{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,15]],"date-time":"2025-11-15T03:55:55Z","timestamp":1763178955954,"version":"build-2065373602"},"reference-count":33,"publisher":"MDPI AG","issue":"10","license":[{"start":{"date-parts":[[2016,10,12]],"date-time":"2016-10-12T00:00:00Z","timestamp":1476230400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61372086","41201380","11373017"],"award-info":[{"award-number":["61372086","41201380","11373017"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Science and Technology Commission of Shanghai","award":["13511500300","15511101602"],"award-info":[{"award-number":["13511500300","15511101602"]}]},{"name":"Open Research Funding Program of KLGIS","award":["KLGIS2014A02"],"award-info":[{"award-number":["KLGIS2014A02"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>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.<\/jats:p>","DOI":"10.3390\/s16101677","type":"journal-article","created":{"date-parts":[[2016,10,12]],"date-time":"2016-10-12T10:18:49Z","timestamp":1476267529000},"page":"1677","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":27,"title":["Reduction of Kinematic Short Baseline Multipath Effects Based on Multipath Hemispherical Map"],"prefix":"10.3390","volume":"16","author":[{"given":"Miaomiao","family":"Cai","sequence":"first","affiliation":[{"name":"Engineering Center of SHMEC for Space Information and GNSS, East China Normal University, Shanghai 200241, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5888-7415","authenticated-orcid":false,"given":"Wen","family":"Chen","sequence":"additional","affiliation":[{"name":"Engineering Center of SHMEC for Space Information and GNSS, East China Normal University, Shanghai 200241, China"},{"name":"Shanghai Key Laboratory of Multidimensional Information Processing, East China Normal University, Shanghai 200241, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Danan","family":"Dong","sequence":"additional","affiliation":[{"name":"Engineering Center of SHMEC for Space Information and GNSS, East China Normal University, Shanghai 200241, China"},{"name":"Shanghai Key Laboratory of Multidimensional Information Processing, East China Normal University, Shanghai 200241, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Le","family":"Song","sequence":"additional","affiliation":[{"name":"Engineering Center of SHMEC for Space Information and GNSS, East China Normal University, Shanghai 200241, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Minghua","family":"Wang","sequence":"additional","affiliation":[{"name":"College of Surveying and Geo-Informatics, Tongji University, Shanghai 200092, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhiren","family":"Wang","sequence":"additional","affiliation":[{"name":"Engineering Center of SHMEC for Space Information and GNSS, East China Normal University, Shanghai 200241, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Feng","family":"Zhou","sequence":"additional","affiliation":[{"name":"Engineering Center of SHMEC for Space Information and GNSS, East China Normal University, Shanghai 200241, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhengqi","family":"Zheng","sequence":"additional","affiliation":[{"name":"Engineering Center of SHMEC for Space Information and GNSS, East China Normal University, Shanghai 200241, China"},{"name":"Shanghai Key Laboratory of Multidimensional Information Processing, East China Normal University, Shanghai 200241, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chao","family":"Yu","sequence":"additional","affiliation":[{"name":"Engineering Center of SHMEC for Space Information and GNSS, East China Normal University, Shanghai 200241, China"},{"name":"Shanghai Key Laboratory of Multidimensional Information Processing, East China Normal University, Shanghai 200241, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2016,10,12]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"650","DOI":"10.1109\/7.489508","article-title":"SNR-based multipath error correction for GPS differential phase","volume":"32","author":"Axelrad","year":"1996","journal-title":"IEEE Trans. Aerosp. Electron. Syst."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"264","DOI":"10.1109\/7.640284","article-title":"Adaptive snr-based carrier phase multipath mitigation technique","volume":"34","author":"Comp","year":"1998","journal-title":"IEEE Trans. Aerosp. Electron. Syst."