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1.
Measurements consistency-based Receiver Autonomous Integrity Monitoring (RAIM) is the main technique for monitoring the integrity of global satellite navigation systems at the user-level. Existing RAIM algorithms utilize two tests, in the position domain a test for RAIM availability and in the measurement domain a test for failure detection. These tests involve the computation of three parameters: test statistic, decision threshold, and protection level. The test statistic is based on the actual measurements in the form of the sum of the squared errors (SSE). The decision threshold is chosen on the basis of the statistical characteristics of the SSE including the assumption that the errors are normally distributed. However, in practice residual, error distributions exhibit heavier tails than predicted by the Gaussian model. Therefore, this paper challenges the normality assumption of the residual navigation errors in three ways. First, real data are used to assess its impact on the traditional RAIM algorithm. Second, extreme value theory is applied to the tails, and the generalized extreme value (GEV) distribution is derived to capture residual navigation errors. Third, the performance of the traditional RAIM approach is compared with that employing the GEV distribution. The results demonstrate that the GEV model is a more accurate representation of the distribution of residual navigation errors than the conventional Gaussian model and should be used in the development of integrity monitoring algorithms. 相似文献
2.
把导航领域、军事领域和导航电子地图中广泛应用的圆概率误差(circular error probable,CEP)引入到HPL(horizontal protection level)的计算中,在最小二乘残差法基础上构建了基于圆概率误差的RAIM(receiver autonomous integrity monitoring)可用性算法。首先计算了在一定误警率、漏警率条件下多颗卫星发生故障时的水平定位偏差和一定置信度下的圆概率误差;然后以GPS导航星座为例,探讨了相关观测下计算HPL的新方法;最后把HPL与水平告警限差(horizontal alert limit,HAL)相比较,得到了基于圆概率误差的RAIM可用性,并通过算例验证了此方法的有效性和可行性。 相似文献
3.
One of the key approaches to monitor the integrity of Global Satellite Navigation Systems (GNSS) is receiver autonomous integrity monitoring (RAIM). Existing RAIM algorithms utilise two tests in the position domain (for RAIM availability) and measurement domain (for failure detection). This paper proposes an alternative RAIM algorithm, which is based entirely in the measurement domain. This algorithm can be used for sensitivity analyses to support performance specification and system design. It can also be used during actual flight operations where the trigger is the phase of flight and its required navigation performance (RNP) parameters. This is made possible by computationally efficient calculation of the chi-squared parameters. The algorithm reverts to the current approach if the phase of flight is unknown. Simulation results for non-precision approach (NPA) have been used to demonstrate the effectiveness of the proposed algorithm. 相似文献
4.
This is the second of two consecutive papers (Part II) in this journal on the monitoring of the integrity of integrated GPS/INS
systems. Part I established that the worst class of error for an integrated system in terms of failure detection performance
is that of slowly growing errors (SGEs). It was also concluded that among the integration architectures, the tightly coupled
architecture provides the best mechanism to tackle SGEs due to its simpler structure and accessibility to the relevant measurements.
In a subsequent comparison of the existing integrity algorithms, the multiple solution separation (MSS) and autonomous integrity
monitoring by extrapolation (AIME) methods were selected for further analysis because of their representative characteristics
of the current integrity algorithms. This paper carries out a detailed investigation of the capability of the MSS and AIME
algorithms to deal with the SGEs, using a realistic simulation platform and limited real data analysis. Results show that
although it is possible for the existing algorithms to detect SGEs, the time it takes to detect them varies inversely to the
rate of growth of the SGE. A new algorithm is developed to deal with this based on the concept of rate detection. Simulation
results show that the new algorithm can detect SGEs earlier than the current algorithms. This is validated by preliminary
tests with real data. 相似文献
5.
