Patent Document ID: 9423507
Application ID: 13484217
Patent Flag: 1

Claim One:
1. A method implemented by a receiver, comprising: measuring, at the receiver, a signal from a satellite to obtain a pseudorange measurement; determining whether a velocity of the receiver is less than a first threshold; computing a pseudorange residual using the obtained pseudorange measurement in response to determining that the velocity of the receiver is less than the first threshold; comparing the pseudorange residual to a second threshold to determine whether the pseudorange residual is less than a second threshold; determining a pseudorange bias associated with the signal from a pseudorange bias model in response to determining that the pseudorange residual is not less than the second threshold; removing the determined pseudorange bias from the pseudorange measurement; updating a navigation state of the receiver using the pseudorange measurement, wherein the navigation state of the receiver is updated using the pseudorange measurement with the pseudorange bias removed in response to determining that the pseudorange residual is not less than the second threshold, and the navigation state of the receiver is updated using the pseudorange measurement without the pseudorange bias removed in response to determining that at least one of the pseudorange residual is less than the second threshold and the velocity of the receiver is not less than the first threshold.