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

Claim 0:
1. A system comprising:
a GNSS receiver, mounted to a body, configured to measure satellite observations associated with one or more satellite constellations;
a sensor, collocated with the GNSS receiver, configured to measure sensor measurements; and
a computing system configured to:
determine a positioning solution of the body by processing the satellite observations with a positioning filter;
determine a fused positioning solution of the body using the sensor measurements and the positioning solution;
generate a duplicate positioning filter configured to receive the positioning solution and the fused positioning solution; and
detect outliers in the satellite observations using the duplicated positioning filter;, wherein when outliers are detected, the computing system updates the positioning solution based on the detected outliers.