A wideband monolithic optoelectronic integrated receiver with a high-speed photo-detector,completely compatible with standard CMOS processes,is designed and implemented in 0.6μm standard CMOS technology.The experimen...A wideband monolithic optoelectronic integrated receiver with a high-speed photo-detector,completely compatible with standard CMOS processes,is designed and implemented in 0.6μm standard CMOS technology.The experimental results demonstrate that its performance approaches applicable requirements,where the photo-detector achieves a -3dB frequency of 1.11GHz,and the receiver achieves a 3dB bandwidth of 733MHz and a sensitivity of -9dBm for λ=850nm at BER=10-12.展开更多
A new integrity metric for navigation systems is proposed based on the measurement domain. Proba-hilistic optimization design offers tools for fault detection by considering the required navigation performance (RNP)...A new integrity metric for navigation systems is proposed based on the measurement domain. Proba-hilistic optimization design offers tools for fault detection by considering the required navigation performance (RNP) parameter and the uncertainty noise. The choice of the proper performance parameter provided the single-valued mapping with the missed detection probability estimates the probability of failure. The desirable characteristics of the residual sensitivity matrix are exploited to increase the efficiency for identifying erroneous observations. The algorithm can be used to support the performance specification and the efficient calculation of the integrity monitoring process. The simulation for non-precision approach (NPA) validates both the viability and the effectiveness of the proposed algorithm.展开更多
Integrity is significant for safety-of-life applications. Receiver autonomous integrity monitoring(RAIM) has been developed to provide integrity service for civil aviation. At first,the conventional RAIM algorithm i...Integrity is significant for safety-of-life applications. Receiver autonomous integrity monitoring(RAIM) has been developed to provide integrity service for civil aviation. At first,the conventional RAIM algorithm is only suitable for single fault detection, single GNSS constellation. However, multiple satellite failure should be considered when more than one satellite navigation system are adopted. To detect and exclude multi-fault, most current algorithms perform an iteration procedure considering all possible fault model which lead to heavy computation burden. An alternative RAIM is presented in this paper based on multiple satellite constellations(for example, GPS and Bei Dou(BDS) etc.) and robust estimation for multi-fault detection and exclusion, which can not only detect multi-failures,but also control the influences of near failure observation. Besides, the RAIM algorithm based on robust estimation is more efficient than the current RAIM algorithm for multiple constellation and multiple faults. Finally, the algorithm is tested by GPS/Bei Dou data.展开更多
Because the signals of global positioning system (GPS) satellites are susceptible to obstructions in urban environment with many high buildings around, the number of GPS useful satellites is usually less than six. I...Because the signals of global positioning system (GPS) satellites are susceptible to obstructions in urban environment with many high buildings around, the number of GPS useful satellites is usually less than six. In this case, the receiver autonomous integrity monitoring (RAIM) method earmot exclude faulty satellite. In order to improve the performance of RAIM method and obtain the reliable positioning results with five satellites, the series of receiver clock bias (RCB) is regarded as one useful satellite and used to aid RAIM method. From the point of nonlinear series, a grey-Markov model for predicting the RCB series based on grey theory and Markov chain is presented. And then the model is used for aiding RAIM method in order to exclude faulty satellite. Experimental results demonstrate that the prediction model is fit for predicting the RCB series, and with the clock-based RAIM method the faulty satellite can be correctly excluded and the positioning precision of GPS receiver can be improved for the case where there are only five useful satellites.展开更多
