| 摘要 |
<p>According to a first aspect, the invention relates to a method for checking the integrity of position information output by a satellite (GNSS) positioning device (1) including a bank (3) of Kalman filters each producing a navigation solution (dX0, dXi, dXn) from raw measurements of signals transmitted by the satellites, characterized in that the method comprises the steps of, for each filter in the bank: (i) correcting the navigation solution produced by the filter according to an estimate of the impact of a failure of a satellite on the navigation solution; (ii) calculating a cross-innovation reflecting the deviation between an observation corresponding to a raw measurement from a satellite not used by the filter and an a posteriori estimate of said observation from the navigation solution produced by the filter and corrected in accordance with step (i); and (iii) performing a statistical test of the cross-innovation in order to declare whether or not the satellite, the raw measurement of which is not used by the filter, is faulty.</p> |