An Assessment of the RAIM Performance of a Combined Galileo/GPS Navigation System Using the Marginally Detectable Errors (MDE) Algorithm 总被引：1，自引：0，他引：1
W. Y. Ochieng K. F. Sheridan K. Sauer X. Han P. A. Cross S. Lannelongue N. Ammour K. Petit 《GPS Solutions》2002,5(3):42-51
Integrity relates to the trust that can be placed in the correctness of information supplied by a navigation system. It includes
the ability of the navigation system to provide timely warning to users when the system fails to meet its stated accuracy.
Specifically, a navigation system is required to deliver a warning (alarm) when the error in the derived user position solution exceeds an allowable level (alarm limit). This warning must be issued to the user within a given period of time (time-to-alarm) and with a given probability (integrity risk). The two main approaches to monitoring the integrity of satellite navigation systems are Receiver Autonomous Integrity Monitoring
(RAIM), and monitoring based on an independent network of integrity monitoring stations and a dedicated Ground Integrity Channel
(GIC). More recently Satellite Autonomous Integrity Monitoring (SAIM) methods have also been investigated.
This article presents the results of a study to assess the RAIM capability of the Galileo system when used alone and when
combined with the Global Positioning System (GPS). The assessment was based on the Marginally Detectable Error (MDE) algorithm.
The results show a significant improvement in the capability to perform RAIM using a combined Galileo/GPS system compared
to the performance using the Galileo system alone. This study was supported by Alcatel Space and was a contribution to the
Galileo definition studies carried out for the European Community under the GALA project. ? 2002 Wiley Periodicals, Inc. 相似文献
6.
This paper (the first part of two to be published in this journal) presents the process and results of a critical review of
the integrated GPS and inertial navigation system (INS) architectures, the corresponding failure modes and the existing integrity
monitoring methods. The paper concludes that tightly coupled GPS/INS systems have the highest potential for detecting slowly
growing errors (SGEs). This is due to access to pseudorange measurements and a relatively simpler configuration compared to
the other architectures. The second paper (Part II) takes this further and carries out a detailed characterisation of the
performance of the current integrity algorithms for tightly coupled systems and develops a new algorithm that detects SGEs
faster than the current methods. 相似文献
7.
Pseudorange-based integrity monitoring, for example receiver autonomous integrity monitoring (RAIM), has been investigated
for many years and is used in various applications such as non-precision approach phase of flight. However, for high-accuracy
applications, carrier phase-based RAIM (CRAIM), an extension of pseudorange-based RAIM (PRAIM) must be used. Existing CRAIM
algorithms are a direct extension of PRAIM in which the carrier phase ambiguities are estimated together with the estimation
of the position solution. The main issues with the existing algorithms are reliability and robustness, which are dominated
by the correctness of the ambiguity resolution, ambiguity validation and error sources such as multipath, cycle slips and
noise correlation. This paper proposes a new carrier phase-based integrity monitoring algorithm for high-accuracy positioning,
using a Kalman filter. The ambiguities are estimated together with other states in the Kalman filter. The double differenced
pseudorange, widelane and carrier phase observations are used as measurements in the Kalman filter. This configuration makes
the positioning solution both robust and reliable. The integrity monitoring is based on a number of test statistics and error
propagation for the determination of the protection levels. The measurement noise and covariance matrices in the Kalman filter
are used to account for the correlation due to differencing of measurements and in the construction of the test statistics.
The coefficient used to project the test statistic to the position domain is derived and the synthesis of correlated noise
errors is used to determine the protection level. Results from four cases based on limited real data injected with simulated
cycle slips show that residual cycle slips have a negative impact on positioning accuracy and that the integrity monitoring
algorithm proposed can be effective in detecting and isolating such occurrences if their effects violate the integrity requirements.
The CRAIM algorithm proposed is suitable for use within Kalman filter-based integrated navigation systems.
相似文献
| Shaojun FengEmail: |
8.
