite system (GNSS) receiver associated with a user and a corresponding bearing for the GNSS receiver. The method also includes identifying one or more environmental features about the estimated location of the GNSS receiver. The method further includes determining whether an orientation of a respective environmental feature of the one or more environmental features correlates to the corresponding bearing for the GNSS receiver. When the orientation of the respective environmental feature correlates to the corresponding bearing for the GNSS receiver, the method includes generating an updated bearing for the GNSS receiver or locational system that matches the orientation of the respective environmental feature.

Abstract: A method of Doppler-based localization includes establishing an estimated position for a moving receiver. The method also includes generating a plurality of candidate positions about the estimated position. Each candidate position corresponds to a possible actual location of the moving receiver. For each available satellite, the method includes receiving a measured Doppler effect for a signal from the respective available satellite caused by the moving receiver. For each available satellite, the method also includes, at each candidate position, determining a predicted direction of the signal based on ray-launching the signal to the respective satellite and generating a predicted Doppler effect for the moving receiver.