全球定位系统2025，Vol.50Issue(3)：61-66,95,7.DOI:10.12265/j.gnss.2024213
基于UKF的改进GNSS接收机RAIM算法
Optimizing RAIM algorithm of GNSS receiver based on UKF
摘要
Abstract
Minor faults or variations in GNSS satellites can lead to a decline in the quality of received data,affecting the accuracy,continuity,and availability of navigation and positioning.Traditional snapshot algorithms struggle to effectively detect such faults.In response,an improved GNSS receiver autonomous integrity monitoring(RAIM)algorithm is proposed.This algorithm first employs the unscented Kalman filter(UKF)to reduce pseudorange observation noise and then detects and excludes faults using UKF-RAIM algorithm test results.Experimental results demonstrate that compared to the least squares(LS)based RAIM algorithm,the proposed UKF-RAIM algorithm improves positioning accuracy by 83.27％,75.24％,and 58.45％in the east,north,and up directions,respectively,under conditions of minor pseudorange bias.Under conditions of micro and slowly growing pseudorange bias,the positioning accuracy in the east,north,and up directions improves by 58.29％,63.56％,and 7.30％,respectively.Therefore,the UKF-RAIM algorithm exhibits superior performance in detecting minor or slight faults in GNSS,with navigation positioning accuracy significantly better than that of the traditional LS-RAIM algorithm.关键词
GNSS/无迹卡尔曼滤波(UKF)/接收机自主完好性监测(RAIM)/故障检测/微小缓变伪距偏差Key words
GNSS/unscented Kalman filter(UKF)/receiver autonomous integrity monitoring(RAIM)/fault detection/micro and slowly growing pseudorange bias分类
天文与地球科学引用本文复制引用
魏海贺,李克昭,马卫华,孙冲,岳哲..基于UKF的改进GNSS接收机RAIM算法[J].全球定位系统,2025,50(3):61-66,95,7.基金项目
国家自然科学基金(41774039) （41774039）
