Full
WANG Jian, postgraduate, majors in GNSS integrity monitoring, E-mail: jian@chd.edu.cn
Outline
To address the limitations of traditional RAIM algorithms, including abnormal fault detection and insensitivity to small faults, we introduce the concept of variance inflation from robust estimation into receiver autonomous integrity monitoring(RAIM). A RAIM algorithm combing variance inflation model is proposed, with an improved fault handling process. Integrity determination is performed using the user's protection level based on positioning uncertainty, and multi-constellation simulations and real-world tests in complex environments are conducted. The simulation results show that the proposed method can accurately detect a significant fault of 30 meters and effectively mitigate the impact of a small 5-meter fault on positioning results, successfully restoring the positioning error level to the state before the fault is introduced. The real-world test results show that the proposed method achieves horizontal and vertical availability rates of 95.38% and 98.74%, respectively, which are 11.63% and 5.06% higher than traditional RAIM algorithms. In terms of positioning accuracy, compared to traditional RAIM algorithms, the proposed method improves precision in E, N, U directions by 23.03%, 11.68%, and 26.79%, respectively.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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