Global Navigation Satellite System (GNSS) integrity is defined as a measure of trust that can be placed in the correctness of the information supplied by the total system. Initially developed for safetycritical applications in the aeronautic domain, this concept has attracted more and more attention from terrestrial GNSS-based applications in recent years. The main problem of integrity monitoring for urban transport applications is related to GNSS signal degradation due to local effects such as multipath and non-line-of-sight reception. This article proposes two integrity monitoring schemes with two classes of approaches, based on either the snapshot weighted least-squares residual or sequential weighted extended Kalman filter innovation. The integrity monitoring schemes are mainly realized by two modules: accuracy enhancement, in which measurement errors are better characterized, and integrity monitoring, in which one of the fault detection and exclusion techniques, i.e., the Danish reweighting method, is applied. The results with real GPS data collected in urban canyons show that the proposed system can effectively improve positioning accuracy and guarantee system integrity.

中文翻译：

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恶劣信号环境中地面应用的 GNSS 完整性监测方案

全球导航卫星系统 (GNSS) 完整性被定义为一种信任度量，它可以置于整个系统提供的信息的正确性中。这一概念最初是为航空领域的安全关键应用而开发的，近年来越来越受到基于地面 GNSS 应用的关注。城市交通应用完整性监测的主要问题与由于多径和非视距接收等局部效应导致的 GNSS 信号衰减有关。本文基于快照加权最小二乘残差或序列加权扩展卡尔曼滤波器创新，提出了两种具有两类方法的完整性监控方案。完整性监控方案主要由两个模块实现：精度增强、其中测量误差被更好地表征，以及完整性监控，其中应用了故障检测和排除技术之一，即丹麦重新加权方法。在城市峡谷中收集的真实 GPS 数据结果表明，所提出的系统可以有效提高定位精度并保证系统完整性。