Systems and methods for GNSS SNR probabilistic localization and 3-D mapping

This invention describes a way to figure out where something is and map its surroundings at the same time, using only signals from GPS-like satellites. It works by taking the signal strength and location data from these satellites, then uses a smart mathematical method to guess if parts of the environment are blocked or clear, building a 3D map and pinpointing the receiver's location. The method specifically uses a probabilistic approach to assign likelihoods of line-of-sight or non-line-of-sight for each signal path based on its strength.