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• W2184920385 abstract "Solutions obtained from extended RAlM parallel those from conventional RAIM, to an extent that some will find surprising. For the 5-SV case just noted, in fact, the same set of five positions will be computed either way. The reason is readily explainable; in each solution, every pseudorange except that from the suspect SV is insensitive to the bias state. This produces a 5x5 matrix with one column having four zeros and a one. Inversion inherently yields a 4x4 partition identical to the unaugmented solution. Instead of resting on the sidelines the fifth SV serves as a bias indicator for extended RAIM. The estimated SV clock offset is an adjusted value of the fifth residual; amount of adjustment is the perceived contribution caused by usage of a priori position and user clock estimates to form that residual. Four of the five candidate solutions will of course be biased due to modeling error and, although a formulation is provided for this modeling effect, it will not .be apparent during operation which is the unbiased solution. That decision of course is assigned to the isolation portion of FDI @auk - Detection and Isolation). Again this will be done with the addition of a sixth satellite. Fortunately this is one operation wherein an expanded scope makes the solution somewhat easier. The QR decomposition (previously applied to conventional MlM by M. Brenner and F. van Graas) is directly applicable to extended RAIM. With six SV's available there are six candidate solutions. Each one is overdetermined, providing estimates for five unknowns (the usual four plus a bias estimate for the suspect SV). QR decomposition immediately produces a parity variable that can be used for identification. With one corrupted SV, every solution except one (the one with the offset SV used in the suspect role) will produce a parity variable having nonzero mean. All of the techniques and procedures relevant to statistical decisions based on parity, plus recent extensions for confidence levels in the presence of parameter uncertainties, can be adopted here. Further elaborations are considered, to address additional complications such as multiple biased SV's, time-varying biases, not limited to ramps, implications of GLONASS integration (e.g., unequal error variance, further augmentation for time base difference)." @default.
• W2184920385 created "2016-06-24" @default.
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• W2184920385 date "1992-01-01" @default.
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• W2184920385 title "INTRODUCING THE FDI QUINTUPLETS" @default.
• W2184920385 hasPublicationYear "1992" @default.
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