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Sensors 2017, 17(7), 1508; doi:10.3390/s17071508

Does RAIM with Correct Exclusion Produce Unbiased Positions?

1
GNSS Research Centre, Curtin University of Technology, 6845 Perth, Australia
2
Department of Geoscience and Remote Sensing, Delft University of Technology, 2628 CN Delft, The Netherlands
*
Author to whom correspondence should be addressed.
Received: 18 May 2017 / Revised: 16 June 2017 / Accepted: 22 June 2017 / Published: 26 June 2017
(This article belongs to the Section Remote Sensors)
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Abstract

As the navigation solution of exclusion-based RAIM follows from a combination of least-squares estimation and a statistically based exclusion-process, the computation of the integrity of the navigation solution has to take the propagated uncertainty of the combined estimation-testing procedure into account. In this contribution, we analyse, theoretically as well as empirically, the effect that this combination has on the first statistical moment, i.e., the mean, of the computed navigation solution. It will be shown, although statistical testing is intended to remove biases from the data, that biases will always remain under the alternative hypothesis, even when the correct alternative hypothesis is properly identified. The a posteriori exclusion of a biased satellite range from the position solution will therefore never remove the bias in the position solution completely. View Full-Text
Keywords: Receiver Autonomous Integrity Monitoring (RAIM); best linear unbiased estimation (BLUE); statistical hypothesis Testing; missed detection (MD); correct detection (CD); correct identification (CI); level of significance; bias; Global Navigation Satellite System (GNSS) Receiver Autonomous Integrity Monitoring (RAIM); best linear unbiased estimation (BLUE); statistical hypothesis Testing; missed detection (MD); correct detection (CD); correct identification (CI); level of significance; bias; Global Navigation Satellite System (GNSS)
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Teunissen, P.J.G.; Imparato, D.; Tiberius, C.C.J.M. Does RAIM with Correct Exclusion Produce Unbiased Positions? Sensors 2017, 17, 1508.

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