PX4 PR 29660 proposes a kinematic consistency check between GNSS position and velocity estimates. The author notes that code-pseudorange-derived position and Doppler-derived velocity can deteriorate differently under multipath or other faults.
Mon, 9 Nov 2026
A receiver's fix status alone cannot establish that all navigation observables agree with the dynamics expected by the estimator.
Treat this as a proposed diagnostic, not an independent guarantee against spoofing or multipath. Replay representative GNSS logs before selecting a rejection threshold.