An 8×10 GHz receiver optical sub-assembly (ROSA) consisting of an 8-channel arrayed waveguide grating (AWG) and an 8-channel PIN photodetector (PD) array is designed and fabricated based on silica hybrid in...An 8×10 GHz receiver optical sub-assembly (ROSA) consisting of an 8-channel arrayed waveguide grating (AWG) and an 8-channel PIN photodetector (PD) array is designed and fabricated based on silica hybrid integration technology. Multimode output waveguides in the silica AWG with 2% refractive index difference are used to obtain fiat-top spectra. The output waveguide facet is polished to 45° bevel to change the light propagation direction into the mesa-type PIN PD, which simplifies the packaging process. The experimentM results show that the single channel I dB bandwidth of AWG ranges from 2.12nm to 3.06nm, the ROSA responsivity ranges from 0.097 A/W to 0.158A/W, and the 3dB bandwidth is up to 11 GHz. It is promising to be applied in the eight-lane WDM transmission system in data center interconnection.展开更多
The paper proposes a low power non-volatile baseband processor with wake-up identification(WUI) receiver for LR-WPAN transceiver.It consists of WUI receiver,main receiver,transmitter,non-volatile memory(NVM) and power...The paper proposes a low power non-volatile baseband processor with wake-up identification(WUI) receiver for LR-WPAN transceiver.It consists of WUI receiver,main receiver,transmitter,non-volatile memory(NVM) and power management module.The main receiver adopts a unified simplified synchronization method and channel codec with proactive Reed-Solomon Bypass technique,which increases the robustness and energy efficiency of receiver.The WUI receiver specifies the communication node and wakes up the transceiver to reduce average power consumption of the transceiver.The embedded NVM can backup/restore the states information of processor that avoids the loss of the state information caused by power failure and reduces the unnecessary power of repetitive computation when the processor is waked up from power down mode.The baseband processor is designed and verified on a FPGA board.The simulated power consumption of processor is 5.1uW for transmitting and 28.2μW for receiving.The WUI receiver technique reduces the average power consumption of transceiver remarkably.If the transceiver operates 30 seconds in every 15 minutes,the average power consumption of the transceiver can be reduced by two orders of magnitude.The NVM avoids the loss of the state information caused by power failure and energy waste caused by repetitive computation.展开更多
Both the 4 × 20 GHz coarse wavelength division multiplexing and LAN-WDM receiver optical sub-assemblies(ROSAs) were developed. The ROSA package was hybrid integrated with a planar lightwave circuit arrayed wave...Both the 4 × 20 GHz coarse wavelength division multiplexing and LAN-WDM receiver optical sub-assemblies(ROSAs) were developed. The ROSA package was hybrid integrated with a planar lightwave circuit arrayed waveguide grating(AWG) with 2% refractive index difference and a four-channel top-illuminated positive-intrinsicnegative photodetector(PD) array. The output waveguides of the AWG were designed in a multimode structure to provide flat-top optical spectra, and their end facet was angle-polished to form a total internal reflection interface to realize vertical coupling with a PD array. The maximum responsivity of ROSA was about 0.4 A/W, and its 3 dB bandwidth of frequency response was up to 20 GHz for each transmission lane. The hybrid integrated ROSA would be a cost-effective and easy-assembling solution for 100 Gb E data center interconnections.展开更多
Anti-spoofing is becoming a crucial technique for applications with high navigation accuracy and reliability requirements.Anti-spoofing technique based on Receiver Autonomous Integrity Monitoring(RAIM)is a good choice...Anti-spoofing is becoming a crucial technique for applications with high navigation accuracy and reliability requirements.Anti-spoofing technique based on Receiver Autonomous Integrity Monitoring(RAIM)is a good choice for most Global Navigation Satellite System(GNSS)receivers because it does not require any change to the hardware of the receiver.However,the conventional RAIM method can only detect and mitigate a single spoofing signal.Some improved RAIM methods can deal with more spoofing signals,but the computational complexity increases dramatically when the number of satellites in view increase or need additional information.This paper proposes a new RAIM method,called the SRV-RAIM method,which has a very low computation complexity regardless of the number of satellites in view and can deal with any number of spoofing signals.The key to the new method is the spatial distribution characteristic of the Satellites'Residual Vectors(SRV).In replay or generative spoofing scenarios,the pseudorange measurements of spoofing signals are consistent,the residual vectors of real satellites and those of spoofing satellites have good separation characteristics in spatial distribution.Based on this characteristic,the SRV-RAIM method is proposed,and the simulation results show that the method can separate the real signals and the spoofing signals with an average probability of 86.55%in the case of 12 visible satellites,regardless of the number of spoofing signals.Compared to the conventional traversal-RAIM method,the performance is only reduced by 3.59%,but the computational cost is reduced by 98.3%,so most of the GNSS receivers can run the SRV-RAIM algorithm in time.展开更多
