Multipath hemispherical map (MHM) is a kind of multipath mitigation approach that takes advantage of the spatial repeatability of the multipath effect under an unchanged environment. This approach is not only suitable for static environments, but also for some kinematic platforms, such as a moving ship and airplane, where the dominant multipath effects come from the platform itself and the multipath effects from the surrounding environment are considered minor or negligible. Previous studies have verified the feasibility of the MHM approach in static environments. In this study, we expanded the MHM approach to a kinematic shipborne environment. Both static and kinematic tests were carried out to demonstrate the feasibility of the MHM approach. The results indicate that, after MHM multipath mitigation, the root mean square (RMS) of baseline length deviations are reduced by 10.47% and 10.57%, and the RMS of residual values are reduced by 39.89% and 21.91% for the static and kinematic tests, respectively. Power spectrum analysis has shown that the MHM approach is more effective in mitigating multipath in low-frequency bands; the high-frequency multipath effects still exist, and are indistinguishable from observation noise. Taking the observation noise into account, the residual reductions increase to 41.68% and 24.51% in static and kinematic tests, respectively. To further improve the performance of MHM for kinematic platforms, we also analyzed the influence of spatial coverage and resolution on residual reduction.
Keywords: GPS; kinematic shipborne environment; multipath hemispherical map; multipath mitigation.