Abstract: A method for estimating a multipath error of a pseudo-range measurement value, according to an embodiment of the present invention, comprises the steps of: obtaining satellite navigation system information including a pseudo-range measurement value and a carrier wave phase measurement value; obtaining a carrier wave phase time difference measurement value by differentiating the carrier wave phase measurement value with respect to an arbitrary time; setting a monitoring variable for multipath error estimation by using the carrier wave phase time difference measurement value; detecting a change amount of a multipath error regarding the arbitrary time by using the monitoring variable, and determining a time period that can be used to estimate the multipath error; and estimating the multipath error at a specific time point by using the change amount of the multipath error relative to an arbitrary reference time.

Abstract: A time-differenced carrier phase (TDCP) measurement value-based navigation system according to one embodiment of the present invention comprises: a satellite navigation system information reception unit for acquiring satellite navigation system information including a carrier phase measurement value; an initial position determination unit for determining an initial position of a target on the basis of the satellite navigation system information; a TDCP acquisition unit for acquiring a TDCP measurement value; a relative position determination unit for determining a relative position of the target on the basis of the TDCP measurement value; and an absolute position determination unit for determining an absolute position of the target by accumulating relative positions according to time of the initial position of the target.