主权项 |
1. A method for solving a detected maneuver after entering a recovery mode, comprising:
determining, by a processor, an initial start time and an initial stop time for the detected maneuver; generating, by the processor, a recovery maneuver based on the initial start time and the initial stop time; performing, by the processor, a filtering operation on the recovery maneuver to determine a number of rejected residuals; determining, by the processor, whether the number of rejected residuals of the recovery maneuver exceeds a threshold; performing, by the processor, a smoothing operation on the recovery maneuver in response to determining that the number of rejected residuals of the recovery maneuver does not exceed a threshold; determining, by the processor, whether all consistency components of the recovery maneuver are acceptable after performing the smoothing operation; and reporting, by the processor, a solution to the recovery maneuver in response to determining that all consistency components of the recovery maneuver are acceptable. |