In this article, the problem of receiver autonomous integrity monitoring (RAIM) is transformed into a modeling problem using dynamic data and an artificial neural network. A new RAIM method based on a probabilistic neural network (P-RAIM) is presented to improve integrity monitoring performance. Compared with existing RAIM methods, P-RAIM has a greater ability to meet the monitoring requirements for localizer performance with vertical guidance down to altitudes of 250 feet (LPV-250) in a single global navigation satellite system. First, by projecting the pseudorange error model from the measurement domain into the positioning domain through multiconvolution, patterns including a satellite fault pattern and a faultfree pattern are obtained based on variance inflation theory. Second, the P-RAIM model is proposed as a modified dynamic-data-driven probabilistic neural network with five layers; moreover, unique methods for training sample collection and integrity support are presented. Then, particle swarm optimization is applied to optimize a fitness function based on the false alarm probability and missed detection probability thereby improving the ability of P-RAIM to meet the LPV-250 requirements, including the false alarm probability, missed detection probability, vertical alarm limit and alarm time. Finally, utilizing real satellite data from a receiver located in Beijing to verify the effectiveness and universality of P-RAIM, evaluation experiments show that both the false alarm probability and missed detection probability can be effectively reduced to meet the LPV-250 requirements when the positioning bias is no less than 40 m. Compared with least-squaresresiduals RAIM, P-RAIM can more easily detect potential faulty satellites in a single constellation.INDEX TERMS Receiver autonomous integrity monitoring, LPV-250, global navigation satellite system, multi-layer neural network, alarm systems.

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