Multiple Faulty GNSS Measurement Exclusion based on Consistency Check in Urban Canyons

Hsu L. T., Tokura H., Kubo N., Gu Y., Kamijo S.

IEEE Sensors Journal (2017)

Key idea. Urban canyons routinely corrupt several satellites at once. A greedy consistency check searches subsets of the satellites in view — excluding the worst offender each round — until the remaining set passes fault detection and is used for positioning (figure).

Why it matters. Classical RAIM assumes a single fault; dense cities break that assumption daily. This deletion-based exclusion restored usable urban positioning under simultaneous faults — and its known limitation (aggressive exclusion degrading geometry) is what the lab’s later incremental fault-isolation work improves on. (IEEE Sensors Journal, 2017, Q1.)