Enhancing sensitivity to reflected GNSS signals

1. A method comprising:

receiving, at a receiver, a plurality of positioning signals from a plurality of satellites;

identifying, by the receiver and from the plurality of positioning signals, a particular positioning signal that reflected off a first reflecting plane prior to reaching the receiver and a second positioning signal that reflected off a second reflecting plane prior to reaching the receiver, wherein the receiver is in motion and moving at a receiver velocity;

based on identifying the particular positioning signal and the second positioning signal, performing a comparison to differentiate between a signal strength of the particular positioning signal and a signal strength of the second positioning signal;

based on the comparison indicating the signal strength of the particular positioning signal is greater than the signal strength of the second positioning signal, determining a reflected satellite position for a satellite that transmitted the particular positioning signal, wherein the reflected satellite position is determined by reflecting a position of the satellite about the first reflecting plane;

determining a direction vector to the reflected satellite position for the satellite; and

performing, based on the direction vector to the reflected satellite position and the receiver velocity, coherent integration over a threshold duration of time to increase a signal to noise ratio for the particular positioning signal.

2. The method of claim 1 , further comprising:

based on performing coherent integration over the threshold duration of time, determining a position of the receiver using the particular positioning signal and the plurality of positioning signals.

3. The method of claim 1 , wherein the receiver is a Global Navigation Satellite System (GNSS) receiver.

4. The method of claim 1 , wherein identifying the particular positioning signal that reflected off the first reflecting plane prior to reaching the receiver comprises:

identifying the particular positioning signal using a predefined map of reflecting planes based on a location of the receiver.

5. The method of claim 1 , wherein performing coherent integration over the threshold duration of time to increase the signal to noise ratio for the particular positioning signal further comprises:

increasing a directional gain along the direction vector when receiving the particular positioning signal from the satellite.

6. The method of claim 1 , wherein performing coherent integration over the threshold duration of time to increase the signal to noise ratio for the particular positioning signal further comprises:

adjusting a frequency of the receiver to match a Doppler of the particular positioning signal from the satellite.

7. The method of claim 1 , wherein performing coherent integration over the threshold duration of time to increase the signal to noise ratio for the particular positioning signal further enables separation of signals arriving at the receiver from one or more different directions.

8. The method of claim 1 , further comprising:

determining the receiver velocity using the plurality of positioning signals.

9. The method of claim 1 , further comprising:

identifying a first set of positioning signals of the plurality of positioning signals that originate from a Line-of-Sight (LOS) satellite and a second set of positioning signals that originate from a Non-Line-of-Sight (NLOS) satellite based on a predefined map of reflecting planes and information within each positioning signal.

10. The method of claim 9 , further comprising:

discarding one or more positioning signals of the plurality of positioning signals that fail to correspond to the first set of positioning signals or the second set of positioning signals.

11. The method of claim 10 , further comprising:

determining that the first set of positioning signals includes three or less positioning signals; and

based on determining that the first set of positioning signals includes three or less positioning signals, determining a position of the receiver and the receiver velocity using a combination of the first set of positioning signals and at least one positioning signal from the second set of positioning signals.

12. The method of claim 11 , wherein determining the position of the receiver and the receiver velocity using the combination of the first set of positioning signals and the at least one positioning signal from the second set of positioning signals comprises:

assigning a first weight to each positioning signal of the first set of positioning signals;

assigning a second weight to each positioning of the second set of positioning signals, wherein the second weight is less than the first weight; and

determining the position of the receiver and the receiver velocity using the combination of the first set of positioning signals and the at least one positioning signal from the second set of positioning signals based on a weighted average analysis.

13. The method of claim 11 , wherein determining the position of the receiver and the receiver velocity using the combination of the first set of positioning signals and the at least one positioning signal from the second set of positioning signals comprises:

for each positioning signal used from the second set of positioning signals,

determining a reflected satellite position for a given satellite that transmitted a given positioning signal;

determining a direction vector to the reflected satellite position; and

based on the direction vector to the reflected satellite position, performing coherent integration over a threshold duration to increase a signal to noise ratio for the given positioning signal; and

determining the position of the receiver and the receiver velocity based on performing coherent integration over the threshold duration to increase the signal to noise ratio for one or more signals from the set second of positioning signals.

