Satellite navigation system fault detection based on biased measurements

摘要

#$%^&*AU2012203766A120130124.pdf#####ABSTRACT Example embodiments disclosed herein provide for a method for detecting a fault in a receiver for a satellite navigation system. The method includes calculating a plurality of measurement residuals corresponding to a position solution and combining the plurality of measurement residuals to form a test statistic. The method also includes calculating a threshold corresponding to the test statistic, wherein calculating the threshold includes selecting the threshold to be a value from a noncentral chi squared distribution of possible test statistics that corresponds to a desired probability of false alarm. The test statistic is compared to the threshold and if the test statistic is larger than the threshold, performing at least one of: outputting an alarm indicative of a fault in the position solution and discarding the position solution.2/5 200 202 PERFORM PSEUDORANGE MEASUREMENT DETERMINE POSITION SOLUTION 7204 DETERMINE A POSTERIORI PSEUDORANGE f205 MEASUREMENT DETERMINE MEASUREMENT RESIDUALS 7206 CALCULATE A TEST STATISTIC 7208 CALCULATE A THRESHOLD BASED ON BIASED 210 PSEUDORANGE MEASUREMENTS COMPARE TEST STATISTIC TO THRESHOLD 7212 WHEN TEST STATISTIC IS LARGER THAN THRESHOLD, 214 OUTPUT ALARM AND/OR DISCARD POSITION SOLUTION Fig. 2