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Establishing absolute geographical location in underground spaces such as mining exploitations, caves, deep crevasses, or in deep open pits is a technically difficult problem. Modern techniques used for general outdoor environments cannot be used in subterranean environments. The performant Global Navigation Satellite Systems (GNSS), such as GPS, GLONASS, GALILEO, BEIDOU are not available in underground spaces, due to the impossibility of propagation through soil and rock of radio waves at frequencies and transmit...

Global Navigation Satellite System (GNSS) receivers are currently the standard equipment for precision positioning, navigation and timing, but their use in difficult environments, such as open mining pits, deep quarries, roads in canyons, is hindered by multipath propagation conditions or interference from adjacent equipment. In this paper, the improvements in signal tracking brought by use of vector tracking loops in GNSS receivers are analyzed. The effects of multipath conditions on tracking errors are diminishe...