14. The method of claim 13 , further comprising:

determining a subsequent position and a subsequent velocity of the receiver using only positioning signals from LOS satellites and a sequential Kalman Filter.

15. The method of claim 1 , wherein identifying the particular positioning signal that reflected off the reflecting plane prior to reaching the receiver comprises:

determining that the particular positioning signal reflected off a first reflecting plane and a second reflecting plane prior to reaching the receiver;

based on determining that the particular positioning signal reflected off the first reflecting plane and the second reflecting plane prior to reaching the receiver, determining a first reflected satellite position for the satellite that transmitted the particular positioning signal, wherein the first reflected satellite position is determined by reflecting the position of the satellite about the first reflecting plane; and

based on determining the first reflected satellite position for the satellite, determining a second reflected satellite position for the satellite, wherein the second reflected satellite position is determined by reflecting the first reflected satellite position about the second reflecting plane.

16. The method of claim 15 , wherein determining the direction vector to the reflected satellite position for the satellite comprises:

determining a particular direction vector to the second reflected satellite position; and

wherein performing coherent integration over the threshold duration of time to increase the signal to noise ratio for the particular positioning signal comprises:

performing coherent integration over the threshold duration of time to increase the signal to noise ratio for the particular positioning signal based on the particular direction vector to the second reflected satellite position.

17. A system comprising:

a receiver;

a processor configured to:

receive, using the receiver, a plurality of positioning signals from a plurality of satellites;

identify, from the plurality of positioning signals, a particular positioning signal that reflected off a first reflecting plane prior to reaching the receiver and a second positioning signal that reflected off a second reflecting plane prior to reaching the receiver, wherein the receiver is in motion and moving at a receiver velocity;

based on identifying the particular positioning signal and the second positioning signal, perform a comparison to differentiate between a signal strength of the particular positioning signal and a signal strength of the second positioning signal;

based on the comparison indicating the signal strength of the particular positioning signal is greater than the signal strength of the second positioning signal, determine a reflected satellite position for a satellite that transmitted the particular positioning signal, wherein the reflected satellite position is determined by reflecting a position of the satellite about the first reflecting plane;

determine a direction vector to the reflected satellite position for the satellite; and

perform, based on the direction vector to the reflected satellite position and the receiver velocity, coherent integration over a threshold duration of time to increase a signal to noise ratio for the particular positioning signal.

18. The system of claim 17 , wherein the processor is further configured to:

based on performing coherent integration over the threshold duration of time, determine a position of the receiver using the particular positioning signal and the plurality of positioning signals.

19. The system of claim 17 , wherein the processor is further configured to:

determine the receiver velocity using the plurality of positioning signals.

20. A non-transitory computer-readable medium configured to store instructions, that when executed by a computing system, causes the computing system to perform functions comprising:

identifying, from a plurality of positioning signals received from a plurality of satellites, a particular positioning signal that reflected off a first reflecting plane prior to reaching a receiver and a second positioning signal that reflected off a second reflecting plane prior to reaching the receiver, wherein the receiver is in motion and moving at a receiver velocity;

based on identifying the particular positioning signal and the second positioning signal, performing a comparison to differentiate between a signal strength of the particular positioning signal and a signal strength of the second positioning signal;

based on the comparison indicating the signal strength of the particular positioning signal is greater than the signal strength of the second positioning signal, determining a reflected satellite position for a satellite that transmitted the particular positioning signal, wherein the reflected satellite position is determined by reflecting a position of the satellite about the first reflecting plane;

determining a direction vector to the reflected satellite position for the satellite; and

performing, based on the direction vector to the reflected satellite position and the receiver velocity, coherent integration over a threshold duration of time to increase a signal to noise ratio for the particular positioning signal.