基于风险概率分解的 RTK 完好性评估方法

The real-time kinematic (RTK) technique has attracted extensive attention in the field of autonomous driving for its high precision and high dynamic characteristics. As a result, the quantitative assessment of RTK integrity becomes a pressing issue that needs to be resolved in order to ascertain whether it can satisfy the safety standards in this industry. However, most current RTK integrity studies focus on the improvement and optimization of user-end algorithms rather than the analysis and evaluation of overall risks from system perspectives. Therefore, in this paper, an RTK integrity evaluation method based on risk probability decomposition is proposed, offering a theoretical calculation formula of integrity risks. To verify the rationality of this conclusion, observation data from multiple observation stations with different receiver types in typical regions of mid and low latitudes are used for RTK integrity evaluation. The findings demonstrate that, in middle-latitude regions, positioning integrity changes considerably with receiver data quality; nevertheless, in low-latitude regions, ionosphere anomalies become the primary factor influencing integrity. According to the evaluation results in the paper, the integrity risk probability of RTK positioning is between 10⁻⁴ and 10⁻² based on single frequency, single constellation and medium-length baseline. The results of this paper are consistent with the general conclusion of RTK data processing, which proves that the proposed method is reasonable and can evaluate the quantitative RTK integrity effectively. Furthermore, the results of the quantitative evaluation of RTK integrity can be used as an important basis for the design of an integrity monitoring scheme.