Bayesian receiver autonomous integrity monitoring technique

An integrity monitoring/failure detection and identification approach for GNSS positioning that is based on Bayesian model comparison theory is introduced. In the new method the user defines models for no-failure/failure cases and the most plausible model is chosen and used to estimate position. If a channel is contaminated and the corresponding model is chosen then the effect of this channel on the position estimate is attenuated. The posterior probability odds of two models can be used as a measure of how well the models can be distinguished from each other. In the proposed RAIM-technique if none of the model plausibilities stands out from the others, the user is made aware of the situation as the case might be that the effect of a good channel is attenuated and the contaminated one is modeled as a good one. The performances of traditional RAIM/FDE and the new method are compared via simulations. Results of a test with real GPS data are also presented.Non peer reviewe