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GPS从入门到放弃(十三)、接收机自主完好性监测(RAIM)
2022-07-06 13:46:00 【追捕的风】
接收机自主完好性监测(RAIM: Receiver Autonomous Integrity Monitoring)是根据用户接收机的冗余观测值监测用户定位结果的完好性,其目的是在导航过程中检测出发生故障的卫星,并保障导航定位精度。
为了能进行接收机自主完好性监测,必须有冗余的观测量。一般来说,需要可见卫星数5颗以上才可进行完好性检测;需要有6颗以上才可能辨识出故障卫星。RAIM 的增强版本为 RAIM-FDE(FDE: Fault Detection Exclusion),即故障检测与排除技术,因为需要排除故障卫星,所以必须使用最少6颗可见卫星。RAIM 算法对于安全性有严格要求的应用非常重要,如民航、航空之类。
RAIM 有不同的实现算法:伪距残差判决法、伪距比较法、校验向量法以及最大解分离法。
一、伪距残差判决法
在定位方程解算中我们讲过了定位方程组
二、伪距比较法
伪距比较法是直接利用伪距来判决。步骤如下:
- 在观测数量大于4的情况下,对n 个观测量进行分组,一组为4个,另一组为n − 4 个。
- 对4个的那一组进行最小二乘法解算出接收机位置。
- 对 n − 4 个的那一组计算卫星位置。
- 根据解算出的接收机位置和卫星位置估算伪距。
- 将估算的伪距与实际观测的伪距进行比较。若比较结果都很接近,说明观测结果没问题,第2步中解算的位置也没问题。否则说明有问题。
- 对有问题的情况进行处理。得看具体情况。若只有一个比较结果差异很大,则很大概率是那一个观测值有问题;若很多比较结果都差异很大,则很大概率是最小二乘解有问题。若有必要,可以重新分组,重新计算比较判定。
三、校验向量法
四、最大解分离法
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