Enhanced positioning of devices

1 . An apparatus for determining one or more positions of a device, the apparatus comprising:

at least one memory; and

at least one processor coupled to the at least one memory and configured to:

determine a current epoch speed of the device decreased from a prior epoch speed of the device by a first amount greater than a speed difference threshold;

determine, based on the determination that the first amount is greater than the speed difference threshold, a number of satellite vehicles (SVs) of a plurality of SVs with non-line of sight (NLOS) signals with respect to the device is greater than a NLOS satellite threshold;

determine, based on the determination that the number of SVs with NLOS signals is greater than the NLOS satellite threshold, a current epoch heading of the device is different from a prior epoch heading of the device by a second amount greater than a heading difference threshold;

determine, based on the determination that the second amount is greater than the heading difference threshold, current epoch azimuths of the plurality of SVs are different from respective prior epoch azimuths of the plurality of SVs by a third amount greater than an azimuth difference threshold;

determine, based on the determination that the third amount is greater than the azimuth difference threshold, current epoch measurement errors of current signals from the plurality of SVs increased from respective prior epoch measurement errors of prior signals from the plurality of SVs by a fourth amount greater than a measurement error threshold;

determine, based on the determination that the fourth amount is greater than the measurement error threshold, an elevation of one or more SVs of the plurality of SVs is greater than an elevation threshold; and

based on the determination that the elevation of the one or more SVs of the plurality of SVs is greater than the elevation threshold, discard measurements from SVs with measurement errors greater than a current horizontal error position estimate (HEPE) for the device and update a position fix of the device representing a physical location of the device in space using remaining measurements from a minimum number of SVs of the plurality of SVs with the elevation greater than the elevation threshold, with measurement errors less than or equal to the current HEPE for the device, wherein the measurements are discarded and the position fix is updated after the determination that the first amount is greater than the speed difference threshold, the determination that the number of the SVs with the NLOS signals is greater than the NLOS satellite threshold, the determination that the second amount is greater than the heading difference threshold, the determination that the third amount is greater than the azimuth difference threshold, the determination that the fourth amount is greater than the measurement error threshold, and the determination that the elevation of the one or more SVs of the plurality of SVs is greater than the elevation threshold.

2 . The apparatus of claim 1 , wherein the at least one processor is configured to determine, based on the determination that the number of SVs with NLOS signals is greater than the NLOS satellite threshold, an environment of the device comprises a plurality of signal obstructions.

3 . The apparatus of claim 2 , wherein the plurality of signal obstructions comprises a plurality of objects.

4 . The apparatus of claim 1 , wherein the speed difference threshold is a percentage value of the prior epoch speed.

5 . The apparatus of claim 1 , wherein the NLOS satellite threshold is a percentage value of a total number of the plurality of SVs.

6 . The apparatus of claim 1 , wherein the heading difference threshold is a percentage value of difference from the prior epoch heading.

7 . The apparatus of claim 1 , wherein the azimuth difference threshold is a percentage value of difference from the respective prior epoch azimuths.

8 . The apparatus of claim 1 , wherein the measurement error threshold is a percentage value of difference from the respective prior epoch measurement errors.

9 . The apparatus of claim 1 , wherein the elevation threshold is an elevation value.

10 . The apparatus of claim 1 , wherein the at least one processor is configured to determine, based on the determination that the fourth amount is greater than the measurement error threshold, the current epoch heading of the device is one of similar or equal to the prior epoch heading of the device.

11 . The apparatus of claim 1 , wherein the at least one processor is configured to determine, based on the determination that the fourth amount is greater than the measurement error threshold, current azimuths of one or more SVs of the plurality of SVs are one of similar or equal to respective prior epoch azimuths of the one or more SVs of the plurality of SVs.

12 . The apparatus of claim 1 , wherein the minimum number of SVs is four SVs.

13 . The apparatus of claim 1 , wherein each SV of the plurality of SVs is a Global Navigation Satellite System (GNSS) satellite.

14 . The apparatus of claim 1 , wherein the apparatus is part of the device.

15 . A method for determining one or more positions of a device, the method comprising:

determining a current epoch speed of the device decreased from a prior epoch speed of the device by a first amount greater than a speed difference threshold;

determining, based on the determining the first amount is greater than the speed difference threshold, a number of satellite vehicles (SVs) of a plurality of SVs with non-line of sight (NLOS) signals with respect to the device is greater than a NLOS satellite threshold;

determining, based on the determining the number of SVs with NLOS signals is greater than the NLOS satellite threshold, a current epoch heading of the device is different from a prior epoch heading of the device by a second amount greater than a heading difference threshold;

determining, based on the determining the second amount is greater than the heading difference threshold, current epoch azimuths of the plurality of SVs are different from respective prior epoch azimuths of the plurality of SVs by a third amount greater than an azimuth difference threshold;

determining, based on the determining the third amount is greater than the azimuth difference threshold, current epoch measurement errors of current signals from the plurality of SVs increased from respective prior epoch measurement errors of prior signals from the plurality of SVs by a fourth amount greater than a measurement error threshold;

determining, based on the determining the fourth amount is greater than the measurement error threshold, an elevation of one or more SVs of the plurality of SVs is greater than an elevation threshold; and

based on the determining the elevation of the one or more SVs of the plurality of SVs is greater than the elevation threshold, discarding measurements from SVs with measurement errors greater than a current horizontal error position estimate (HEPE) for the device and updating a position fix of the device representing a physical location of the device in space using remaining measurements from a minimum number of SVs of the plurality of SVs with the elevation greater than the elevation threshold, with measurement errors less than or equal to the current HEPE for the device, wherein the measurements are discarded and the position fix is updated after the determining the first amount is greater than the speed difference threshold, the determining the number of the SVs with the NLOS signals is greater than the NLOS satellite threshold, the determining the second amount is greater than the heading difference threshold, the determining the third amount is greater than the azimuth difference threshold, the determining the fourth amount is greater than the measurement error threshold, and the determining the elevation of the one or more SVs of the plurality of SVs is greater than the elevation threshold.

16 . The method of claim 15 , further comprising determining, based on the determining the number of SVs with NLOS signals is greater than the NLOS satellite threshold, an environment of the device comprises a plurality of signal obstructions.

17 . The method of claim 15 , wherein the speed difference threshold is a percentage value of the prior epoch speed.

18 . The method of claim 15 , wherein the NLOS satellite threshold is a percentage value of a total number of the plurality of SVs.

19 . The method of claim 15 , wherein the heading difference threshold is a percentage value of difference from the prior epoch heading.

20 . The method of claim 15 , wherein the azimuth difference threshold is a percentage value of difference from the respective prior epoch azimuths.