GNSS-only positioning for autonomous systems in urban canyons sub-meter accurate in environments where GPS/ GNSS methods fail

https://techxplore.com/news/2026-01-gnss-method-stable-positioning-autonomous.html

"bypasses integer ambiguity resolution which determines number of radio wavelengths between satellite/ receiver, which causes interference in cities due to signal reflections... overcome using Rao-Blackwellized particle filter probabilistically estimating position: phase likelihood based on carrier-phase measurements'  fractional parts, velocity integration using Kalman filter to process raw Doppler measurements, outlier resilience removing non-Gaussian errors... 30% better than traditional... autonomous vehicles/ robotics"