基于UAV的ARAIM测试技术研究

Research on Airborne ARAIM Algorithm Testing Technology Based on UAV Platform

为了提升GNSS在航空应用中的服务性能,目前国内外进行了多项关于高级接收机自主完好性监测(ARAIM)算法的研究,这些研究主要基于算法仿真,但相对缺乏基于实际场景和实际测量数据的测试性研究。研究基于无人机(UAV)的ARAIM测试技术,以测试在实际场景下ARAIM的可用性,同时验证ARAIM仿真算法的正确性。根据ARAIM的理论研究成果,改写机载端ARAIM用户算法;搭建8旋翼无人机ARAIM测试硬件平台并进行了典型场景测试;分析测试数据并说明测试中ARAIM的可用性情况。结果表明搭建的基于UAV的ARAIM测试平台可以完成测试任务,飞行测试验证了BDS+GPS ARAIM的机载可用性。

Advanced receiver autonomous integrity monitoring（ ARAIM） algorithm is used to improve GNSS service quality in aviation applications. Previous researches mostly focused on the Matlab simulation of the algorithm. This research is about ARAIM algorithm testing based on real flight data. An airborne ARAIM algorithm testing technology based on UAV platform was studied, and the feasibility of airborne ARAIM algorithm was verified. The UAV platform was built to carry the receiver and airborne computer. The real-time airborne software was based on the ARAIM algorithm and the raw measurements were obtained from ComNav M300-G Mini GNSS receiver. The results show that the ARAIM test platform can accommodate the test of the airborne ARAIM algorithm in various scenarios, and the flight test verifies the availability of BDS ＋ GPS airborne ARAIM algorithm.