  One of the major errors affecting GNSS signals in urban canyons is GNSS
multipath error. In this work, we develop a Gazebo plugin which utilizes a ray
tracing technique to account for multipath effects in a virtual urban canyon
environment using virtual satellites. This software plugin balances accuracy
and computational complexity to run the simulation in real-time for both
software-in-the-loop (SITL) and hardware-in-the-loop (HITL) testing. We also
construct a 3D virtual environment of Hong Kong and compare the results from
our plugin with the GNSS data in the publicly available Urban-Nav dataset, to
validate the efficacy of the proposed Gazebo Plugin. The plugin is openly
available to all the researchers in the robotics community.
https://github.com/kpant14/multipath_sim
