System and method for multi-track environmental fault monitoring for aerial platforms

A device comprising:

• at least one processor configured to:
• estimate a normalized squared residual error (NSRE) for each of one or more satellite-receiver tracks over time;
• determine an averaged NSRE for each satellite-receiver track by averaging the NSRE over multiple time windows;
• perform a threshold test on the averaged NSRE to determine a filter state;
• and
• determine whether to apply a scale factor for each satellite-receiver track based on the filter state.

A non-transitory computer readable medium containing instructions that when executed cause at least one processor to:

• estimate a normalized squared residual error (NSRE) for each of one or more satellite-receiver tracks over time;
• determine an averaged NSRE for each satellite-receiver track by averaging the NSRE over multiple time windows;
• perform a threshold test on the averaged NSRE to determine a filter state;
• and
• determine whether to apply a scale factor for each satellite-receiver track based on the filter state.