Removing and de-weighting outlier measurements from satellite and previous information
Methods and integrated circuits for performing receiver autonomous integrity monitoring (RAIM) in global navigation satellite system (GNSS) receivers are disclosed. In an embodiment, a first information comprising current position related information is accessed. A second information comprising predicted position related information is accessed based on previously received information. A solution is computed based on the first information and the second information and a presence of outlier information is determined in at least one of the first information and the second information based on the solution.
1. A process comprising:
A. receiving first information from navigation satellites in an electronic device, the first information indicating current position of the electronic device;
B. accessing second information from memory circuitry in the electronic device, the second information indicating previous position of the electronic device based on first information from the navigation satellites that was previously received;
C. computing first measurements in the electronic device based on the first information;
D. computing second measurements in the electronic device based on the second information;
E. determining a presence of outlier measurements in the first measurements and the second measurements;
F. removing any outlier measurement from the first measurement; and
G. de-weighting any outlier measurement in the second measurements.
2. The process of claim 1 in which the receiving includes receiving current position related information from global navigation satellite system (GNSS) satellites.
3. The process of claim 1 in which the accessing includes accessing predicted position related second information based on previously received first information.
4. The process of claim 1 in which the computing first measurements includes computing first range information from the first information.
5. The process of claim 1 in which the computing first measurements includes computing first range information from the first information.