改进M估计的抗多个粗差定位解算方法 总被引：2，自引：1，他引：1
随着导航卫星数量的增多,观测数据中出现多个粗差的概率显著增大,基于单个粗差假设的RAIM算法不能保证多个粗差的有效抑制。抗差估计在定位可靠性要求高的场合受到了广泛关注。针对传统M-估计受初值误差影响的问题,提出了一种基于改进M-估计的抗差定位解算方法。该算法采用S-估计方法计算初值,根据可用卫星数实时调整S-估计中的参数使得初值能够最大限度抑制粗差。GPS观测数据处理结果表明改进的M-估计能够有效抑制多个粗差。 相似文献
9.
针对基于最小二乘残差估计的接收机自主完好性监测(RAIM)算法,结合伪距单点定位多采用观测量非等权模型,提出一种观测量非等权模型RAIM可用性算法,对实际计算具有借鉴意义。通过实测数据,分析了等权模型和非等权模型RAIM可用性算法对卫星几何分布的估计情况,验证了观测量非等权模型RAIM可用性算法的可行性。 相似文献
10.
RAIM是指用户接收机利用多余观测量为定位解自主地提供完善性监测,其基本功能包括故障检测（FD）及故障排除（FE）两个部分。文中对基于奇偶矢量法的GPS接收机自主完善性监测（RAIM）算法进行分析与研究,并以具体数据为例,对该算法进行验证分析。 相似文献
11.
In the global positioning system (GPS), code division multiple access (CDMA) signals are used. Because of the known spectral
characteristics of the CDMA signal, continuous wave (CW) interference has a predictable effect on the different pseudo random
noise (PRN) spreading codes (unique to each satellite) depending on the Doppler frequency of the signal. The Doppler frequency
for each signal is also predictable once the receiver position is known. As different satellite signals have different Doppler
frequencies, the effect on the signal quality is also different. In this paper first the effect is studied analytically. The
concept of an “exclusion zone” is defined and analyzed for each satellite. This exclusion zone, where that satellite should
not be used due to interference degradation, is shown to be predictable for each satellite as a function of time. Using this
prediction, the CW interference effect on the positioning quality of the receiver can be mitigated by ignoring the affected
satellites within exclusion zones when performing position evaluation. The threshold beyond which a satellite should be excluded
is then derived by studying the mutual effects of the geometry and the signal quality of that satellite on the positioning
quality. Receiver autonomous integrity monitoring (RAIM) uses redundancy in measurements to perform an internal consistency
check to see if all of the measurements are satisfactory. In this paper this technique is also used to mitigate the effect
of CW interference on the positioning accuracy. Finally it is shown that the prediction of the exclusion zone for each satellite
outperforms the RAIM algorithm in mitigation the effect of the interference when 5 satellites are visible.
An erratum to this article can be found at 相似文献
12.
接收机自主完好性监测(receiver autonomous integrity monitoring,RAIM)是终端用户高可靠导航定位的保障,低轨卫星的发展为完好性监测带来新的机遇,然而不同低轨星座增强下的终端RAIM性能可能会存在显著差异。基于高轨道倾角(80颗)、中轨道倾角(120颗)和混合轨道倾角(168颗)3种典型的低轨星座,系统评估了低轨卫星增强下的北斗卫星导航系统（BeiDou navigation satellite system,BDS）RAIM可用性及故障检测效果。仿真计算结果表明：对于高纬区域,高轨道倾角增强下的RAIM可用性效果最好,而在中、低纬区域,中轨道倾角星座增强下的RAIM可用性效果最优;在全球范围内,高轨道倾角、中轨道倾角和混合轨道倾角星座增强下非精密进近阶段的RAIM可用性较BDS分别提升30.5%、29.0%和41.0%。由此可知,由不同轨道倾角组成的混合星座可较好地弥补可视卫星在空间覆盖上的缺陷,其全球RAIM可用性增强效果最优,增强下的RAIM可检测到的最小伪距偏差较之前平均减小33.3 m。 相似文献
13.
