check for NaN pseudoranges in EKF

Author: betaBison

gnss_lib_py/algorithms/gnss_filters.py

@@ -98,7 +98,7 @@ def solve_gnss_ekf(measurements, init_dict = None,
         corr_pr_m = measurement_subset["corr_pr_m"].reshape(-1,1)
 
         # remove NaN indexes
-        not_nan_indexes = ~np.isnan(pos_sv_m).any(axis=1)
+        not_nan_indexes = ~np.isnan(pos_sv_m).any(axis=1) & ~np.isnan(corr_pr_m).any(axis=1)
         pos_sv_m = pos_sv_m[not_nan_indexes]
         corr_pr_m = corr_pr_m[not_nan_indexes]