Kalman filter–based RAIM for GNSS receivers

A receiver autonomous integrity monitoring (RAIM) algorithm is presented for extended Kalman filter (EKF)-based global navigation satellite system receivers. To this end, a novel method to bound the EKF mean position error is developed under the assumption of step and ascending ramp fault profiles....

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Bibliographic Details
Published in:IEEE transactions on aerospace and electronic systems 2015-07, Vol.51 (3), p.2444-2459
Main Authors: Bhattacharyya, Susmita, Gebre-Egziabher, Demoz
Format: Article
Language:English
Subjects:
Algorithms
Autonomous
Clocks
Fault detection
Global navigation satellite system
Global Positioning System
GNSS
Kalman filters
Mathematical analysis
Monitoring
Position errors
Ramps
Receivers
Satellites
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Summary:A receiver autonomous integrity monitoring (RAIM) algorithm is presented for extended Kalman filter (EKF)-based global navigation satellite system receivers. To this end, a novel method to bound the EKF mean position error is developed under the assumption of step and ascending ramp fault profiles. The calculated mean position error bound is subsequently used to determine EKF protection levels. Simulation results show that the EKF RAIM algorithm offers performance comparable to that of the traditional weighted least squares RAIM. Although performance gains may not be achieved, the proposed approach lays the foundation for efficient, real-time computation of protection levels for range residual-based RAIM with EKF. Thus, it has important extension to advanced EKF-based navigation algorithms, such as vector tracking receivers.
ISSN:0018-9251
1557-9603
DOI:10.1109/TAES.2015.130585