RAIM method based on improved unscented Kalman particle filtering

Abstract

The invention belongs to the technical field of global satellite navigation detection, and particularly relates to an RAIM method based on improved unscented Kalman particle filtering. Compared with the prior art, according to the invention, receiver autonomous integrity monitoring can be effectively carried out in a non-Gaussian observation noise environment; improved unscented Kalman filtering is introduced into a particle filtering method; more reasonable state prediction and suggested density calculation in particle filtering are realized by improving unscented Kalman filtering; the particle filter receiver autonomous integrity monitoring method can effectively avoid a particle degradation phenomenon, guarantees the adaptability of the particle filter receiver autonomous integrity monitoring method to a non-Gaussian observation noise environment, also reduces the calculation amount caused by the introduction of unscented Kalman particle filtering, and guarantees the algorithm operation efficiency. Therefore, according to the scheme, the problem of particle filtering degradation is solved, meanwhile, the adaptability of the method to non-Gaussian observation noise is guaranteed,and the calculated amount caused by improvement of unscented Kalman filtering is also reduced.

Description

technical field [0001] The invention belongs to the technical field of global satellite navigation detection, and in particular relates to a RAIM method based on improved unscented Kalman particle filter. Background technique [0002] In the non-Gaussian observation noise environment, traditional receiver autonomous integrity monitoring methods based on Gaussian noise assumptions, such as least squares residual method, parity vector method, and Kalman filter, cannot accurately detect and identify satellite faults. Taking advantage of the strong adaptability of particle filter itself to non-Gaussian observation noise, a particle filter receiver autonomous integrity monitoring method is constructed, which can carry out receiver autonomous integrity monitoring (Receiver Autonomous Integrity Monitoring, RAIM) in the non-Gaussian observation noise environment , but due to the problem of particle degradation in the particle filter method itself, the monitoring results are not idea...

AI Technical Summary

Problems solved by technology

[0006] The technical problem to be solved by the present invention is: how to effectively carry out autonomous integrity monitoring of the receiver in a non-Gaussian observation noise environment

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