METHODS AND SYSTEMS FOR MAXIMUM CONSISTENCY BASED OUTLIER HANDLING

A method of handling outliers is provided. The method includes determining a set of residuals, wherein each residual represents a difference between a measurement included in a set of measurements and a predetermined estimate; clustering the residuals into a plurality of clusters; calculating a consistency value for each of the plurality of clusters based on a number of measurements included in the set of measurements and a standard deviation of the measurements; identifying a cluster having a maximum consistency value among the plurality of clusters as inliers by applying the consistency function to the plurality of clusters; and handling the outliers based on an approximation of one or more parameters as a function of a statistical relationship of the inliers included in the cluster having the maximum consistency value among the plurality of clusters and an initial estimation of the one or more parameters.