Figure 4From: An Efficient Two-Fold Marginalized Bayesian Filter for Multipath Estimation in Satellite Navigation ReceiversCumulative normalized histogram of the LOS delay estimation error of the Bayesian approach in comparison with a conventional narrow correlator DLL. Already without considering multipath, the advanced approach is significantly superior. Considering more simultaneously echoes (via ) leads to a further improved performance, which tends to saturate rapidly for more than one additional path.Back to article page