Commit e36b3a6 removed RAIM and previous PVT solution reuse for least squares, is this intentional?

[minecraft2048]

Commit 93d7a52 added support for RAIM by checking the RMSE of the solution, and the previous commits allows us to feed in previous PVT solution as a initial value for the least square solution.

Then commit e36b3a6 added SatInfo while removing RAIM and previous PVT solution reuse: e36b3a6#diff-096e78c883f665740d08047f97a762bb878a916fdcaf64450112d2de87305cebR160

[zsoerenm]

Yes, it wasn't reliable enough. The newest implementation also uses curve_fit from https://github.com/JuliaNLSolvers/LsqFit.jl
(see

PositionVelocityTime.jl/src/user_position.jl

Line 96 in 056edbd

ξ_fit_ols = curve_fit(calc_ρ_hat, calc_H, sat_positions_mat, ρ, collect(prev_ξ))

)
Behind the scene it uses a Levenberg-Marquardt algorithm which is more robust than Gauss-Newton iteration.