A PPP Baseline Approach for Bridge Passing

: Global Navigation Satellite Systems (GNSS) are increasingly used as the main source of Positioning, Navigation and Timing (PNT) information for inland water navigation. In order to enable automated driving and facilitate driver assistant functions, it becomes of crucial importance to ensure high reliability and accuracy of the GNSS-based navigation solution, especially in challenging environments. One challenging phase of inland waterway navigation is bridge passing which leads to non -line-of-sight (NLOS) effects such as multipath and loss of tracking. This work presents a Precise Point Positioning (PPP) based algorithm in a two - antenna system where one antenna