Research on GPS RAIM algorithm using PF based on PSO

To solve the problem of basic particle filter (PF), a novel GPS receiver autonomous integrity monitoring (RAIM) method was proposed, which was based on an algorithm combining particle swarm optimization particle filter (PSO-PF) with likelihood ratio test. The test statistic of fault satellite detection was set up, and the probability distribution of the log-likelihood ratio test statistic was analyzed. The consistency test is undertaken by checking the cumulative log-likelihood ratio (LLR) of system states. The velocity and position of particles were updated by particle swarm optimization algorithm, which make the particles of PF approximate the true system state to improve the posterior probability density of system state. Collecting the raw GPS data, the proposed algorithm was verified. The simulation result demonstrates that the proposed algorithm can effectively detect and isolate fault satellite under conditions of non-Gaussian measurement noise.