Advanced RAIM algorithms for safe navigation based on the constrained GLR test

In safety-critical applications, the set of possible faults have to be divided into two groupes : the first groupe represents the subset of faults which lead to a system failure and the second one - the subset of faults which do not lead (at least immediately) to a failure. The detection/exclusion of a fault from the second group is considered as a false alarm. The problem of GNSS integrity monitoring is considered in the paper. It is proposed to design the statistical fault detection/exclusion algorithm which directly analyzes the impact of each satellite channel fault on the positioning accuracy and detects and isolates only faults which lead to a positioning failure.