Method for receiver autonomous integrity monitoring and fault detection and elimination

Abstract

A method for detecting and identifying a faulty measurement among a plurality of GPS measurements, obtained by a GPS receiver with respect to a plurality of satellites in view of the GPS receiver, determines whether the plurality of GPS measurements include a faulty measurement. In response to a determination that the plurality of GPS measurements include a faulty measurement, the method identifies a satellite contributing the faulty measurement by computing a correlation value associated with each of the plurality of satellites, and selecting a satellite associated with a highest correlation value as the satellite contributing the faulty measurement.

Description

FIELD OF THE INVENTION The present invention relates generally to Fault Detection and Elimination (FDE) in a discrete-time controlled process, and particularly to methods for Receiver Autonomous Integrity Monitoring (RAIM) in global positioning systems (GPS). BACKGROUND OF THE INVENTION GPS uses satellites in space to locate objects on earth. With GPS, signals from the satellites arrive at a GPS receiver and are used to determine the position of the GPS receiver. Currently, two types of GPS measurements corresponding to each correlator channel with a locked GPS satellite signal are available for civilian GPS receivers. The two types of GPS measurements are pseudorange, and integrated carrier phase for two carrier signals, L1 and L2, with frequencies of 1.5754 GHz and 1.2276 GHz, or wavelengths of 0.1903 m and 0.2442 m, respectively. The pseudorange measurement (or code measurement) is a basic GPS observable that all types of GPS receivers can make. It utilizes the C / A or P codes m...

AI Technical Summary

Benefits of technology

The patent describes a method for detecting and identifying faulty GPS measurements. This is useful for GPS receivers that receive signals from multiple satellites. The method calculates a correlation value for each satellite and selects the satellite with the highest correlation value as the source of the faulty measurement. This helps to accurately identify the faulty measurement. The method can also detect the faulty measurement based on a test statistic computed from the GPS measurements. The size of the error in the faulty measurement can also be determined based on a residual sensitivity matrix and root mean square residual. Overall, this method improves the accuracy of GPS navigation.

Problems solved by technology

However, because an initial number of whole cycles in transit between the satellite and the receiver when the receiver starts tracking the carrier phase of the signal is usually not known, the transit time difference may be in error by multiple carrier cycles, i.e., there is a whole-cycle ambiguity in the carrier phase measurement.

These ranges are usually referred to as pseudoranges (false ranges) because the receiver clock generally has a significant time error which causes a common bias in the measured range.

Various other factors can also lead to errors or noise in the calculated range, including ephemeris error, satellite clock timing error, atmospheric effects, receiver noise and multipath error.

With standalone GPS navigation, where a user with a GPS receiver obtains code and / or carrier-phase ranges with respect to a plurality of satellites in view, without consulting with any reference station, the user is very limited in ways to reduce the errors or noises in the ranges.

Corrections to the reference receiver position are not as flexible as GPS satellite clock or orbit corrections because, for optimum accuracy, they require that the same satellites be observed by the user receiver and the reference receiver.

However, while the GPS satellite clock timing error, which appears as a bias on the pseudorange or carrier phase measurement, is perfectly correlated between the reference receiver and the user receiver, most of the other error factors are either not correlated or the correlation diminishes in wide-area applications, i.e., when the distance between the reference and user receivers becomes large.

Whichever of the navigation modes is used, there is always the possibility that the range with respect to a satellite are computed based on a faulty measurement, such as a measurement with respect to a failed satellite.

When this range is used in determining the position of the user, an erroneous or wrong position would result.

Thus, a faulty measurement can cause serious degradation to the reliability and integrity of the GPS system.

As a result, they generally involve very extensive computations.

Clearly, this technique is very computationally intensive and does not isolate a particular measurement or satellite as being faulty.

Again, this procedure presents an excessive computational burden.

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