Real Time Advanced Receiver Autonomous Integrity Monitoring in DLR’s Multi-Antenna GNSS Receiver

摘要

The present paper introduces a real-time implementationrnof Advanced Receiver Autonomous Integrity Monitoringrn(ARAIM) implemented in DLR’s array antenna receiverrn“GALANT”. The receiver is capable of tracking multiplernfrequency measurements both from GPS and Galileo signals.rnThe position, velocity and time (PVT) unit and the Multi-rnHypothesis Solution Separation (MHSS) based ARAIM unitrnare closely coupled and operate in a real-time processingrnenvironment within the receiver demonstrator.rnThe presented MHSS based RAIM is extended with FaultrnDetection and Exclusion (FDE) functionality that can identifyrnlarge measurement faults in one or multiple range measurements,rnand adapt its measurement model to mitigate therneffects of such biases. Different concepts to obtain such FDErnfunctionality are discussed and compared.rnA series of measurements using the Galileo Testbed GATErnhas been recorded and processed in real time using thernpresented hardware/software platform. Feared event scenariosrnwere generated by introducing biases to one or multiplernpseudorange observations on signal level, i.e. at the GATErnprocessing facility. The PVT and integrity results for nominalrnand feared event scenarios are presented. The ability of MHSSrnARAIM to provide a robust navigation solution in the presencernof such large faults is assessed and the improvement ofrnpositioning accuracy introduced through the application ofrnFDE methods is demonstrated.