Multi-constellation navigation,which can increase the number of visible satellites and improve satellite geometry,has become one of the important directions for the development of sat-ellite navigation and positioning.The receiver autonomous integrity monitoring(RAIM)technolo-gy for multi-constellation navigation receivers plays an important role in improving the integrity of navigation systems.The paper focuses on the integrity monitoring requirements of multi-constella-tion navigation,analyzes the shortcomings of traditional random sample consensus(RANSAC)fault detection methods,and proposes an improved RANSAC RAIM algorithm based on minimum sample set satellite selection preprocessing.Based on the maximum tetrahedral volume method and the satellite selection method of GDOP value contribution,this algorithm selects four satellites with good satellite configurations to form a satellite subset,replacing the traditional RANSAC RAIM method by traversing the combination of four satellites to form a satellite subset.It can ef-fectively avoid the situation of poor satellite geometry in the satellite subset,reduce the number of subsets,and improve the precision of fault detection.Static and dynamic simulation experiments have shown that the improved RANSAC RAIM algorithm is significantly superior to traditional methods in terms of detection efficiency and precision.
维普
万方数据