An optimal weighted least squares RAIM algorithm

For the problem of missed detection and false detection of receiver autonomous integrity monitoring(RAIM) in global navigation satellite system (GNSS), the principle of least squares residuals RAIM algorithm is introduced, the reasons of missed detection and false detection are analyzed based on the geometry structure of user and satellites, and an optimal weighted least squares RAIM algorithm is proposed to rationalize the relationship between the test statistic and positioning errors and enhance the effect of fault detection in this article. The experimental results based on GPS/BDS multi-constellation show that the novel optimized algorithm can reduce the probability of false detection effectively in meeting the requirement of the probability of missed detection and improve the performance in fault detection and achieve the LPV-200 performance indicators effectually.