Fig. 1
From: Reliable urban vehicle localization under faulty satellite navigation signals
Our proposed particle filter-based algorithm for fault-robust GNSS localization. The algorithm incorporates GNSS pseudorange measurements, divided into unknown subsets of non-faulty (A, blue) and faulty (B, orange) measurements. By considering particles that support either subset, our algorithm effectively captures the multimodal uncertainty in localization, accommodating the potential presence of faulty measurements