14.
GNSS接收机自主完备性监测高级算法的有效性验证 总被引：1，自引：0，他引：1
针对RAIM的高级算法———ARAIM,使之应用于对GNSS完备性和生命安全要求更高的领域,基于GNSS实测数据对ARAIM算法下的垂直保护水平、精度、有效监测阈值、连续性风险进行了研究,并对ARA-IM算法下GNSS的可用性进行了评估。结果表明,相对于GPS系统而言,GPS/GLONASS系统下的垂直保护水平、精度、有效监测阈值、连续性风险及可用性完全满足LPV-200阶段的导航性能要求,验证了ARAIM算法在预测垂直保护水平、精度、有效监测阈值、连续性风险方面的有效性。 相似文献
15.
接收机自主完好性监测（RAIM）是卫星导航系统完好性监测的方法之一。一定时空条件下的RAIM可用性，可以通过RAIM空洞直观的反映出来，可以为飞行提供预警；利用不同期GPS、GLONASS实际星座，仿真分析了单星座以及GPS／GLONASS组合星座RAIM可用性，绘制了RAIM空洞图，具有一定的参考价值。 相似文献
16.
17.
鉴于独立分量对异常值具有较强的敏感性,提出了基于独立分量分析(ICA)的伪距多变量时间序列异常值探测算法,并且利用契比雪夫不等式给出了异常值探测的阈值,引入时间序列干预模型估计了潜在故障扰动的大小,根据3σ准则确定出故障星的位置。根据RAIM的实时性要求,采用滑动窗口的思想对上述批处理探测算法进行改造,本文提出了一种卫星多故障在线探测和识别的新算法,并给出了新RAIM算法的实施流程。利用5个iGMAS北斗监测站的民用观测数据对新算法进行验证,试验分析结果表明,新算法对于卫星多故障的实时处理具有较好的效果,且其故障正确探测率优于以往的RANCO方法。 相似文献
18.
In the absence of obstacles, a GPS device is generally able to provide continuous and accurate estimates of position, while in urban scenarios buildings can generate multipath and echo-only phenomena that severely affect the continuity and the accuracy of the provided estimates. Receiver autonomous integrity monitoring (RAIM) techniques are able to reduce the negative consequences of large blunders in urban scenarios, but require both a good redundancy and a low contamination to be effective. In this paper a resampling strategy based on bootstrap is proposed as an alternative to RAIM, in order to estimate accurately position in case of low redundancy and multiple blunders: starting with the pseudorange measurement model, at each epoch the available measurements are bootstrapped—that is random sampled with replacement—and the generated a posteriori empirical distribution is exploited to derive the final position. Compared to standard bootstrap, in this paper the sampling probabilities are not uniform, but vary according to an indicator of the measurement quality. The proposed method has been compared with two different RAIM techniques on a data set collected in critical conditions, resulting in a clear improvement on all considered figures of merit. 相似文献
19.
20.
A fast and efficient integrity computation for non-precision approach performance assessment 总被引：1，自引：0，他引：1
The level of safety to be expected from global positioning system (GPS) must be known in order to use it to support safety
critical operations such as air navigation. This is captured by the navigation performance parameter of integrity which includes
the ability of the navigation system to deliver a warning to the user in the event of a significant failure and within a specified
time-to-alert. Given the high percentile requirement associated with integrity, assessment of expected system performance
both in the nominal case and during failure events, requires the application of analytical techniques. This paper identifies
the weaknesses of the current methods for assessing the level of performance to be expected of GPS for non-precision approaches
and proposes ways to address them including a novel application of a mathematical integration technique that greatly reduces
the computational load associated with integrity performance calculations. Results based on computation times show that the
new method reduces computational load by a factor of 500+ with a high accuracy and associated high level of confidence. It
is shown that in some cases, the technique presented is able to improve GPS RAIM availability beyond the gains achieved by
measurement weighting. 相似文献