A state-domain robust autonomous integrity monitoring with an extrapolation method for single receiver positioning in the presence of slowly growing fault

Single receiver positioning has been widely used as a standard and standalone positioning technique for about 25 years. To detect the slowly growing faults caused by satellite and receiver clocks in single receiver positioning, the Autonomous Integrity Monitoring with an Extrapolation method (AIME) was proposed based on the Kalman filter measurement domain. However, AIME was designed with the assumption of there is the same number of visible satellites at each epoch, which limits its application. To address this issue, this paper proposes a state-domain Robust Autonomous Integrity Monitoring with the Extrapolation Method (SRAIME). The slowly growing fault detection statistics is established based on the difference between the estimates of the state propagator and the posterior state estimation in Kalman filtering. Meanwhile, singular value decomposition is adopted to factor the covariance matrix of the difference to increase computational robustness. Besides, the relevant formulas of the proposed method are theoretically derived, and it is proven that the proposed method is suitable for any positioning model based on the Kalman filter. Additionally, the results of two experiments indicate that SRAIME can detect slowly growing faults in single receiver positioning earlier than AIME.