Pseudorange measurement outlier detection for navigation with cellular signals: WIP abstract

We present an autonomous measurement outlier detection and exclusion framework for ground vehicle navigation using cellular signals of opportunity (SOPs) and an inertial measurement unit (IMU). The experimental results demonstrate the proposed framework successfully detecting and excluding outlier measurements, improving the position root mean-squared error (RMSE) by 42%. The demo session will showcase work in progress, namely (1) demo (in the form of a video of our experiment driving in downtown Riverside, California) and (2) a poster that includes the navigation framework, the proposed outlier detection method, and the experimental results.