Opportunities of Self Supervised Learning for GNSS: Evaluation of a Deep Learning-Enhanced PVT Algorithm

Abstract: This work proposes a Deep Learning Enhanced PVT algorithm to mitigate multipath interference in dense urban areas. A supervised objective jointly predicts range corrections and uncertainty, while a JEPA-based self-supervised pretraining stage improves representation quality. The algorithm is evaluated over diverse driving scenarios, substantially improving PVT accuracy, particularly for unseen harsh urban conditions. These results highlight the potential of unlabelled GNSS data to improve generalization performance.