US 11,860,287 B2
System and method for detecting outliers in GNSS observations
Joseph Angelo, San Francisco, CA (US); Christian Reimer, San Francisco, CA (US); and Sébastien Carcanague, San Francisco, CA (US)
Assigned to Swift Navigation, Inc., San Francisco, CA (US)
Filed by Swift Navigation, Inc., San Francisco, CA (US)
Filed on Mar. 1, 2023, as Appl. No. 18/116,117.
Claims priority of provisional application 63/315,426, filed on Mar. 1, 2022.
Prior Publication US 2023/0314627 A1, Oct. 5, 2023
Int. Cl. G01S 19/45 (2010.01); G01S 19/39 (2010.01); G01S 19/43 (2010.01); G01S 19/20 (2010.01); G01S 19/49 (2010.01)
CPC G01S 19/45 (2013.01) [G01S 19/20 (2013.01); G01S 19/393 (2019.08); G01S 19/43 (2013.01); G01S 19/49 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A system comprising:
a GNSS receiver, mounted to a body, configured to measure satellite observations associated with one or more satellite constellations;
a sensor, collocated with the GNSS receiver, configured to measure sensor measurements; and
a computing system configured to:
determine a positioning solution of the body by processing the satellite observations with a positioning filter;
determine a fused positioning solution of the body using the sensor measurements and the positioning solution;
generate a duplicate positioning filter configured to receive the positioning solution and the fused positioning solution; and
detect outliers in the satellite observations using the duplicated positioning filter;
wherein when outliers are detected, the computing system updates the positioning solution based on the detected outliers.