FOR every vehicle DO GET according heading information GET according azimuth and elevation angle of satellite Set

GPS satellite azimuth angles is Set building azimuth angles is

B, S

For each building (or object) multipath is reflected Relative azimuth angle =|
S

B|

Let

N B ,

S B

be building orientation angles at which the reflection occurs at the

building corners N and S

IF Then multipath reflected from building can be found The azimuthal likelihood distribution of scatterer s e model

END IF DO prediction of position to obtain a priori state estimation IF have a new location measurement obtained using GPS signals THEN

CHECK with data association gate if new measurement is valid IF measurement is not rejected THEN DO measurement update of the a priori estimated state to obtain the a posteriori state estimation END IF END IF END FOR