The Least Squares Residual(LSR)algorithm,one of the classical Receiver Autonomous Integrity Monitoring(RAIM)algorithms for Global Navigation Satellite System(GNSS),presents a high Missed Detection Risk(MDR)for a large...The Least Squares Residual(LSR)algorithm,one of the classical Receiver Autonomous Integrity Monitoring(RAIM)algorithms for Global Navigation Satellite System(GNSS),presents a high Missed Detection Risk(MDR)for a large-slope faulty satellite and a high False Alarm Risk(FAR)for a small-slope faulty satellite.From the theoretical analysis of the high MDR and FAR cause,the optimal slope is determined,and thereby the optimal test statistic for fault detection is conceived,which can minimize the FAR with the MDR not exceeding its allowable value.To construct a test statistic approximate to the optimal one,the CorrelationWeighted LSR(CW-LSR)algorithm is proposed.The CW-LSR test statistic remains the sum of pseudorange residual squares,but the square for the most potentially faulty satellite,judged by correlation analysis between the pseudorange residual and observation error,is weighted with an optimal-slope-based factor.It does not obey the same distribution but has the same noncentral parameter with the optimal test statistic.The superior performance of the CW-LSR algorithm is verified via simulation,both reducing the FAR for a small-slope faulty satellite with the MDR not exceeding its allowable value and reducing the MDR for a large-slope faulty satellite at the expense of FAR addition.展开更多
This paper used the statistical methods of quality control to assess receiver autonomous integrity monitoring(RAIM) availability and fault detection(FD) capability of BeiDou14(Phase II with 14 satellites),BeiDou(Phase...This paper used the statistical methods of quality control to assess receiver autonomous integrity monitoring(RAIM) availability and fault detection(FD) capability of BeiDou14(Phase II with 14 satellites),BeiDou(Phase III with 35 satellites) and GPS(with 31 satellites) for the first time. The three constellations are simulated and their RAIM performances are quantified by the global, Asia-Pacific region and temporal variations respectively. RAIM availability must be determined before RAIM detection. It is proposed that RAIM availability performances from satellites and constellation geometry configuration are evaluated by the number of visible satellites(NVS, NVS > 5) and geometric dilution of precision(GDOP, GDOP < 6) together. The minimal detectable bias(MDB) and minimal detectable effect(MDE) are considered as a measure of the minimum FD capability of RAIM in the measurement level and navigation position level respectively. The analyses of simulation results testify that the average global RAIM performances for BeiDou are better than that for GPS except global RAIM holes proportion. Moreover, the Asia-Pacific RAIM performances for BeiDou are much better than that for GPS in all indexes. RAIM availability from constellation geometry configuration and RAIM minimum FD capability for BeiDou14 are better than that for GPS in Asia-Pacific region in all cases, but the BeiDou14 RAIM availability from satellites are worse than GPS's. The methods and conclusions can be used for RAIM prediction and real-time assessment of all kinds of Global Navigation Satellite Systems(GNSS) constellation.展开更多
Navigation system integrity monitoring is crucial for mission(e.g.safety)critical applications.Receiver autonomous integrity monitoring(RAIM)based on consistency checking of redundant measurements is widely used for m...Navigation system integrity monitoring is crucial for mission(e.g.safety)critical applications.Receiver autonomous integrity monitoring(RAIM)based on consistency checking of redundant measurements is widely used for many applications.However,there are many challenges to the use of RAIM associated with multiple constellations and applications with very stringent requirements.This paper discusses two positioning techniques and corresponding integrity monitoring methods.The first is the use of single frequency pseudorange-based dual constellations.It employs a new cross constellation single difference scheme to benefit from the similarities while addressing the differences between the constellations.The second technique uses dual frequency carrier phase measurements from GLONASS and the global positioning system for precise point positioning.The results show significant improvements both in positioning accuracy and integrity monitoring as a result of the use of two constellations.The dual constellation positioning and integrity monitoring algorithms have the potential to be extended to multiple constellations.展开更多
