RAIM detector and estimator design to minimize the integrity risk

Mathieu Joerger, Fang Cheng Chan, Steven Langel, Boris Pervan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

33 Scopus citations

Abstract

Future multi-constellation GNSS open the possibility to fulfill stringent navigation integrity requirements specified in safety-critical applications using receiver autonomous integrity monitoring (RAIM). In this paper, both the RAIM detector and its estimator are analyzed to develop a new algorithm. In the first part of this paper, the detector is selected by rigorously comparing two of the most widely implemented methods. In particular, the paper reveals fundamental differences between solution separation (SS) and residual-based (RB) RAIM. SS provides higher fault-detection performance than RB RAIM because the SS test statistic is tailored to the fault hypothesis, and to the state of interest. To prove these results in presence of multi-measurement faults, which occur in multi-constellation GNSS, analytical expressions of the worst-case fault direction are derived for both SS and RB RAIM. In the second part of the paper, a non-least-squares estimator is designed to reduce the integrity risk at the cost of lower accuracy performance for applications where integrity requirements are more demanding than accuracy requirements. The new estimator is numerically determined by solving an integrity risk minimization problem that includes multiple simultaneous fault hypotheses. Performance analyses show a substantial drop in integrity risk using the new RAIM algorithm as compared to a SS method that uses a least-squares estimator. In parallel, the decrease in accuracy performance is quantified. Combined availability of accuracy and integrity is evaluated at an example location for a GPS/Galileo navigation system.

Original languageEnglish (US)
Title of host publication25th International Technical Meeting of the Satellite Division of the Institute of Navigation 2012, ION GNSS 2012
Pages2785-2807
Number of pages23
Publication statusPublished - Dec 1 2012
Externally publishedYes
Event25th International Technical Meeting of the Satellite Division of the Institute of Navigation 2012, ION GNSS 2012 - Nashville, TN, United States
Duration: Sep 17 2012Sep 21 2012

Publication series

Name25th International Technical Meeting of the Satellite Division of the Institute of Navigation 2012, ION GNSS 2012
Volume4

Conference

Conference25th International Technical Meeting of the Satellite Division of the Institute of Navigation 2012, ION GNSS 2012
CountryUnited States
CityNashville, TN
Period9/17/129/21/12

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ASJC Scopus subject areas

  • Computer Networks and Communications
  • Information Systems

Cite this

Joerger, M., Chan, F. C., Langel, S., & Pervan, B. (2012). RAIM detector and estimator design to minimize the integrity risk. In 25th International Technical Meeting of the Satellite Division of the Institute of Navigation 2012, ION GNSS 2012 (pp. 2785-2807). (25th International Technical Meeting of the Satellite Division of the Institute of Navigation 2012, ION GNSS 2012; Vol. 4).