Numerous applications and devices use Global Navigation Satellite System (GNSS)-provided position, velocity and time (PVT) information. However, unintentional interference and malicious attacks render GNSS-provided information unreliable. Receiver Autonomous Integrity Monitoring (RAIM) is considered an effective and lightweight protection method when a subset of the available satellite measurements is affected. However, conventional RAIM Fault Detection and Exclusion (FDE) can be computationally expensive, due to iterative search to exclude faulty signals, in case of many faults and more so for multi-constellation GNSS receivers. Therefore, we propose a fast multiple fault detection and exclusion (FM-FDE) algorithm, to detect and exclude multiple faults for both single and multi-constellation receivers. The novelty is that FM-FDE can effectively exclude faults without an iterative search for faulty signals. FM-FDE calculates position distances of any subset pairs with max{3 + P, 2P} measurements, where P is the number of constellations. Then, the algorithm utilizes statistical testing to examine the distances and identify faulty measurements to exclude from the computation of the resultant PVT solution. We evaluate FM-FDE with synthesized faulty measurements in a collected data set; it shows that FM-FDE is practically equally effective as the conventional Solution Separation (SS) FDE in a single constellation receiver. The computational advantage of FM-FDE is more pronounced in a multi-constellation setting, e.g., being more efficient for GPS-Galileo receivers facing more than 2 faults across both constellations. The trade-off is that FM-FDE slightly degrades performance in terms of detection and false alarm probabilities with small errors, compared to the conventional SS FDE.

中文翻译：

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独立GNSS接收器的快速多重故障检测和排除（FM-FDE）算法

许多应用程序和设备使用全球导航卫星系统（GNSS）提供的位置，速度和时间（PVT）信息。但是，意外干扰和恶意攻击使GNSS提供的信息不可靠。当可用卫星测量的一部分受到影响时，接收机自主完整性监控（RAIM）被认为是一种有效且轻便的保护方法。但是，常规的RAIM故障检测与排除（FDE）可能在计算上很昂贵，这是因为在存在许多故障的情况下，迭代搜索以排除故障信号，对于多星座GNSS接收器则更为如此。因此，我们提出了一种快速多故障检测与排除（FM-FDE）算法，以检测和排除单星座和多星座接收器的多个故障。新颖之处在于，FM-FDE可以有效排除故障，而无需迭代搜索故障信号。FM-FDE使用max {3 + P，2P}测量来计算任何子集对的位置距离，其中P是星座数。然后，该算法利用统计测试来检查距离并识别错误的测量值，以排除所得PVT解的计算。我们使用收集的数据集中的综合故障测量值来评估FM-FDE；它表明，在单个星座图接收机中，FM-FDE实际上与传统的解决方案分离（SS）FDE等效。FM-FDE的计算优势在多星座设置中更为明显，例如，对于在两个星座中都面临2个以上故障的GPS-Galileo接收机而言，效率更高。