A New Algorithm for Receiver Integrity Monitoring with Receiver Clock Error Auxiliary

The receiver integrity monitoring technology is one of the important technologies to reflect the GNSS integrity. It can be divided into receiver autonomous integrity monitoring (RAIM) and auxiliary autonomous integrity monitoring. Apart from the redundant observations of the receiver are used for RAIM, there are various parameter information provided form receiver and the receiver clock error is one of them. As the stability of the receiver oscillators to 10–10/s, this makes it possible to make short-term predictions. In this paper, the receiver clock error is introduced and the receiver clock error auxiliary GNSS integrity monitoring method is proposed. In this paper, the principle of the method is introduced and the algorithm flow is established firstly. Then the key steps involved in the method are discussed, including receiver clock error prediction method, threshold value determination method, fault detection method and fault identification method. Among these key steps, threshold determination method are fully discussed and validated. Results show that the threshold determination method is proper in the method. Finally, the performance and feasibility of the proposed algorithm are evaluated. The results show that the proposed method can effectively detect and identify the faulty satellites. This method makes full use of the historical clock error information, and provides a simple and effective method for the receiver integrity monitoring.