The traditional RAIM algorithm uses the residuals of the positioning equation for failure detection and gives better detection when only one fault exists. The global navigation satellite system gives users many more ranging sources with better positioning thanks to the increased number of visible satellites. However, the probability of simultaneous failures also increase which requires improves to the traditional RAIM algorithm to address multiple failures. The RAIM design was analyzed to deduce a relationship between the residuals and the error vector. Examples then show that some information is lost when projecting from the error vector to the residuals, which limits failure detection. A modified RAIM algorithm with additional constraints that enable the error vector to be recovered from the residuals so that multiple failures can be detected monitoring the error vector. Simulations show the ability of this method for multiple failures.
张鑫,崔晓伟,冯振明. 基于伪距误差重建的多星故障检测方法[J]. 清华大学学报（自然科学版）, 2014, 54(4): 425-431.
Xin ZHANG,Xiaowei CUI,Zhenming FENG. Multiple failure detection based on reconstruction of the pseudorange error. Journal of Tsinghua University(Science and Technology), 2014, 54(4): 425-431.
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2014, Vol. 54 
),冯振明
