Deriviation of the RAIM Algorithm From First Principles With Performance Comparisons Between Published Algorithms

Robert Kelly

Abstract:	Three major RAIM algorithms, which include both fault detection and exclusion test statistics , are evaluated and shown to be mathematically as well as statistically equivalent to the Maximum Residual algorithm. This algorithm, which is widely used in the statistical community for data outlier detection and identification, is derived from first principles using the likelihood ratio test (LRT). The performance of the Maximum Residual algorithm is then compared to a known uniformly most powerful test (UMPT).
Published in:	Proceedings of the 1996 National Technical Meeting of The Institute of Navigation January 22 - 24, 1996 Loews Santa Monica Hotel Santa Monica, CA
Pages:	799 - 809
Cite this article:	Kelly, Robert, "Deriviation of the RAIM Algorithm From First Principles With Performance Comparisons Between Published Algorithms," Proceedings of the 1996 National Technical Meeting of The Institute of Navigation, Santa Monica, CA, January 1996, pp. 799-809.
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