LAUSR

Multipath is one of the dominant error sources for high-precision positioning systems, such as global navigation satellite systems. The minimum mean square error criterion is usually employed for multipath estimation under the assumption of Gaussian noise. For non-Gaussian noise as appeared in most practical applications, alternative solutions are required for multipath estimation. In this paper, a multipath estimation algorithm is proposed based on the minimum error entropy (MEE) criterion under Gaussian or non-Gaussian noises. A key advantage of using MEE is that it can minimize the randomness of error signals; however, the shift-invariance characteristics in MEE may lead to a bias of the estimation result. To mitigate such a bias, an improved estimation strategy is proposed by integrating the second-order central moment of the estimation error together with the prior information of multipath parameters as a constraint. The multipath estimation problem is thus formulated as a constrained optimization problem. A modified $\varepsilon $ -constrained rank-based differential evolution ( $\varepsilon $ RDE) algorithm is developed to find the optimal solution. The effectiveness of the proposed algorithm, in terms of reducing the multipath estimation error and minimizing the randomness in the error signal, has been examined through case studies with Gaussian and non-Gaussian noises.