Abstract

Early detection of faults guarantees the integrity of navigation systems. The standard receiver autonomous integrity monitoring (RAIM) incorporated with the Kullback-Leibler divergence (KLD) has been proposed to improve detection performance. However, the KLD-RAIM cannot ensure a high detection rate in the presence of small or growing faults. This paper broadens the existing KLD-RAIM to further enhance the detection ability for satellite navigation-based aviation applications. The Cumulative residual KL information (CRKL) replaces the KLD to quantify the dissimilarity between the current and normal cumulative distribution functions for the CRKL-RAIM construction. Then CRKL is extended to fractional orders using Riemann–Louville (RL) calculus to form fractional CRKL-RAIM for detection sensitivity enhancement. Simulations using static GNSS station data were conducted to compare four methods: the standard RAIM, existing KLD-RAIM, the proposed CRKL-RAIM, and fractional CRKL-RAIM. When dealing with small step faults, the detection sensitivity increases progressively, with the fractional CRKL-RAIM capable of detecting 10-meter faults. Regarding growing faults, the standard RAIM fails to detect and KLD-RAIM barely detects faults around 600 s with 50% missed detection rate. By contrast, CRKL-RAIM and fractional CRKL-RAIM detect faults around 100 and 200 s in advance, respectively, without any missed detection events.

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