Patent ID: 8106823

Claim:
A method of operating a satellite navigation receiver estimating its position, said method comprising: receiving a multiplicity of signals each transmitted by another satellite as a ranging source; using a subset of said ranging sources to calculate the position estimation and checking the pseudoranges of all received satellite signals that did not contribute to this particular estimate with respect to their consensus with this estimate and thus, the ranging sources of the used subset, the used subset being of minimum size by combining the number of available satellites with the best consensus to minimize a probability that a faulty satellite signal is part of said subset, determining the subset with the best consensus by combining the subsets with respect to the consensus with all ranging sources in view, consensus in this context referring to pseudoranges that coincide in a position solution in a consistent way, identifying the ranging sources with a bias in pseudorange higher than a threshold as faulty ranging sources, after knowing all consistent ranging sources, and using this identifying information to exclude the faulty ranging sources for the determination of position, velocity, and time in the receiver.