Patent ID: 8344946

Claim:
A GPS receiver comprising: a plurality of filters, each of said plurality of filters having a programmable initialization state and providing an output value; a plurality of phase ambiguity and ionosphere delay processors, each of the phase ambiguity and ionosphere delay processors coupled to receive an output value from a corresponding one of the plurality of filters and to provide a corresponding ionosphere delay-corrected signal in response thereto; and a RAIM/position computation and smoothing processor coupled to receive the ionosphere delay-corrected signal from each of the plurality of phase ambiguity and ionosphere delay processors and to process the ionosphere delay-corrected signals to provide a result corresponding to a location of the receiver; a pseudo truth processor coupled to receive the result corresponding to a location of the receiver and to store the result for determining at least a portion of the initialization state of the plurality of filters; and a depletion detector configured to receive a plurality of measurements and coupled to the plurality of filters and the pseudo truth processor, wherein the depletion detector is configured to eliminate depletion-affected measurements from further filtering.