Outlier detection for satellite positioning system using visual inertial odometry

An apparatus for continuously determining a position of a mobile platform, comprising:

• means for obtaining a plurality of pseudorange measurements from multiple time epochs of a satellite navigation system (SPS) over a sliding window of time from an SPS receiver of the mobile platform, wherein each time epoch includes at least one pseudorange measurement corresponding to a first satellite and at least one pseudorange measurement corresponding to a second satellite, wherein the mobile platform is capable of navigating using internal sensors, and the plurality of pseudorange measurements are with respect to a global reference frame of the SPS;
• means for obtaining a plurality of visual-inertial odometry (VIO) velocity measurements from a VIO system of the mobile platform over the sliding window of time, wherein the mobile platform includes a camera for capturing images, and wherein each VIO velocity measurement of the plurality of VIO velocity measurements is with respect to a local reference frame of the VIO system and includes a vector of velocities and a rotation matrix, the rotation matrix for aligning the local reference frame with the global reference frame;
• means for combining the plurality of pseudorange measurements with the plurality of VIO velocity measurements to identify one or more outlier pseudorange measurements in the plurality of pseudorange measurements;
• means for discarding the one or more outlier pseudorange measurements from the plurality of pseudorange measurements to generate a remaining plurality of pseudorange measurements;
• and
• means for computing the position of the mobile platform based on the remaining plurality of pseudorange measurements and the plurality of VIO velocity measurements.

An apparatus for continuously determining a position of a mobile platform, comprising:

• at least one processor;
• and
• at least one memory coupled to the at least one processor, the at least one processor and the at least one memory being configured to direct the apparatus to:
• obtain a plurality of pseudorange measurements from multiple time epochs of a satellite navigation system (SPS) over a sliding window of time from an SPS receiver of the mobile platform, wherein each time epoch includes at least one pseudorange measurement corresponding to a first satellite and at least one pseudorange measurement corresponding to a second satellite, wherein the mobile platform is capable of navigating using internal sensors, and the plurality of pseudorange measurements are with respect to a global reference frame of the SPS;
• obtain a plurality of visual-inertial odometry (VIO) velocity measurements from a VIO system of the mobile platform over the sliding window of time, wherein the mobile platform includes a camera for capturing images, and wherein each VIO velocity measurement of the plurality of VIO velocity measurements is with respect to a local reference frame of the VIO system and includes a vector of velocities and a rotation matrix, the rotation matrix for aligning the local reference frame with the global reference frame;
• combine the plurality of pseudorange measurements with the plurality of VIO velocity measurements to identify one or more outlier pseudorange measurements in the plurality of pseudorange measurements;
• discard the one or more outlier pseudorange measurements from the plurality of pseudorange measurements to generate a remaining plurality of pseudorange measurements;
• and
• compute the position of the mobile platform based on the remaining plurality of pseudorange measurements and the plurality of VIO velocity measurements.