Patent ID: 7696922

Claim:
A method for determining the location of a receiver receiving signals from a plurality of Global Navigation Satellite System (“GNSS”) satellites in which one of the received signals is erroneous, comprising the steps of: (a) determining an approximate location of the receiver; (b) for each one of the plurality of satellites: (i) determining an expected range between the receiver and the satellite; (ii) measuring a range between the receiver and the satellite; (iii) determining a range difference between the expected range and the measured range; (iv) determining a median value of the range differences; (v) determining an offset value between the range difference and the median value; (vi) comparing the offset value with a predetermined threshold to thereby detect an erroneous satellite measurement; (c) determining if there are at least four offset values less than the predetermined threshold; and (d) determining the location of the receiver using the range measurements from the satellites for which the offset values are less than the predetermined threshold.