Before revision:  Particle RAIM integrates residual-based RAIM with a particle filter and Gaussian mixture model likelihood to jointly perform state estimation and fault mitigation using a multimodal probability distribution of the receiver state.
After revision:  Particle RAIM integrates residual-based RAIM with a particle filter and Gaussian mixture model (GMM) for computing particle weights, we develop an expectation-maximization algorithm for jointly inferring GMM weight parameters and a robust particle distribution of receiver state.