Position and velocity reliability testing in degraded GPS signal environments
Position and velocity reliability testing in degraded GPS signal environments
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DOI：
10.1007/s10291-004-0113-7
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发表时间：
2004-01-01
期刊：
影响因子：
4.9
通讯作者：
Takala, JH
中科院分区：
文献类型：
--
作者：
Kuusniemi, H;Lachapelle, G;Takala, JH
可靠性测试，即接收机自主完整性监测(RAIM)，包括对观测的最小二乘残差进行统计测试，例如，逐个历元的基础上，旨在实现可靠的导航故障检测和排除(FDE)。本文对经典的RAIM和FDE方法进行了扩展，对距离-速率残差进行了测试，以找到不一致的速度解，以提高系统的可靠性，特别是在降质信号环境下。讨论的可靠性增强努力包括基于统计离群值检测的反向FDE方案和迭代重新加权的稳健估计技术，即改进的丹麦方法。此外，文中还评估了分配给码观测和多普勒观测的测量权重，以便能够将先验方差模型拟合到估计过程中。所讨论的方案在计算方便性方面也适用于GPS/Galileo组合系统。本文的目的是评估城市和室内条件下位置和速度的可靠性测试和增强，并利用高灵敏度GPS(HSGPS)测试来分析导航精度条件。结果表明，在劣化信号环境导航中，采用加权估计和故障树估计提高可靠性是必要的。
Reliability testing, namely receiver autonomous integrity monitoring (RAIM), consists of statistical testing of least-squares residuals of observations, e.g., on an epoch-by-epoch basis aiming towards reliable navigation fault detection and exclusion (FDE). In this paper, classic RAIM and FDE methods are extended with testing of range-rate residuals to find inconsistent velocity solutions in order to contribute to the reliability of the system with special focus on degraded signal environments. Reliability enhancement efforts discussed include a Backward-FDE scheme based on statistical outlier detection and an iteratively reweighted robust estimation technique, a modified Danish method. In addition, measurement weighting assigned to code and Doppler observations is assessed in the paper in order to allow fitting a priori variance models to the estimation processes. The schemes discussed are also suitable in terms of computational convenience for a combined GPS/Galileo system. The objective of this paper is to assess position and velocity reliability testing and enhancement in urban and indoor conditions and to analyze the navigation accuracy conditions with high sensitivity GPS (HSGPS) tests. The results show the necessity of weighted estimation and FDE for reliability enhancement in degraded signal-environment navigation.