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

Table 1

Constellation parameters for BDS and Galileo system.

Navigation system	BDS			Galileo system
Orbit type	GEO	IGSO	MEO	MEO
Orbital plane	1	3	3	3
Satellite number	5	3	27	27
Semimajor axis/km	42164	42164	27906	29978
Orbit eccentricity	0	0	0	0
Orbit inclination	0°	55°	55°	56°
Ascending node	Fixed in the longitude of 58.75°, 80°, 110.5°, 140°, 160°	The intersection longitude is east longitude 118°	70°, 190°, 310°	0°, 120°, 240°
Mean anomaly			The initial time near point angle of first satellite in each orbit is, respectively, 0°, 15°, 30°, followed by an increase of 40°
Argument of perigee	0°	0°	0°	0°