A Receiver Autonomous Integrity Fault Detection and Elimination Method

Abstract

The invention relates to a receiver autonomous integrity fault detection and elimination method; the method combines advantages of a conventional RAIM method, starts from the integrity, considers theintegral residual error, considers the inaccurate individual residual error caused by fault value pollution, employs the re-positioning error after a single satellite is eliminated, and organically combines said two so as to detect faults, thus improving the fault detection accuracy. On the aspect of operand, the method does not need to combine one by one for positioning calculation when comparedwith a conventional method that eliminates the satellite and combines one by one for re-positioning, thus using the cook distance statistics, wherein the statistics refers to the influences on an original equation once the single observed quantity is removed; the statistics uses the matrix and statistical knowledge to derive and simplify, thus preventing combination one by one for solving operation, directly calculating results, greatly reducing the operand, improving the detection accuracy, and greatly accelerating the operation speed.

Description

technical field [0001] The invention relates to a receiver autonomous integrity fault detection and elimination method, which belongs to the field of satellite navigation and positioning. Background technique [0002] For satellite navigation systems, satellite system failures (such as electronic failures, ephemeris and clock errors broadcast by satellites, abnormal atmospheric delays, multipath and receiver failures, etc.) will cause errors in measured values, resulting in The positioning result output by the user's receiver has a large error, which affects the user's own safety. With the rapid development of global satellite navigation systems, integrity monitoring is playing an increasingly important role. [0003] RAIM (Receiver Autonomous Integrity Monitoring, Receiver Autonomous Integrity Monitoring) is that the receiver itself monitors the satellite measurement value, and uses the receiver's own redundant observations to monitor faults and identify faulty satellites....

AI Technical Summary

Problems solved by technology

The residual analysis method is mainly based on the least squares residual, calculates the residual square sum or the studentized residual, and compares it with the threshold value. This method has a small amount of calculation, but when there is a faulty star, the faulty star has a large The error will affect the result of the positioning equation and the residual error of each satellite, which may cause the absolute value of the residual error of the faulty star to become smaller, and the absolute value of the residual error of the non-faulty star to become larger, which often leads to misjudgment and cannot be accurate Identify the true fault star

The maximum solution separation rule divides n observations into n groups, removes the i-th star from each group, positions the n groups of satellites separately, and calculates some statistics, such as the sum of squared residuals after positioning, etc., and Compared with the threshold value, the combination that deviates farthest corresponds to the fault star. This method has a high accuracy rate, but the disadvantage is that the amount of calculation is too large

[0005] Therefore, it is urgent to provide a brand-new receiver fault detection method in this field to solve the problems of low accuracy of the traditional RAIM method residual sum of squares method and large amount of computation of the traditional maximum solution separation method

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