Robustify yaw emergency estimator against GNSS glitches #23894
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The likelyhood can be really small when the innovation is suddenly large. This can occur during a GNSS velocity glitch and shouldn't reset the filter as it would bring it back to a really vulnerable state.
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Solved Problem
When a GNSS velocity glitch occurs, the likelihood of all the estimators go to 0, driving all the weights to 0 that triggers a reset of the estimator. This makes the estimator really vulnerable as it would immediately converge to the incorrect GNSS readings. Since the main EKF requires a valid yaw emergency estimate at this time to see if the sudden large velocity innovation can be due to an incorrect heading it could cause a false yaw emergency reset (to an incorrect value!).
Solution
Tested in replay:
