Detection, Identification and Mitigation of Outliers by Solving Observation Equations with Outliers as Part of Unknowns

The conventional RAIM based on the least square algorithm of the residuals of the snapshot data can detect the single outlier with high probability, but it can miss the multiple outliers frequently. So, it invites a serious problem of the missed detection. We must clarify this problem, and develop a method to prevent the missed detection of the multiple outliers. In the present paper, a method to detect multiple outliers more correctly is discussed, and the numerical results seem much improved and appropriate.