Receiver autonomous integrity monitoring algorithm based on robust extended kalman filter

A receiver autonomous integrity monitoring (RAIM) algorithm based on robust extended kalman filter (REKF) is used for detecting and identifying the micro pseudorange error in this paper. The micro pseudorange error propagation is controlled by REKF, and the test statistics is constructed precisely to detect and identify the error. The simulation results show that the RAIM algorithm based on REKF has a higher fault detection rate and fault identification rate for micro pseudorange error than the conventional RAIM algorithm based on conventional extended kalman filter (CEKF), besides, the position accuracy is improved.