RTK 完好性指标分配方法

As the most widely used high-precision positioning technology of the Global Navigation Satellite System (GNSS), the integrity of Real-Time Kinematic (RTK) relative positioning remains a hot topic in the industry and aca-demia area. It is also a critical challenge that determines whether RTK can be used in life safety-related fields such as autonomous driving. However, current research on RTK integrity mainly focuses on the level of conceptual discussion and user-end algorithms, with issues such as unclear performance indicators, complex and unclear algorithms, and a lack of systematic analysis framework and solutions. By studying various augmentation systems in the aviation field, this paper identifies key elements in integrity solution, including multiple stages such as demand analysis, risk source analysis, integrity indicator allocation, monitoring scheme design, and verification scheme design. Among them, the integrity indicator allocation stage undertakes user needs and monitor performance requirements, involving the estab-lishment of an overall analysis process and framework, forming the basis for subsequent specific monitor design and verification, and thus becomes the core of the overall integrity solution. To address this, this paper proposes an RTK integrity indicator allocation method inspired by the risk indicator allocation process in the Ground-Based Augmentation System (GBAS). Then, deriving the Maximum Allowable Measurement Error (MERR) calculation formula applicable to the Kalman filter is derived, and a complete indicator allocation scheme from both probabilistic and error-bound per-spectives is presented. The proposed method and allocation examples can provide theoretical support and data refer-ence for RTK service providers in developing integrity solutions and promoting relevant service.