GNSS Integrity Monitoring Based on the Robust Positioning Solution
The receiver autonomous integrity monitoring (RAIM) is the straightforward way to handle the outlier, but the protection levels are vulnerable to the satellite geometry. A robust protection level is proposed. Firstly, a robust positioning solution based o
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GNSS Integrity Monitoring Based on the Robust Positioning Solution Haibo Tong, Jing Peng, Guozhu Zhang and Gang Ou
Abstract The receiver autonomous integrity monitoring (RAIM) is the straightforward way to handle the outlier, but the protection levels are vulnerable to the satellite geometry. A robust protection level is proposed. Firstly, a robust positioning solution based on MM-estimation is introduced. Then the protection level of the robust solution is presented. Finally, the experiments with actual GPS data demonstrate that the robust protection levels are less affected by the geometry. Moreover, the robust protection levels are more stringent to bound the maximum error than the conventional protection levels. Keywords GNSS
Integrity Robust positioning Protection level
3.1 Introduction To reduce the risk caused by the outliers in the global navigation satellite system (GNSS), there are always two methods. A straightforward and efficient method is RAIM, which performs a consistency check in the range or position domains to detect and exclude a single outlier. The conventional RAIM has been well used for many years during the en route and terminal phases of flight [1–3], whose protection levels are always several hundreds of meters. In recent years, the GNSS is a rapidly developing field. More than 100 satellites will be operational in the next decade. More stringent applications, such as aircraft takeoff, approach and landing
H. Tong (&) J. Peng G. Zhang G. Ou Satellite Navigation R&D Centre, School of Electronic Science and Engineering, National University of Defense Technology, Changsha 410073 Hunan, China e-mail: [email protected]
W. Lu et al. (eds.), Proceedings of the 2012 International Conference on Information Technology and Software Engineering, Lecture Notes in Electrical Engineering 211, DOI: 10.1007/978-3-642-34522-7_3, Ó Springer-Verlag Berlin Heidelberg 2013
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operations are expected to be realized by the GNSS signals. The challenge is to provide reliable position estimates in smaller protection levels when more measurements and outliers coexist. The conventional RAIM has been generalized to handle multiple outliers [4], but the protection levels increase dramatically with the number of outliers. More recently, many papers focus on the modifications of the RAIM algorithms to handle multiple outliers with optimized protection levels, which are still under development and required to be standardized [5–7]. The alternative method to handle outliers is based on robust estimation, which aims at deriving reliable estimation of the data following the assumed distribution exactly or the actual distribution with heavy tails. The fundamental work of John Tukey, Peter Huber and Frank Hampel constructs the basic theory of the robust M-estimation [8, 9]. As the electronic hardware develop fast nowadays, the applicability of the different robust schemes enlightened by the M-estimation becomes possible [10–14]. The main ideal of the robust estimators is using the inconsi
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