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 |
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.
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