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分析和比较了用于检测两颗卫星故障的偏差完好性风险(bias integrity threat,BIT)法和保护限值(protection level,PL)法两种RAIM算法。通过数据仿真,对用不同方法检测卫星故障的可用性及故障检测率进行比较,并分析了两种方法存在差异的理论依据。通过分析比较,说明在未来接收机处理多颗卫星同时出现故障的情况时,如何更精确地描述统计检测量与定位偏差的关系以及如何处理不同测量噪声的影响是RAIM算法可用性及有效性的关键。
Two kinds of RAIM algorithms are analyzed and compared, which are bias integrity threat (BIT) and protection level (PL), which are used to detect two satellite faults. Through data simulation, we compare the usability of using different methods to detect satellite faults and the fault detection rate, and analyze the theoretical basis for the differences between the two methods. By analyzing and comparing, it is shown that how to describe the relationship between the number of statistical measurements and the positioning error more accurately and how to deal with the influence of different measurement noise is the key to usability and validity of RAIM algorithm when the receiver processes multiple satellites and fails at the same time. .