Kalman filter???based RAIM for GNSS receivers
A receiver autonomous integrity monitoring (RAIM) algorithm is presented for extended Kalman filter (EKF)-based global navigation satellite system receivers. To this finish, a unique methodology to certain the EKF mean position error is developed below the assumption of step and ascending ramp fault profiles. The calculated mean position error sure is subsequently used to work out EKF protection levels. Simulation results show that the EKF RAIM algorithm offers performance such as that of the ancient weighted least squares RAIM. Though performance gains may not be achieved, the proposed approach lays the inspiration for efficient, real-time computation of protection levels for vary residual-primarily based RAIM with EKF. Thus, it has necessary extension to advanced EKF-based navigation algorithms, like vector tracking receivers.
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