Abstract
The receiver integrity monitoring of a satellite navigation system directly affects positioning accuracy and train safety. The GPS/BDS (Global Positioning System/BeiDou Navigation System) integrated navigation system can meet the requirements of RAIM (Receiver Autonomous Integrity Monitoring) for the minimum number of visible satellites. However, the probability of multiple satellite simultaneous failures increases in the GPS/BDS integrated navigation system so that when the failures occur, the RAIM algorithm cannot meet the requirements of safety for the receiver when positioning trains. In response to the problem, this paper applies the CIPSO-FCM (Chaotic Immune-vaccine Particle Swarm Optimization_ Fuzzy C-means) algorithm to RAIM to establish a new algorithm. It can predict the HPL (Horizontal Protection Level) value of the GPS/BDS integrated navigation system to verify RAIM availability. It also uses the parity space vector to obtain cluster samples through a pseudo-range observation matrix. The CIPSO algorithm obtains the initial cluster centers by iteration to prevent the FCM algorithm from falling into the local optimum, leading to inconsistent classification. A test based on actual field data shows that the CIPSO-FCM-based RAIM algorithm achieves a probability of 99.98% for detecting and identifying multiple satellite failures with a gross error of 28m, which can meet the safety requirements for the receiver when positioning trains.
Highlights
The accurate positioning of high-speed trains is the key to the safe operation of trains and is closely related to life safety
There are many pieces of research on the user's autonomous integrity monitoring algorithm using the redundant information inside the receiver
SHANGGUAN Wei et al studied the RAIM algorithm in BDS navigation positioning, defined the ATPL(Along Track Protection Level) at a horizontal direction according to the characteristics of the high-speed train operation, and used the chi-square test to determine the inspection threshold to eliminate the fault satellite
Summary
The accurate positioning of high-speed trains is the key to the safe operation of trains and is closely related to life safety. They established the inspection statistics threshold for the RAIM monitoring of a GPS/BDS receiver using the improved optimal weighted average solutions to detect and identify the failures of a single satellite It achieved good results in the navigation of civil aviation APV[3]. The first three columns are the direction cosine of the northeast and up, the last two columns are the clock parameters of the navigation system, and in Observation equations, x is a 5×1 dimensional column vector, including three train position coordinates, BDS and GPS receiver clock error parameters; y is an N×1 vector composed of pseudo-range observations of visible satellites in the number of N. RAIM is available only when HPL
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