Carrier phase-based integrity monitoring for high-accuracy positioning

Pseudorange-based integrity monitoring, for example receiver autonomous integrity monitoring (RAIM), has been investigated for many years and is used in various applications such as non-precision approach phase of flight. However, for high-accuracy applications, carrier phase-based RAIM (CRAIM), an extension of pseudorange-based RAIM (PRAIM) must be used. Existing CRAIM algorithms are a direct extension of PRAIM in which the carrier phase ambiguities are estimated together with the estimation of the position solution. The main issues with the existing algorithms are reliability and robustness, which are dominated by the correctness of the ambiguity resolution, ambiguity validation and error sources such as multipath, cycle slips and noise correlation. This paper proposes a new carrier phase-based integrity monitoring algorithm for high-accuracy positioning, using a Kalman filter. The ambiguities are estimated together with other states in the Kalman filter. The double differenced pseudorange, widelane and carrier phase observations are used as measurements in the Kalman filter. This configuration makes the positioning solution both robust and reliable. The integrity monitoring is based on a number of test statistics and error propagation for the determination of the protection levels. The measurement noise and covariance matrices in the Kalman filter are used to account for the correlation due to differencing of measurements and in the construction of the test statistics. The coefficient used to project the test statistic to the position domain is derived and the synthesis of correlated noise errors is used to determine the protection level. Results from four cases based on limited real data injected with simulated cycle slips show that residual cycle slips have a negative impact on positioning accuracy and that the integrity monitoring algorithm proposed can be effective in detecting and isolating such occurrences if their effects violate the integrity requirements. The CRAIM algorithm proposed is suitable for use within Kalman filter-based integrated navigation systems.