The Least Squares Residual(LSR)algorithm is commonly used in the Receiver Autonomous Integrity Monitoring(RAIM).However,LSR algorithm presents high Missed Detection Risk(MDR)caused by a large-slope faulty satellite an...The Least Squares Residual(LSR)algorithm is commonly used in the Receiver Autonomous Integrity Monitoring(RAIM).However,LSR algorithm presents high Missed Detection Risk(MDR)caused by a large-slope faulty satellite and high False Alert Risk(FAR)caused by a small-slope faulty satellite.In this paper,the LSR algorithm is improved to reduce the MDR for a large-slope faulty satellite and the FAR for a small-slope faulty satellite.Based on the analysis of the vertical critical slope,the optimal decentralized factor is defined and the optimal test statistic is conceived,which can minimize the FAR with the premise that the MDR does not exceed its allowable value of all three directions.To construct a new test statistic approximating to the optimal test statistic,the Optimal Decentralized Factor weighted LSR(ODF-LSR)algorithm is proposed.The new test statistic maintains the sum of pseudo-range residual squares,but the specific pseudo-range residual is weighted with a parameter related to the optimal decentralized factor.The new test statistic has the same decentralized parameter with the optimal test statistic when single faulty satellite exists,and the difference between the expectation of the new test statistic and the optimal test statistic is the minimum when no faulty satellite exists.The performance of the ODFLSR algorithm is demonstrated by simulation experiments.展开更多
文摘A wideband monolithic optoelectronic integrated receiver with a high-speed photo-detector,completely compatible with standard CMOS processes,is designed and implemented in 0.6μm standard CMOS technology.The experimental results demonstrate that its performance approaches applicable requirements,where the photo-detector achieves a -3dB frequency of 1.11GHz,and the receiver achieves a 3dB bandwidth of 733MHz and a sensitivity of -9dBm for λ=850nm at BER=10-12.
基金Supported by the National High Technology Research and Development Program of China (‘863’Program) (2006AA12Z313)~~
文摘A new integrity metric for navigation systems is proposed based on the measurement domain. Proba-hilistic optimization design offers tools for fault detection by considering the required navigation performance (RNP) parameter and the uncertainty noise. The choice of the proper performance parameter provided the single-valued mapping with the missed detection probability estimates the probability of failure. The desirable characteristics of the residual sensitivity matrix are exploited to increase the efficiency for identifying erroneous observations. The algorithm can be used to support the performance specification and the efficient calculation of the integrity monitoring process. The simulation for non-precision approach (NPA) validates both the viability and the effectiveness of the proposed algorithm.
基金supported by the National 863 project(2013AA122501-1)the National Natural Science Foundation of China(41020144004,41474015,41374019,41374003,41274040)
文摘Integrity is significant for safety-of-life applications. Receiver autonomous integrity monitoring(RAIM) has been developed to provide integrity service for civil aviation. At first,the conventional RAIM algorithm is only suitable for single fault detection, single GNSS constellation. However, multiple satellite failure should be considered when more than one satellite navigation system are adopted. To detect and exclude multi-fault, most current algorithms perform an iteration procedure considering all possible fault model which lead to heavy computation burden. An alternative RAIM is presented in this paper based on multiple satellite constellations(for example, GPS and Bei Dou(BDS) etc.) and robust estimation for multi-fault detection and exclusion, which can not only detect multi-failures,but also control the influences of near failure observation. Besides, the RAIM algorithm based on robust estimation is more efficient than the current RAIM algorithm for multiple constellation and multiple faults. Finally, the algorithm is tested by GPS/Bei Dou data.
