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GPS from getting started to giving up (XIII), receiver autonomous integrity monitoring (RAIM)
2022-07-06 21:56:00 【Chasing wind】
Receiver autonomous integrity monitoring (RAIM: Receiver Autonomous Integrity Monitoring) It is based on the user receiver redundancy The observation value monitors the integrity of user positioning results , Its purpose is to detect the faulty satellite in the navigation process , And ensure the accuracy of navigation and positioning .
In order to monitor the autonomous integrity of the receiver , There must be redundant observations . Generally speaking , Number of visible satellites required 5 The integrity test can be carried out only when there are more than pieces ; Need to have 6 More than one satellite can be identified as faulty .RAIM The enhanced version of is RAIM-FDE(FDE: Fault Detection Exclusion), That is, fault detection and troubleshooting Technology , Because we need to troubleshoot the satellite , So we must use at least 6 Visible satellites .RAIM Algorithms are very important for applications with strict security requirements , Such as civil aviation 、 Aviation and so on .
RAIM There are different implementation algorithms : Pseudo range residual decision method 、 Pseudo range comparison 、 Check vector method and maximum solution separation method .
One 、 Pseudo range residual decision method
In the solution of positioning equations, we talked about positioning equations
Two 、 Pseudo range comparison
Pseudo range comparison method is to directly use pseudo range to judge . Steps are as follows :
- When the number of observations is greater than 4 Under the circumstances , Yes n Group by observation , One group is 4 individual , The other group is n − 4 individual .
- Yes 4 The group of one is solved by the least square method to calculate the receiver position .
- Yes n − 4 The group of calculates the satellite position .
- The pseudo range is estimated according to the calculated receiver position and satellite position .
- Compare the estimated pseudo range with the actual observed pseudo range . If the comparison results are very close , It shows that the observation results are ok , The first 2 The position of the solution in the step is no problem . Otherwise, there is a problem .
- Deal with problematic situations . It depends on the situation . If there is only one comparison, the results differ greatly , There is a high probability that there is something wrong with that observation ; If the results of many comparisons are very different , Then there is a high probability that there is a problem with the least square solution . If necessary , You can regroup , Recalculate the comparison judgment .
3、 ... and 、 Check vector method
Four 、 Maximum solution separation method
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