A measurement domain receiver autonomous integrity monitoring algorithm

Abstract

One of the key approaches to monitor the integrity of Global Satellite Navigation Systems (GNSS) is receiver autonomous integrity monitoring (RAIM). Existing RAIM algorithms utilise two tests in the position domain (for RAIM availability) and measurement domain (for failure detection). This paper proposes an alternative RAIM algorithm, which is based entirely in the measurement domain. This algorithm can be used for sensitivity analyses to support performance specification and system design. It can also be used during actual flight operations where the trigger is the phase of flight and its required navigation performance (RNP) parameters. This is made possible by computationally efficient calculation of the chi-squared parameters. The algorithm reverts to the current approach if the phase of flight is unknown. Simulation results for non-precision approach (NPA) have been used to demonstrate the effectiveness of the proposed algorithm.

Height Aiding, C/N0 Weighting and Consistency Checking for GNSS NLOS and Multipath Mitigation in Urban Areas

“…A test statistic based on the sum of the squares of the residuals, δz + T δz + , is then compared with a threshold derived from a chi-square distribution (Jiang et al, 2011;Feng et al, 2006). Where the test statistic falls within the threshold, the position solution is accepted.…”

“…By eliminating these contaminated measurements, a more accurate position solution can potentially be obtained. The same principle is used for fault detection in receiver autonomous integrity monitoring (RAIM) (Feng et al, 2006). The difference is that the purpose of RAIM is to detect and exclude faulty data and to calculate protection levels, whereas here, the aim is to identify the set of measurements least affected by multipath and NLOS propagation.…”

Reliable Positioning Domain Computation for Urban Navigation

“…In the same way as a protection level (PL) is compared to an alert limit [14], positioning information is declared available if the radius of the computed confidence domain (in the tangent plane) is less than the maximum tolerated position error for the current navigation task. In this study, we have used a 10-meter limit, as suggested in [15].…”

Redundant MEMS-IMU integrated with GPS for performance assessment in sports

“…where FA P is the probability of false alarm, r M N = − is the redundancy, ( ) We now want to compare this theoretical threshold to an optimized threshold that minimizes the sum of the probability of false alarm and of misdetection [15] and that takes into account the reference measurements provided by the tacticalgrade IMU. Comparing the MEMS-IMU measurements to the reference measurements, we first verify the normality of the difference vectors (Fig.…”