Abstract:

In order to improve the detection performance of the receiver autonomous integrity monitoring (RAIM) algorithm for micro and slowly growing pseudo-range bias, a new RAIM method based on robust extended Kalman filter (REKF) and extrapolation-accumulation is proposed. In this method, the test statistics of the innovation extrapolation method in several epochs is accumulated, thus it has a better ability in detecting micro and slowly growing bias. Meanwhile, the pseudo-range bias is corrected by REKF. The simulation results show that, compared to the conventional RAIM method, the innovation extrapolation method and the accumulated epoches method, the new method has a higher fault detection rate for micro pseudo-range bias and shorter detection time-delay for slowly growing pseudo-range bias, and the position accuracy is improved after correcting the pseudo-range bias.