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"185","DOI":"10.1061\/(ASCE)0733-9453(1999)125:4(185)","article-title":"Improvement of GPS relative positioning accuracy by using SNR","volume":"125","author":"Lau","year":"1999","journal-title":"J. Surv. Eng."},{"key":"ref_4","first-page":"27","article-title":"An approach to GPS analysis incorporating wavelet decomposition","volume":"36","author":"Satirapod","year":"2001","journal-title":"J. Artif. Satell."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"2","DOI":"10.1179\/sre.2005.38.295.2","article-title":"Multipath mitigation by wavelet analysis for GPS base station applications","volume":"38","author":"Satirapod","year":"2005","journal-title":"J. Surv. Rev."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"179","DOI":"10.1007\/978-3-540-74584-6_28","article-title":"An effective wavelet method to detect and mitigate low-frequency multipath effects","volume":"132","author":"Souza","year":"2007","journal-title":"Int. Assoc. Geod. Symp."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"109","DOI":"10.1007\/s10291-007-0071-y","article-title":"Adaptive wavelet transform based on cross-validation method and its application to GPS multipath mitigation","volume":"12","author":"Zhong","year":"2008","journal-title":"GPS Solut."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"19","DOI":"10.1007\/PL00012838","article-title":"Multipath mitigation of continuous GPS measurements using an adaptive filter","volume":"4","author":"Ge","year":"2000","journal-title":"GPS Solut."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"363","DOI":"10.1007\/s00190-005-0474-x","article-title":"Filtering GPS time-series using a Vondrak filter and cross-validation","volume":"79","author":"Zheng","year":"2005","journal-title":"J. Geod."},{"key":"ref_10","unstructured":"Kim, D., and Langley, R.B. (2001, January 11\u201314). Mitigation of GPS Carrier Phase Multipath Effects in Real-Time Kinematic Applications. Proceedings of the ION GPS 2001, Salt Lake City, UT, USA."},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"3261","DOI":"10.1029\/91JB02997","article-title":"Rapid resolution of crustal motion at short ranges with the global positioning system","volume":"97","author":"Genrich","year":"1992","journal-title":"J. Geophys. Res."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"28223","DOI":"10.1029\/2000JB900268","article-title":"Instantaneous geodetic positioning at medium distances with the global positioning system","volume":"105","author":"Bock","year":"2000","journal-title":"J. Geophys. Res."},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"178","DOI":"10.1029\/2004GL021621","article-title":"Modified sidereal filtering: implications for high-rate GPS positioning","volume":"31","author":"Choi","year":"2004","journal-title":"Geophys. Res. Lett."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"21897","DOI":"10.1029\/2001JB000329","article-title":"Seismic wave observations with the global positioning system","volume":"106","author":"Nikolaidis","year":"2001","journal-title":"J. Geophys. Res."},{"key":"ref_15","unstructured":"Axelrad, P., Larson, K., and Jones, B. (2005, January 13\u201316). Use of the correct satellite repeat period to characterize and reduce site-specific multipath errors. Proceedings of the ION GNSS 2005, Long Beach, CA, USA."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"325","DOI":"10.1007\/s00190-006-0113-1","article-title":"GPS sidereal filtering: coordinate-and carrier-phase-level strategies","volume":"81","author":"Ragheb","year":"2007","journal-title":"J. Geod."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"145","DOI":"10.1007\/s00190-009-0352-z","article-title":"Sidereal filtering based on single differences for mitigating GPS multipath effects on short baselines","volume":"84","author":"Zhong","year":"2010","journal-title":"J. Geod."},{"key":"ref_18","first-page":"178","article-title":"Study on elimination of multipath error in PPP based on sidereal filtering","volume":"34","author":"Zheng","year":"2014","journal-title":"J. Geod. Geodyn."},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"111","DOI":"10.1007\/s10291-015-0473-1","article-title":"Effectiveness of observation-domain sidereal filtering for GPS precise point positioning","volume":"20","author":"Atkins","year":"2016","journal-title":"GPS Solut."