RAIM Fault Detection and Exclusion with Spatial Correlation for Integrity Monitoring

For safety-of-life applications used together with global navigation satellite systems, such as in civil aviation and autonomous driving, integrity is of paramount importance. Integrity monitoring protects the user safety based on two general approaches: mitigating large signal failures bounding residual errors. The fault detection exclusion (FDE) faulty satellites part former approach. In classical algorithms aviation, use test statistics least squares residuals relies assumption that observations from different are independent. When applied to urban environments spatial correlation introduced by multipath errors, a review FDE method needed. With optimal defined one minimized risk, we propose optimization criteria for exclusion. were obtained analytical derivation cases without correlations among satellites. This was theoretically compared another commonly statistic using minimum detectable bias, it numerically horizontal protection level under scenario advanced receiver monitoring. produces less conservative results, its advantage especially obvious when geometries weak, or coefficients high.