Abstract
Numerous applications and devices use Global Navigation Satellite System (GNSS)-provided position, velocity and time (PVT) information. However, unintentional interference and malicious attacks render GNSS-provided information unreliable. Receiver Autonomous Integrity Monitoring (RAIM) is considered an effective and lightweight protection method when a subset of the available satellite measurements is affected. However, conventional RAIM Fault Detection and Exclusion (FDE) can be computationally expensive, due to iterative search to exclude faulty signals, in case of many faults and more so for multi-constellation GNSS receivers. Therefore, we propose a fast multiple fault detection and exclusion (FM-FDE) algorithm, to detect and exclude multiple faults for both single and multi-constellation receivers. The novelty is that FM-FDE can effectively exclude faults without an iterative search for faulty signals. FM-FDE calculates position distances of any subset pairs with max{3 + P, 2P} measurements, where P is the number of constellations. Then, the algorithm utilizes statistical testing to examine the distances and identify faulty measurements to exclude from the computation of the resultant PVT solution. We evaluate FM-FDE with synthesized faulty measurements in a collected data set; it shows that FM-FDE is practically equally effective as the conventional Solution Separation (SS) FDE in a single constellation receiver. The computational advantage of FM-FDE is more pronounced in a multi-constellation setting, e.g., being more efficient for GPS-Galileo receivers facing more than 2 faults across both constellations. The trade-off is that FM-FDE slightly degrades performance in terms of detection and false alarm probabilities with small errors, compared to the conventional SS FDE.
Highlights
G NSS receivers, embedded into trillions of devices, are exposed to various risks, including intentional attacks, unintentional interference, or signal blockage, causing unavailable or false position, velocity and time (PVT) solutions
Comparing the number of subsets to be processed by the two algorithms, we see that FM-Fault Detection and Exclusion (FDE) is much less complex than the conventional Solution Separation (SS) FDE, both in single- and multi-constellation receivers, and the advantage grows as the number of faults increases
We model fast multiple fault detection and exclusion (FM-FDE), and design hypothesis tests
Summary
G NSS receivers, embedded into trillions of devices, are exposed to various risks, including intentional attacks, unintentional interference, or signal blockage, causing unavailable or false position, velocity and time (PVT) solutions. If Eq (6) does not hold, the algorithm switches to testing exclusion of different k set of satellites This cause the iterative search about the identities of faulty measurements, which is expensive if the number of potential faults is large. Single−Constellation Conventional SS FDE Complexity: the fault exclusion process is an iterative loop, which seeks to identify faulty measurements, M, out of the total number of satellites N in one constellation. FAST MULTIPLE FAULT DETECTION AND EXCLUSION (FM-FDE) Given M faults, the conventional SS RAIM-FDE iterates testing fault candidates until it finds the M faults, or the iteration stops earlier with an erroneous PVT solution because not all faults are identified and excluded This is a time and computation consuming method when there are multiple faulty measurements. When any constellation has less than two satellite measurements, the FDE algorithm will be not able to exclude it, due to the aforementioned reason
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