考虑告警时间的多历元解集分离RAIM算法

doi:10.12305/j.issn.1001-506X.2023.05.23

摘要/Abstract

摘要：

针对传统快照算法故障检测效果依赖较大伪距偏差的问题，提出一种考虑告警时间的多历元解集分离接收机自主完好性监测(receiver autonomous integrity monitoring, RAIM)算法。该算法以解集分离RAIM为基础，在历元间伪距观测噪声相互独立假设下，通过累加多个历元的检验统计量，提高对微小缓变故障的检测能力。仿真试验中，以阶跃故障和缓变斜坡故障为例，将本算法与解集分离RAIM和多历元最小二乘残差RAIM算法进行对比验证。结果表明：在告警时间限值内，所提算法能够显著降低阶跃故障的最小可检测偏差和缓变斜坡故障的最小可检测斜率；超过告警时间限值时，也能够明显减小对缓变斜坡故障的检测延时。

关键词: 接收机自主完好性监测, 告警时间, 多历元, 解集分离, 微小缓变伪距偏差

Abstract:

In order to overcome the dependence of detection performance of the traditional snapshot algorithm on large pseudo-range bias, a multiple epochs solution separation RAIM algorithm considering alarm time is proposed. In this algorithm, the test statistics of the solution separation RAIM in multiple epochs are accumulated to improve the detection ability on small and slowly growing biases under the hypothesis of the independence of observation noise between epochs. The superior performance of the proposed algorithm is verified via simulation by using step and ramp faults, where the comparisons to solution separation RAIM and multiple epochs least squares residual RAIM algorithms are designed. The results show that the proposed algorithm can significantly reduce the minimum detection bias of the step fault and the minimum detection slope of the ramp fault within alarm time, and shorten the detection time-delay of the ramp fault apparently when alarm time exceeds the threshold.

Key words: receiver autonomous integrity monitoring (RAIM), time to alarm (TTA), multiple epochs, solution separation, small and slowly growing pseudo-range bias

中图分类号:

V249.31

孙睿, 许承东, 黄国限, 兰晓伟, 武明. 考虑告警时间的多历元解集分离RAIM算法[J]. 系统工程与电子技术, 2023, 45(5): 1469-1475.

Rui SUN, Chengdong XU, Guoxian HUANG, Xiaowei LAN, Ming WU. Multiple epochs solution separation RAIM algorithm considering alarm time[J]. Systems Engineering and Electronics, 2023, 45(5): 1469-1475.

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参数	数值
星座	GPS
遮挡角/(°)	5
伪距观测噪声标准差/m	4
虚警率要求	1×10^-6
接收机位置	E 116°，N 39°，H 0 m
数据采集时间	2020-11-30 10:00:01
采集频率/Hz	1

项目	卫星号	故障时间/s	数值
1	G03	101~110	40 m
2	G09	201~210	50 m
3	G26	301~340	1 m/s
4	G29	401~420	2 m/s

算法	卫星号
算法	G03	G04	G09	G16	G26	G27	G29	G31
SS-RAIM	25.3	25.1	33.1	26.8	27.2	47.1	30.4	26.4
MELSR-RAIM	14.49	14.90	19.83	15.31	14.73	28.04	18.23	15.32
MESS-RAIM	10.70	10.73	12.57	10.99	10.81	21.37	11.72	10.28

算法	卫星号
算法	G03	G04	G09	G16	G26	G27	G29	G31
SS-RAIM	4.26	4.28	5.61	4.59	4.62	8.26	5.15	4.28
MELSR-RAIM	4.33	4.02	5.67	4.10	4.40	8.02	5.48	4.53
MESS-RAIM	3.45	3.04	3.96	3.25	3.17	6.85	3.85	3.28

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