Abstract
This paper develops a Kalman filter (KF)-based receiver autonomous integrity monitoring (RAIM) algorithm, eliminating a major assumption of [1] about fault profiles. The developed range residual-based RAIM algorithm considers the worst fault profile to determine the protection levels. Thus, it is suitable for any types of fault. In order to validate the developed algorithm, three different scenarios are created, encompassing user positions all over the globe. The simulation results demonstrate the performance improvement of the KF RAIM over the traditional weighted least squares (WLS) RAIM in terms of lower fault detection times and protection levels. The KF algorithm is recursive and computationally efficient, thereby being suitable for real time implementations.
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