Patent ID: 11885890
Assignee: U-BLOX AG
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 2:
3. A computer-implemented method for global navigation satellite system (GNSS) measurements, the method comprising:
specifying, in advance, a prior probability density P(x) of a state x;
specifying, in advance, a system model h(x) that relates the state x to observables z of the measurements;
quantifying, during the measurements, quality metrics q associated with the measurements;
specifying, in advance, a non-Gaussian residual error probability density model ƒ(r|θ, q) and fitting model parameters θ determined off-line a priori, where r is a residual error;
defining, during the measurements, a posterior probability density P(x|z, q, θ);
estimating, during the measurements, the state x; and
computing, during the measurements, a protection level of a position estimate by integrating the posterior probability density P(x|z, q, θ) over the state x,
wherein quantifying the quality metrics q associated with the measurements comprises excluding one or more outliers of the measurements using a random sample consensus (RANSAC) technique.