US 12,455,384 B2
Systems, methods, and media for analyzing multiple filters in a solution domain to identify filter instability
Michael Bobye, Calgary (CA)
Assigned to NovAtel Inc., Alberta (CA)
Filed by NovAtel Inc., Calgary (CA)
Filed on Feb. 28, 2023, as Appl. No. 18/115,458.
Prior Publication US 2024/0288587 A1, Aug. 29, 2024
Int. Cl. G01S 19/23 (2010.01); G01S 19/49 (2010.01)
CPC G01S 19/23 (2013.01) [G01S 19/49 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system, comprising:
a first filter having a first configuration, the first filter configured to generate a first misclosure value for an update type and for a current epoch;
a second filter having a second configuration, the second filter configured to generate a second misclosure value for the update type and for the current epoch,
wherein the first configuration and the second configuration are different;
a processor coupled to a memory;
a module executed by the processor, the module, when executed by the processor, is configured to:
create a rolling history for the first filter and the second filter, wherein
the rolling history includes, for the first filter, the first misclosure value and one or more first previous misclosure values for the update type over one or more previous epochs, and
the rolling history includes, for the second filter, the second misclosure value and one or more second previous misclosure values for the update type over the one or more previous epochs;
compute, for the first filter, a first residual value for the update type using the first misclosure value and the one or more first previous misclosure values;
compute, for the second filter, a second residual value for the update type using the second misclosure value and the one or more second previous misclosure values; and
compare the first residual value and the second residual value to (1) identify an unstable filter from the first filter and the second filter or (2) determine that the first filter and the second filter are stable.