Patent ID: 11860287
Assignee: SWIFT NAVIGATION, INC.
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 10:
11. A method for detecting outliers in satellite observations comprising:
at a GNSS receiver connected to a body, measuring satellite observations associated with one or more satellite constellations;
at an inertial measurement unit (IMU) connected to the body, measuring IMU data;
determining a GNSS positioning solution using a filter to process the satellite observations;
determining a fused positioning solution using a fusion filter to process the GNSS positioning solution and the IMU data;
duplicating the filter to generate a duplicate filter;
transmitting the fused positioning solution to the duplicate filter;
detecting whether outliers are present in the satellite observations using the duplicate filter; and
when outliers are detected, updating the GNSS positioning solution using a set of outlier mitigated satellite observations.