The application provides a GNSS
outlier detection method,
system and storage medium based on residual multi-order chi-square distribution used on a
satellite, comprising the following steps: step one, acquiring the position, velocity and
satellite time in the earth-fixed
system output by the GNSS; step two, converting the output data of the GNSS into orbital 14 plane roots; step three, calculating the residual and the residual rate of change to make a first heavy
outlier judgment, then calculating one-dimensional chi-square test outliers, then calculating two-dimensional chi-square test outliers after the one-dimensional chi-square test is passed, calculating five-dimensional chi-square test outliers after the two-dimensional chi-square test is passed, if all the tests are passed, updating the parameters; if one test is not passed, determining that it is an
outlier, and simultaneously counting the continuous invalid times, when the continuous invalid times are greater than a threshold value, the threshold value is adjusted along with the increase of the continuous invalid times, so that the
system divergence is avoided. The application has the beneficial effects that the application can obviously improve the
rejection rate of outliers, and provides correct data for the use on the
satellite.