基金Project(20090580013) supported by the Aeronautic Science Foundation of ChinaProject(ZYGX2010J119) supported by the Fundamental Research Funds for the Central Universities,China
文摘Because the signals of global positioning system (GPS) satellites are susceptible to obstructions in urban environment with many high buildings around, the number of GPS useful satellites is usually less than six. In this case, the receiver autonomous integrity monitoring (RAIM) method earmot exclude faulty satellite. In order to improve the performance of RAIM method and obtain the reliable positioning results with five satellites, the series of receiver clock bias (RCB) is regarded as one useful satellite and used to aid RAIM method. From the point of nonlinear series, a grey-Markov model for predicting the RCB series based on grey theory and Markov chain is presented. And then the model is used for aiding RAIM method in order to exclude faulty satellite. Experimental results demonstrate that the prediction model is fit for predicting the RCB series, and with the clock-based RAIM method the faulty satellite can be correctly excluded and the positioning precision of GPS receiver can be improved for the case where there are only five useful satellites.
基金Supported by the National High Technology Research and Development Program of China under Grant No 2015AA016902the National Natural Science Foundation of China under Grant Nos 61435013 and 61405188the K.C.Wong Education Foundation
文摘An 8×10 GHz receiver optical sub-assembly (ROSA) consisting of an 8-channel arrayed waveguide grating (AWG) and an 8-channel PIN photodetector (PD) array is designed and fabricated based on silica hybrid integration technology. Multimode output waveguides in the silica AWG with 2% refractive index difference are used to obtain fiat-top spectra. The output waveguide facet is polished to 45° bevel to change the light propagation direction into the mesa-type PIN PD, which simplifies the packaging process. The experimentM results show that the single channel I dB bandwidth of AWG ranges from 2.12nm to 3.06nm, the ROSA responsivity ranges from 0.097 A/W to 0.158A/W, and the 3dB bandwidth is up to 11 GHz. It is promising to be applied in the eight-lane WDM transmission system in data center interconnection.
基金supported in part by the National Natural Science Foundation of China(No.61306027)
文摘The paper proposes a low power non-volatile baseband processor with wake-up identification(WUI) receiver for LR-WPAN transceiver.It consists of WUI receiver,main receiver,transmitter,non-volatile memory(NVM) and power management module.The main receiver adopts a unified simplified synchronization method and channel codec with proactive Reed-Solomon Bypass technique,which increases the robustness and energy efficiency of receiver.The WUI receiver specifies the communication node and wakes up the transceiver to reduce average power consumption of the transceiver.The embedded NVM can backup/restore the states information of processor that avoids the loss of the state information caused by power failure and reduces the unnecessary power of repetitive computation when the processor is waked up from power down mode.The baseband processor is designed and verified on a FPGA board.The simulated power consumption of processor is 5.1uW for transmitting and 28.2μW for receiving.The WUI receiver technique reduces the average power consumption of transceiver remarkably.If the transceiver operates 30 seconds in every 15 minutes,the average power consumption of the transceiver can be reduced by two orders of magnitude.The NVM avoids the loss of the state information caused by power failure and energy waste caused by repetitive computation.
基金supported by the National High Technology Research and Development Program of China(No.2015AA016902)the National Natural Science Foundation of China(Nos.61435013 and 61405188)K.C.Wong Education Foundation
文摘Both the 4 × 20 GHz coarse wavelength division multiplexing and LAN-WDM receiver optical sub-assemblies(ROSAs) were developed. The ROSA package was hybrid integrated with a planar lightwave circuit arrayed waveguide grating(AWG) with 2% refractive index difference and a four-channel top-illuminated positive-intrinsicnegative photodetector(PD) array. The output waveguides of the AWG were designed in a multimode structure to provide flat-top optical spectra, and their end facet was angle-polished to form a total internal reflection interface to realize vertical coupling with a PD array. The maximum responsivity of ROSA was about 0.4 A/W, and its 3 dB bandwidth of frequency response was up to 20 GHz for each transmission lane. The hybrid integrated ROSA would be a cost-effective and easy-assembling solution for 100 Gb E data center interconnections.
基金supported by the National Key R&D Program of China(No.2021YFA0716603).
