A New Algorithm of Receiver Autonomous Integrity Monitoring (RAIM) For GPS Navigation

Yang Gao

Abstract:	Receiver Autonomous Integrity Monitoring (RAIM) is the simplest and most-cost effective technique for GPS integrity monitoring among the existing techniques. This fact has attracted wide spread attention in the development of RAIM algorithms for GPS navigation. The following two criteria usually have been employed in designing a RAIM algorithm: 1) reliability: it must be possible to detect at a high probability level when satellite failures have occurred; and 2) continuity: it must also be possible to isolate failures related to particular satellites and discontinue use of them for navigation after failures are detected. Failure isolation is usually more stringent than failure detection. With the methods so far, isolation is often difficult or even impossible if multiple failures are present. Continuous GPS navigation is usually not permitted when the isolation procedure fails. In this paper, effort has been made to extend the existing RAIM algorithm to provide both reliable and continuous navigation and a new algorithm has been developed for GPS integrity monitoring. In the new RAIM algorithm, the theories of classical statistics, commonly used in the conventional RAIM algorithm, and modem robust statistics are combined where classical statistics is used to detect and isolate possible failures and robust statistics is applied to allow for the continuance of the real time navigation if the isolation procedure fails. The capability of the algorithm is tested numerically with satisfactory results. It is demonstrated that the proposed RAIM algorithm can serve as either an independent algorithm for GPS integrity monitoring or as a complementary tool within the conventional RAIM algorithms.
Published in:	Proceedings of the 4th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1991) September 11 - 13, 1991 Albuquerque, NM
Pages:	887 - 896
Cite this article:	Gao, Yang, "A New Algorithm of Receiver Autonomous Integrity Monitoring (RAIM) For GPS Navigation," Proceedings of the 4th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1991), Albuquerque, NM, September 1991, pp. 887-896.
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