Independent integrity detection method of receiver capable of simultaneously detecting and identifying multiple faults

Abstract

The invention discloses an independent integrity detection method of a receiver capable of simultaneously detecting and identifying multiple faults. The method comprises the steps of firstly determining a satellite position according to a navigation message, eliminating a satellite with a relatively low elevation angle, and determining an observation matrix which only contains a clock correction term; carrying out parity decomposition on the observation matrix to obtain a parity vector p and a multi-epoch cumulative parity vector P, calculating test statistics separately and carrying out weighting to obtain new test statistics sigma, and comparing the new test statistics sigma with a threshold T to obtain a fault detection result; and carrying out fault mode assumption according to the quantity of faults, and detecting the faults in various fault modes to identify multiple faults. The method is simple, the detection and recognition rate is high, abrupt faults and multiple faults can be detected and recognized, and the method also has a very high detection and recognition rate on small soft faults.

Description

technical field [0001] The embodiments of the present invention relate to the field of satellite navigation, in particular to an integrity monitoring method and device capable of simultaneously detecting and identifying slow-change faults and sudden-change faults. Background technique [0002] Receiver Autonomous Integrity Monitoring (RAIM) is an important technology in satellite navigation receivers, and it is the premise to ensure that the calculation results of satellite navigation systems are correct and available. RAIM must have two functions of fault detection and fault identification. It must be able to detect satellite faults, and after detecting faults, perform fault identification to find faulty satellites and exclude them from the navigation and positioning solution. Due to the important role of RAIM technology in satellite navigation systems, RAIM fault detection and identification methods are research hotspots in recent years. [0003] With the wide application...

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Problems solved by technology

[0004] The multi-solution separation method calculates the protection level of the complete set and subset of satellites, and selects the satellite combination that produces the smallest protection level to perform navigation calculations; the double troubleshooting method uses the monitoring statistics and thresholds of the satellite combination after traversing and eliminating two satellites. Compare and identify faulty satellites, only for double-star faults; the pseudo-range consistency comparison method judges faulty satellites by calculating a subset of all four satellites and comparing them with threshold values; the parity vector method of cumulative epochs constructs parity Vector cumulative detection amount, amplifying the non-centralization parameter multiples to detect small slowly changing faults, but unable to detect sudden mutation faults

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