Particle Filtering Approach for GNSS RAIM and FPGA Implementation
Abstract: An integrity
monitoring system is an inseparable part of aviation navigation system for
global navigation satellite system (GNSS). Failures or faults due to
malfunctions in the systems should be detected and isolated to keep the
integrity of the GNSS intact. Because the pseudorange residual noise of navigation
satellites does not follow the Gaussian distribution perfectly, and the
performance of traditional filtering algorithms, such as the Kalman filter,
might degrades for non-Gaussian noise. The particle filter algorithm has great
advantage to handle the nonlinear and non-Gaussian system. Therefore, in this
paper, the particle filter algorithm is employed to GNSS receiver autonomous
integrity monitoring(RAIM) to detect the fault of navigation satellite. The
log-likelihood ratio(LLR) test is established. By checking the consistency
between the state estimate of the main particle filter and that of the
auxiliary particle filters, the fault of navigation satellite will be
effectively detected. And then, the novel RAIM algorithm is undertaken by field
programmable gate array(FPGA). Moreover, the modules of the proposed RAIM
algorithm is implemented. The effectiveness of the proposed approach is
illustrated in a problem of GPS (Global Positioning System) autonomous
integrity monitoring system. In addition, The algorithm and its implementation
can be embeded in GNSS receiver.
Keywords: Global Navigation
Satellite System (GNSS), Receiver Autonomous Integrity Monitoring (RAIM),
particle filter, Global Positioning System (GPS), field programmable gate array
(FPGA)
Author: Ershen Wang
Journal Code: jptkomputergg160041