How to address the issue of spurious GPS states?

[PanWenbo]

Greetings! I am currently facing a technical challenge while integrating GPS data using LIO-SAM. The issue arises from the inaccurate covariance estimation provided by the integrated inertial navigation system we are utilizing. When there is a deviation in GPS positioning, the covariance does not update promptly, which leads to the incorporation of erroneous GPS positioning information and consequently affects the overall accuracy of the localization. I would like to seek your guidance on how to address this matter.

Looking forward to your response. Thank you!