Figure 6

In the illustrated scenario, there is a partially shadowed LOS path (red) that is superimposed by a heavy multipath component. During some periods with weak LOS, the DLL receiver (green) tracks the multipath signal instead of the true LOS, which leads to high errors in the order of 100 meters. The TFMBF's LOS estimate (dark blue) is still slightly biased if the multipath replicas are not taken into account by the estimator (, (a)). Nevertheless, the magnitude of the errors is much smaller than the DLL errors, since the dynamic model of the estimator prevents fast variations of the LOS estimate and also because phase information is being used implicitly. Once the number of considered replicas is sufficient to take into account multipath signals (, (b, c, d)), the estimation algorithm detects and properly tracks the additional replicas (light blue), and thus successfully mitigates the multipath errors. (a), (b) , (c) , (d)