Patent Document ID: 20140240172
Application ID: 14273120
Patent Flag: 0

Claim One:
1. A method for processing measurements in a global navigation satellite system comprising a first navigation receiver located in a rover and a second navigation receiver located in a base station, the method comprising the steps of: receiving a first plurality of measurements based on a first plurality of carrier signals received by the first navigation receiver from a plurality of global navigation satellites; receiving a second plurality of measurements based on a second plurality of carrier signals received by the second navigation receiver from the plurality of global navigation satellites, each carrier signal in the second plurality of carrier signals corresponding to a carrier signal in the first plurality of carrier signals, and each measurement in the second plurality of measurements corresponding to a measurement in the first plurality of measurements; calculating a first plurality of single differences based on the first plurality of measurements and the second plurality of measurements; determining a state vector based on the first plurality of single differences; calculating a second plurality of single differences based on an observation model; calculating a plurality of residuals based on the first plurality of single differences and the second plurality of single differences; determining whether the first plurality of measurements and the second plurality of measurements are consistent with the observation model; and in response to determining that the first plurality of measurements and the second plurality of measurements are not consistent with the observation model, detecting anomalous measurements.