Inertial information-assistant RAIM (Receiver Autonomous Integrity Monitoring) detection method

Abstract

The invention belongs to the field of satellite navigation receiver information processing, and particularly relates to an inertial information-assistant RAIM (Receiver Autonomous Integrity Monitoring) detection method, so as to solve the problems of satellite receiver positioning stability and reliability. The method mainly comprises steps: satellite capturing, tracking and synchronizing are carried out; parameters of the satellite after frame synchronization are taken; the satellite position velocity is calculated; least square solution is carried out; a least square pseudo range residual vector and the root mean square are calculated; the pseudo range residual between the receiver and the satellite is calculated; the obtained pseudo range residuals of satellites are ranked from large to small, and each four points serves as a combination from front to behind to calculate the root mean square of one pseudo range residual; a combination with the minimum root mean square of the pseudo range residual is found out; and the pseudo range residual of each satellite and a mean value are compared, and the satellite whose pseudo range residual is larger than a fault recognition threshold value is judged to be a failed satellite. Due to the method of the invention, channel tracking or satellite failure can be effectively detected in a condition with five satellites in a single system, and a failed satellite can be recognized.

Description

technical field [0001] The invention belongs to the field of satellite navigation receiver information processing, and in particular relates to an inertial assisted autonomous integrity detection (RAIM) method. Background technique [0002] With the diversification of satellite navigation technology application fields, the Standard Positioning Service (SPS) can no longer meet the user's needs for high precision and high reliability, which requires the positioning accuracy, continuity, availability and integrity of the system There are stricter requirements. Integrity is one of the very important indicators, which refers to the ability to send an alarm to the user within a certain period of time when the satellite positioning error exceeds the allowable limit. Mathematically speaking, integrity is a measure of confidence in the correctness of the information provided by the system. [0003] There are currently two main methods for integrity monitoring: one is integrity chan...

AI Technical Summary

Problems solved by technology

At present, the satellite navigation integrity monitoring method that adds redundant information is more researched at home and abroad. It uses multi-constellation combination, such as the combination of GPS, GLONASS and BD2 constellation. Although the means of integrity monitoring are added to a certain extent, it still It is the independent integrity monitoring of navigation satellites, and the shortcomings of navigation satellites cannot be avoided