Abstract: A method of handling outliers is provided. The method includes determining a set of residuals, wherein each residual represents a difference between a measurement included in a set of measurements and a predetermined estimate; clustering the residuals into a plurality of clusters; calculating a consistency value for each of the plurality of clusters based on a number of measurements included in the set of measurements and a standard deviation of the measurements; identifying a cluster having a maximum consistency value among the plurality of clusters as inliers by applying the consistency function to the plurality of clusters; and handling the outliers based on an approximation of one or more parameters as a function of a statistical relationship of the inliers included in the cluster having the maximum consistency value among the plurality of clusters and an initial estimation of the one or more parameters.

Abstract: In one embodiment during a warm-start mode, an estimator estimates a satellite correction signal based on satellite orbit data, satellite clock data, and satellite bias correction data derived from stored received raw satellite signal measurements. A data source selector seamlessly switches a measurement data source from the stored received raw satellite signal measurements to live, real-time raw satellite signal measurements if or when a respective measurement time tag of a last-processed one of the stored received satellite signal measurements approaches or reaches the current time.

Abstract: In one embodiment during a warm-start mode, an estimator estimates a satellite correction signal based on satellite orbit data, satellite clock data, and satellite bias correction data derived from stored received raw satellite signal measurements. A data source selector seamlessly switches a measurement data source from the stored received raw satellite signal measurements to live, real-time raw satellite signal measurements if or when a respective measurement time tag of a last-processed one of the stored received satellite signal measurements approaches or reaches the current time.