With the modernization of Global Navigation Satellite System (GNSS), the tracked satellites will reach a remarkable speed in multi-constellation, which enhances the positioning precision significantly and brings pressure for receivers with limited processing capability concurrently. The objective of this research is to improve GNSS reliability and positioning accuracy depending on statistical tests for receiver autonomous integrity monitoring (RAIM) and false detection and exclusion(FDE) in order to detect and exclude erroneous outliers. It is here extended by integrating fast satellite selection algorithm for lessening receiver computational complexity, which makes full use of both Newton's identities for Geometric Dilution of Precision (GDOP) fast computation and optimal satellite geometric distribution for less cycle calculation. We use the component of delay lock loop(DLL) thermal noise, signal quality in the receiver and atmosphere transmission delay, including ionospheric and tropospheric delay, for weighted matrix estimation in Weighted Least Squares (WLS). Global and local testing will then be monitored after fast satellite selection in RAIM/FDE. We innovatively take fast satellite selection and RAIM into consideration for GNSS reliability enhancement, including rejection of possible outliers and selecting satellites with optimal satellite geometric distribution. We concentrate on dealing with multi-outliers in multi-constellation at each positioning epoch. Moreover, the proposed method is also suitable for single constellation with one or more outliers. Simulation results show that we can achieve fairly good performance in modern navigation combining satellite selection and RAIM/FDE by WLS. In addition, the method combining satellite selection and RAIM has not appeared in existing literatures and provides a new way for modern navigation.
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