},{"key":"ref_20","unstructured":"Sundstr\u00f6m, J. (2009). Evaluation of High Rate Real Time GPS Based Tsunami Warning System. [Master\u2019s Thesis, Chalmers University of Technology]."},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"335","DOI":"10.1007\/s00190-008-0262-5","article-title":"GPS for real-time earthquake source determination and tsunami warning systems","volume":"83","author":"Blewitt","year":"2009","journal-title":"J. Geod."},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"72","DOI":"10.1061\/(ASCE)SU.1943-5428.0000016","article-title":"Using Filtered and Semicontinuous High Rate GPS for Monitoring Deformations","volume":"136","author":"Ragheb","year":"2010","journal-title":"J. Surv. Eng."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"453","DOI":"10.1007\/s10291-013-0344-6","article-title":"Enhancement of the accuracy of single-epoch GPS positioning for long baselines by local ionospheric modelling","volume":"18","author":"Assiadi","year":"2013","journal-title":"GPS Solut."},{"key":"ref_24","unstructured":"Cohen, C.E., and Parkinson, B.W. (1991, January 2\u20136). Mitigating multipath error in GPS-based attitude determination. Proceedings of the Annual Rocky Mountain Guidance and Control Conference, Keystone, CO, USA."},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"112","DOI":"10.1002\/j.2161-4296.2001.tb00233.x","article-title":"Carrier phase multipath calibration of GPS reference stations","volume":"48","author":"Lambert","year":"2001","journal-title":"Navigation."},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"887","DOI":"10.1007\/s00190-014-0729-5","article-title":"Empirical modelling of site-specific errors in continuous GPS data","volume":"88","author":"Moore","year":"2014","journal-title":"J. Geod."},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"83","DOI":"10.1007\/s10291-014-0367-7","article-title":"Generating statistically robust multipath stacking maps using congruent cells","volume":"19","author":"Fuhrmann","year":"2015","journal-title":"GPS Solut."},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"255","DOI":"10.1007\/s00190-015-0870-9","article-title":"Mitigation of multipath effect in GNSS short baseline positioning by the multipath hemispherical map","volume":"90","author":"Dong","year":"2016","journal-title":"J. Geod."},{"key":"ref_29","unstructured":"Cohen, C. (1993). Attitude Determination Using GPS: Development of an All Solid-State Guidance, Navigation, and Control Sensor for Air and Space Vehicles Based on the Global Positioning System. [Ph.D Thesis, Stanford University]."},{"key":"ref_30","doi-asserted-by":"crossref","first-page":"389","DOI":"10.1007\/s00190-007-0187-4","article-title":"Resolution of GPS carrier-phase ambiguities in precise point positioning (PPP) with daily observations","volume":"82","author":"Ge","year":"2008","journal-title":"J. Geod."},{"key":"ref_31","doi-asserted-by":"crossref","unstructured":"Williams, S.D.P., Bock, Y., Fang, P., Jamason, P., Nikolaidis, R.M., Prawirodirdjo, L., Miller, M., and Johnson, D.J. (2004). Error analysis of continuous GPS position time series. J. Geophys. Res. Solid Earth, 109.","DOI":"10.1029\/2003JB002741"},{"key":"ref_32","doi-asserted-by":"crossref","unstructured":"Shepard, D. (1968, January 27\u201329). A two-dimensional interpolation function for irregularly-spaced data. Proceedings of the 1968 23rd ACM National Conference, Las Vegas, NV, USA.","DOI":"10.1145\/800186.810616"},{"key":"ref_33","first-page":"119","article-title":"A Statistical Approach to Some Basic Mine Valuation Problems on Witwatersrand","volume":"52","author":"Krige","year":"1951","journal-title":"J. Chem. Metall. Min. Soc. S. Afr."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/16\/10\/1677\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T19:32:46Z","timestamp":1760211166000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/16\/10\/1677"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,10,12]]},"references-count":33,"journal-issue":{"issue":"10","published-online":{"date-parts":[[2016,10]]}},"alternative-id":["s16101677"],"URL":"https:\/\/doi.org\/10.3390\/s16101677","relation":{},"ISSN":["1424-8220"],"issn-type":[{"type":"electronic","value":"1424-8220"}],"subject":[],"published":{"date-parts":[[2016,10,12]]}}}