A Collaborative Fault Detection Navigation Method for Cluster Aircrafts

The traditional receiver autonomous integrity monitoring (RAIM) algorithm is used to detect the pseudorange estimation residuals of a single aircraft. For the relatively small and medium-sized pseudorange errors, RAIM algorithm has low fault detection sensitivity and cannot be applied to navigation systems with accurate positioning requirements. A cooperative observation integrity monitoring (COIM) algorithm is proposed in this work, which makes full use of the characteristics of the cluster and uses GNSS receivers of multiple aircrafts to construct common-mode residual detection statistics to improve the performance of fault detection. This constitutes a key innovation presented in this paper. Besides, the navigation system can monitor whether the auxiliary sensor is abnormal while monitoring the satellite fault. The simulation results show that COIM greatly improves the fault detection rate of GNSS satellites, and can be extended arbitrarily on the basis of satellite fault monitoring to detect whether the measurement values of auxiliary sensors in the navigation system are abnormal.