Abstract
The advanced receiver autonomous integrity monitoring (advanced RAIM, ARAIM) is the next generation of RAIM which is widely used in civil aviation. However, the current ARAIM needs to evaluate hundreds of subsets, which results in huge computational loads. In this paper, a method using the subset excluding entire constellation to evaluate the single satellite fault subsets and the simultaneous multiple satellites fault subsets is presented. The proposed ARAIM algorithm is based on the tight integration of the global navigation satellite system (GNSS) and inertial navigation system (INS). The number of subsets that the proposed GNSS/INS ARAIM needs to consider is about 2% of that of the current ARAIM, which reduces the computational load dramatically. The detailed fault detection (FD) process and fault exclusion (FE) process of the proposed GNSS/INS ARAIM are provided. Meanwhile, the method to obtain the FD-only integrity bound and the after-exclusion integrity bound is also presented in this paper. The simulation results show that the proposed GNSS/INS ARAIM is able to find the failing satellite accurately and its integrity performance is able to meet the integrity requirements of CAT-I precision approach.
Highlights
With the development of civil aviation, the number of aircraft in the same airspace increases greatly
The results show that the fault detection test of the proposed ARAIM is able to find the bias accurately
PFD,hazardous monitoring information (HMI),k,q = ∑ P ( k,i,pos,q − xk,0,pos,q computing process of the current ARAIM [8], the bound of the actual integrity risk (IR) in the q direction at epoch k, pFD,HMI,k,q, is obtained by: PFD,HMI,k,q
Summary
With the development of civil aviation, the number of aircraft in the same airspace increases greatly. The application of GNSS must be able to meet the stringent navigation performance requirements of civil aviation. To meet the continuity requirements of the precision approach, the navigation system needs to continue providing positioning services after faults being detected. If the integrity performance after exclusion is able to meet the integrity requirements of the precision approach, the continuity risk is reduced. ARAIM and it still needs to monitor hundreds of subsets to conduct the fault detection test and to obtain integrity monitoring, which results in a huge computational load. The FD test and the method to obtain the integrity bound of FD only GNSS/INS ARAIM are presented. The fault exclusion method for the subset-reduced GNSS/INS ARAIM algorithm is presented. The synthetic results of the proposed method are presented
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