Horizontal/vertical exclusion level determination scheme for RAIM fault detection and exclusion implementation
First Claim
1. A method for a satellite receiver autonomous integrity monitoring (RAIM) real time fault detection and exclusion implementation for each timing cycle of said satellite receiver;
- said method comprising the steps of;
(a) identifying a default set of navigational measurements using a real time available GPS satellite constellation, and acquiring a plurality of GPS satellite signals by using a satellite receiver;
(b) for each timing cycle of said satellite receiver continuously determining an effective configuration of real time measurement geometry adjusted for a normalized weights factor associated with different error sources;
said effective configuration of real time measurement geometry adjusted for said normalized weights factor corresponds to said default set of navigational measurements;
(c) if said number of default navigational measurements is greater than or equal to a first predetermined number, for each timing cycle of said satellite receiver continuously computing a horizontal protection level (HPL) and a vertical protection level (VPL) associated with said effective configuration of real time measurement geometry adjusted for said normalized weights factor; and
(d) if said number of default navigational measurements is less than said first predetermined number, for each timing cycle of said satellite receiver adding an additional measurement to said default set of measurements and repeating said steps (a-c);
wherein said additional measurement is selected from the group consisting of;
{GPS measurement, GLONASS measurement, GALILEO measurement, a baro measurement, a clock measurement, and a pseudolite measurement}.
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Abstract
A method for satellite receiver autonomous integrity monitoring (RAIM) real time fault detection and exclusion implementation comprising the following steps: (1) continuously computing a horizontal protection level (HPL) and a vertical 32 protection level (VPL) associated with the effective configuration of real time measurement geometry; (2) if the HPL is less than or equal to the horizontal alert limit (HAL), and/or if the VPL is less than or equal to said vertical alert limit (VAL); declaring the RAIM detection function available; (3) continuously computing a horizontal exclusion level (HEL) and continuously computing a vertical exclusion level (VEL) associated with the effective configuration of real time measurement geometry; and (4) if the HEL is less than or equal to the HAL, and/or if the VEL is less than or equal to the VAL, declaring the RAIM fault exclusion function available.
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Citations
18 Claims
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1. A method for a satellite receiver autonomous integrity monitoring (RAIM) real time fault detection and exclusion implementation for each timing cycle of said satellite receiver;
- said method comprising the steps of;
(a) identifying a default set of navigational measurements using a real time available GPS satellite constellation, and acquiring a plurality of GPS satellite signals by using a satellite receiver;
(b) for each timing cycle of said satellite receiver continuously determining an effective configuration of real time measurement geometry adjusted for a normalized weights factor associated with different error sources;
said effective configuration of real time measurement geometry adjusted for said normalized weights factor corresponds to said default set of navigational measurements;
(c) if said number of default navigational measurements is greater than or equal to a first predetermined number, for each timing cycle of said satellite receiver continuously computing a horizontal protection level (HPL) and a vertical protection level (VPL) associated with said effective configuration of real time measurement geometry adjusted for said normalized weights factor; and
(d) if said number of default navigational measurements is less than said first predetermined number, for each timing cycle of said satellite receiver adding an additional measurement to said default set of measurements and repeating said steps (a-c);
wherein said additional measurement is selected from the group consisting of;
{GPS measurement, GLONASS measurement, GALILEO measurement, a baro measurement, a clock measurement, and a pseudolite measurement}. - View Dependent Claims (2, 3, 4, 5, 6, 7)
- said method comprising the steps of;
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8. A method for a satellite receiver autonomous integrity monitoring (RAIM) real time fault detection and exclusion implementation by performing at least one re-initialization cycle;
- said method comprising the steps of;
(a) identifying a default set of navigational measurements using a real time available GPS satellite constellation, and acquiring a plurality of GPS satellite signals by using a satellite receiver;
(b) performing a re-initialization cycle of said satellite receiver by computing and storing in a HEL/VEL database a plurality of HEL values and a plurality of VEL values for at least two consecutive timing cycles;
each said HEL value corresponding to one said timing cycle;
each said VEL value corresponding to one said timing cycle;
(c) determining and storing in said HEL/VEL database the difference between one said HEL value and a selected threshold HAL for each said re-initialization cycle; and
(d) determining and storing in said HEL/VEL database the difference between one said VEL value and a selected threshold VAL for each said re-initialization cycle. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
- said method comprising the steps of;
Specification