  Multipath is among the major sources of errors in precise positioning using
GPS and continues to be extensively studied. Two Fast Fourier Transform
(FFT)-based detectors are presented in this paper as GPS multipath detection
techniques. The detectors are formulated as binary hypothesis tests under the
assumption that the multipath exists for a sufficient time frame that allows
its detection based on the quadrature arm of the coherent Early-minus-Late
discriminator (Q EmL) for a scalar tracking loop (STL) or on the quadrature (Q
EmL) and/or in-phase arm (I EmL) for a vector tracking loop (VTL), using an
observation window of N samples. Performance analysis of the suggested
detectors is done on multipath signal data acquired from the multipath
environment simulator developed by the German Aerospace Centre (DLR) as well as
on multipath data from real GPS signals. Application of the detection tests to
correlator outputs of scalar and vector tracking loops shows that they may be
used to exclude multipath contaminated satellites from the navigation solution.
These detection techniques can be extended to other Global Navigation Satellite
Systems (GNSS) such as GLONASS, Galileo and Beidou.
