GPS/GLONASS/BDS Muti-constellation Navigation Receiver Autonomous Integrity Monitoring

The thesis based on GPS/GLONASS/BDS multi-constellation navigation RAIM(Receiver Autonomous Integrity Monitoring, RAIM) as the research content, focused on the GPS/GLONASS/BDS multi-constellation navigation receiver being fault detection and fault exclusion technique of satellites used for navigation and the research algorithm of the protect level.Firstly,the thesis introduces the various navigation systems in the world and the development of integrity monitoring technology and RAIM technology research status at home and abroad, expounds the advantages of multi-constellation navigation technology.Then the GPS/GLONASS/BDS multi-constellation RAIM research key technologies are introduced, which mainly includes: multi-constellation navigation satellite signal receiving and decoding, unified of time and space between different data systems and research on RAIM. According to the design, completed the data fusion of GPS/GLONASS/BDS time systems and coordinate systems.Then, discussed the content of RAIM research systematically: fault detection and fault exclusion techniques and algorithm of the protect level. For the former, this thesis introduces the traditional algorithm based on least square method, using the traditional extended kalman filter for fault detection, using a new volume of kalman filter for fault detection, and the results are compared by simulation. For the latter, this paper introduces the traditionalmax?H method and the maximum slope method, and proposed RTCA recommendation algorithm to calculate protect level.Finally, based on GPS/GLONASS/BDS multi-constellation navigation, being integrity monitoring simulating to the single fault and multiple faults in the same time measured data, verify the feasibility of the research content and has carried on the summary and outlook.