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Mathematical Problems in Engineering
Volume 2018, Article ID 2563202, 6 pages
Research Article

Research on GNSS Receiver Autonomous Integrity Monitoring Method Based on M-Estimation

1College of Mechatronic Engineering, North University of China, No. 3 Xueyuan Road, Taiyuan, Shanxi 030051, China
2School of Aerospace Engineering, Beijing Institute of Technology, No. 5 South Zhongguancun Street, Haidian District, Beijing 100081, China

Correspondence should be addressed to Pengfei Zhang; nc.ude.cun@fpgnahz

Received 29 November 2017; Accepted 22 February 2018; Published 28 March 2018

Academic Editor: Andrés Sáez

Copyright © 2018 Pengfei Zhang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Receiver Autonomous Integrity Monitoring (RAIM) method is an effective means to provide integrity monitoring for users in time. In order to solve the misjudgment caused by the interference of gross error to the least squares algorithm, this paper proposes a RAIM method based on M-estimation for multiconstellation GNSS. Based on five programs, BDS, GPS/BDS, and GPS/BDS/GLONASS at the current stage, the future Beidou Global Navigation Satellite System, and the future GPS/BDS/GLONASS/Galileo system, the new RAIM method is compared with the traditional least squares method by simulation. The simulation results show that, with the increase of constellations, RAIM availability, fault detection probability, and fault identification probability will be improved. Under the same simulation conditions, the fault detection and identification probabilities based on M-estimation are higher than those based on least squares estimation, and M-estimation is more sensitive to minor deviation than least squares estimation.