This paper adresses the problem of position computation in an urban canyon, using signals transmitted by Global Navigation Satellite Systems (GNSS) satellites. Due to the high masking level of buildings in a dense urban environment, the signals arrive at the receiver antenna often by more than one path (multipath). Multipath is a source of positioning error, since the receiver solutions for position fail to converge, because of the travel time of the received signal and the moving vehicle. In this paper, we are presenting a post-processing treatments based on observations variances modelling, in order to solve for vehicle position in an urban canyon.
