Ground track — truth vs. the two solvers
Black: truth. Orange: naive WLS — every satellite trusted equally. Blue: robust SPP — large residuals softly down-weighted.
Controls
naive WLS (L2)
—
robust SPP (Cauchy)
—
robust advantage
—
gnss_gpu · interactive
A car drives east through a city at 18 km/h while you control the sky.
Click satellites in the sky plot to block them — blocked
satellites deliver a reflected (NLOS) signal whose range is biased long.
Every change instantly re-solves all 60 epochs two ways with identical
measurements: plain least squares vs. a Cauchy-weighted robust solver
(the same IRLS idea as gnss_gpu.robust_spp). No install,
no GPU — everything runs in your browser.
Black: truth. Orange: naive WLS — every satellite trusted equally. Blue: robust SPP — large residuals softly down-weighted.
naive WLS (L2)
—
robust SPP (Cauchy)
—
robust advantage
—