Research on RAIM algorithm based on temporal filtering

摘要

The satellite navigation receiver autonomous integrity monitoring (RAIM) is a credible evaluation technology of GNSS ephemeris information. It is one of the important indicators of the results of navigation and positioning. The widely used pseudorange domain "snapshot" RAIM algorithms are restricted to the pseudorange redundancy demand and greatly influenced by observation error problem. To detect and identify the gross error, a temporal domain “filtering” RAIM algorithm by using the particle filter algorithm is put forward. Compared with the traditional algorithm, this new algorithm has lower computing complexity and good real-time performance. Besides, it can obtain good results of satellite fault detection and ruled out. The experiments prove that the temporal RAIM algorithm can effectively make up for the pseudorange redundant requirement of traditional monitoring methods, but also can greatly improve the usability of the navigation and positioning results. This new algorithm can effectively improve the integrity of satellite navigation.