Detecting and Measuring Erroneous GNSS Pseudorange based on Measurement History

Abstract

Global Navigation Satellite System (GNSS) based navigation suffers from erroneous pseudorange measurements. Traditional integrity monitoring such as Receiver Autonomous Integrity Monitoring (RAIM) are often unable to or mis-detect erroneous pseudorange measurement and hence cause serious navigation accuracy degradation of user. A Receiver Autonomous Integrity Monitoring (RAIM) method tried to detect and reject erroneous pseudorange measurements among all available measurements based on statistical method. RAIM has two major disadvantages: First, the performance of RAIM is limited by the number of available Line-Of-Sight (LOS) measurements and a geometrical configuration for the consistency of the measurement. Second, since the RAIM employs the statistical method, it always suffers high false-alarm and miss-detection rate when it have to handle multiple erroneous measurements in the measurement group. In this paper, based on the history of measurement and its Signal-to-noise ratio (SNR), the method for reducing the false-alarm and mis-detection rate of RAIM is designed to improve GNSS based navigation accuracy. Since new method employ the history of measurement, it does not depends on or limited by the number of available measurements, geometrical configuration and multiple erroneous measurements in the measurement group. It basically overcome disadvantages of RAIM. Since this method basically can improve navigation performance which have to use any form of multiple erroneous measurements (here, GNSS pseudorange and can be extended to any sensor measurement data), it can improve Intel’s mobile GNSS navigation performance as well as it can bring benefits for performance and robustness of the autonomous driving navigation system.