Abstract: To mitigate the multipath effects caused by the complex signal reflection of urban application environments in GPS receivers， a multipath mitigation method based on a hypothesis testing wavelet thresholding filter and the carrier-to-noise density ratio (C/N_○0) estimation was proposed. This technique was integrated into the code and carrier tracking loops， which estimated the multipath tracking errors by the wavelet thresholding filtering based on the C/N_○0 estimation， and then removed the positioning errors in multipath environments by compensating the pseudorange measurements. The simulation tests were conducted in the typical multipath scenario under urban navigation environments， whose results showed that the statistical positioning error can be reduced from 15.95m with the standard receiver processing to 1.75m with the proposed method， which indicated that the proposed method achieves a significant improvement of positioning accuracy without an obvious additional computation load.

Key words: GPS(global positioning system), multipath mitigation, wavelet thresholding filter, hypothesis testing, multipath tracking error