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Bayesian Fault-Tolerant Estimate and Robust Protection Level from Integrity Perspective

The Receiver Autonomous Integrity Monitoring (RAIM) performance is vulnerable to the assumed prior probability of distinct satellite fault hypotheses, resulting in potential integrity threats to users. For that, we propose a Bayesian fault-tolerant estimate and a robust Protection Level (PL) using the Bayesian theorem. The former minimizes the integrity risk to enhance the navigation performance. Moreover, the latter improves the robustness to the uncertain prior faulty probability. Results show that the proposed method provides smaller PLs and fewer PL variations to the increasing prior probability of fault occurrence than the advanced RAIM (ARAIM).