Abstract
The use of GPS is becoming increasingly popular for real-time navigation systems. To ensure that satellite failures are detected and excluded at the receiver is of high importance for the integrity of the satellite navigation system. The focus of this paper is to implement a fault detection and exclusion algorithm in a software GPS receiver in order to provide timely warnings to the user when it is not advisable to use the GPS system for navigation. The GPS system currently provides some basic integrity information to users via the navigation message, but it is not timely enough for safety-critical applications. RAIM is a means of providing integrity with the capability of detecting when a satellite failure or a measurement error has occurred. It is the simplest and most cost effective technique for integrity monitoring. After applying the iterative fault detection and the exclusion algorithm, a significant improvement in positioning accuracy is achieved.
Highlights
When Global Positioning System (GPS) is used in those fields where strict performances are required, such as civil aviation, its integrity plays an important role and integrity monitoring functions become necessary
The consistency of the redundant measurements provides a clue as to whether a GPS satellite or some other unit is operating out of specification and whether this error makes the position solution unusable. This general approach to receiver autonomous integrity monitoring algorithms (RAIM) has been developed into various tests of the system geometry and the pseudo-range error residuals which are for the most part functionally equivalent [3]
Exhaustive testing of the integrity algorithm requires a large amount of calculations, e.g. to verify the horizontal radial position error, a minimum of 1011 simulations are required [5]
Summary
When Global Positioning System (GPS) is used in those fields where strict performances are required, such as civil aviation, its integrity plays an important role and integrity monitoring functions become necessary. The consistency of the redundant measurements provides a clue as to whether a GPS satellite or some other unit is operating out of specification and whether this error makes the position solution unusable This general approach to RAIM has been developed into various tests of the system geometry and the pseudo-range error residuals which are for the most part functionally equivalent [3]. The scope of this work is to implement a fault detection and exclusion (FDE) RAIM algorithm in a software GPS receiver and evaluate its performance. The remainder of the paper is organized as follows: Section 2 describes integrity monitoring in navigation systems and RAIM algorithms, focusing in the main methods of implementation.
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