RAIM analysis in the position domain

Receiver Autonomous Integrity Monitoring (RAIM) is a kind of technical used in domain of GNSS. It can provide warning to user when positioning result deviates from the real position critically. It is, therefore, necessary to demarcate the errors in the position domain on analyzing RAIM performance quantitatively as well as to confirm the relationship from the pseudorange error to the position error. This paper analyzes the impact of constant and random errors in domain of pseudorange on positioning failure, gives the error conversion method from pseudorange domain to position domain, and generates the critical bias concept. This paper also gives the difference of error sensitivity between the GPS alone and the multi constellate configuration. Simulation result showed some performance differences between these two configurations.