文摘Anti-spoofing is becoming a crucial technique for applications with high navigation accuracy and reliability requirements.Anti-spoofing technique based on Receiver Autonomous Integrity Monitoring(RAIM)is a good choice for most Global Navigation Satellite System(GNSS)receivers because it does not require any change to the hardware of the receiver.However,the conventional RAIM method can only detect and mitigate a single spoofing signal.Some improved RAIM methods can deal with more spoofing signals,but the computational complexity increases dramatically when the number of satellites in view increase or need additional information.This paper proposes a new RAIM method,called the SRV-RAIM method,which has a very low computation complexity regardless of the number of satellites in view and can deal with any number of spoofing signals.The key to the new method is the spatial distribution characteristic of the Satellites'Residual Vectors(SRV).In replay or generative spoofing scenarios,the pseudorange measurements of spoofing signals are consistent,the residual vectors of real satellites and those of spoofing satellites have good separation characteristics in spatial distribution.Based on this characteristic,the SRV-RAIM method is proposed,and the simulation results show that the method can separate the real signals and the spoofing signals with an average probability of 86.55%in the case of 12 visible satellites,regardless of the number of spoofing signals.Compared to the conventional traversal-RAIM method,the performance is only reduced by 3.59%,but the computational cost is reduced by 98.3%,so most of the GNSS receivers can run the SRV-RAIM algorithm in time.
基金co-supported by the National Natural Science Foundation of China (Nos. 41804024, 41804026)the Open Fund of Shaanxi Key Laboratory of Integrated and Intelligent Navigation of China (No. SKLIIN-20190205)
文摘The Least Squares Residual(LSR)algorithm,one of the classical Receiver Autonomous Integrity Monitoring(RAIM)algorithms for Global Navigation Satellite System(GNSS),presents a high Missed Detection Risk(MDR)for a large-slope faulty satellite and a high False Alarm Risk(FAR)for a small-slope faulty satellite.From the theoretical analysis of the high MDR and FAR cause,the optimal slope is determined,and thereby the optimal test statistic for fault detection is conceived,which can minimize the FAR with the MDR not exceeding its allowable value.To construct a test statistic approximate to the optimal one,the CorrelationWeighted LSR(CW-LSR)algorithm is proposed.The CW-LSR test statistic remains the sum of pseudorange residual squares,but the square for the most potentially faulty satellite,judged by correlation analysis between the pseudorange residual and observation error,is weighted with an optimal-slope-based factor.It does not obey the same distribution but has the same noncentral parameter with the optimal test statistic.The superior performance of the CW-LSR algorithm is verified via simulation,both reducing the FAR for a small-slope faulty satellite with the MDR not exceeding its allowable value and reducing the MDR for a large-slope faulty satellite at the expense of FAR addition.
基金the National High Technology Research and Development Program(863)of China(No.2011AA120503)
文摘This paper used the statistical methods of quality control to assess receiver autonomous integrity monitoring(RAIM) availability and fault detection(FD) capability of BeiDou14(Phase II with 14 satellites),BeiDou(Phase III with 35 satellites) and GPS(with 31 satellites) for the first time. The three constellations are simulated and their RAIM performances are quantified by the global, Asia-Pacific region and temporal variations respectively. RAIM availability must be determined before RAIM detection. It is proposed that RAIM availability performances from satellites and constellation geometry configuration are evaluated by the number of visible satellites(NVS, NVS > 5) and geometric dilution of precision(GDOP, GDOP < 6) together. The minimal detectable bias(MDB) and minimal detectable effect(MDE) are considered as a measure of the minimum FD capability of RAIM in the measurement level and navigation position level respectively. The analyses of simulation results testify that the average global RAIM performances for BeiDou are better than that for GPS except global RAIM holes proportion. Moreover, the Asia-Pacific RAIM performances for BeiDou are much better than that for GPS in all indexes. RAIM availability from constellation geometry configuration and RAIM minimum FD capability for BeiDou14 are better than that for GPS in Asia-Pacific region in all cases, but the BeiDou14 RAIM availability from satellites are worse than GPS's. The methods and conclusions can be used for RAIM prediction and real-time assessment of all kinds of Global Navigation Satellite Systems(GNSS) constellation.
文摘Navigation system integrity monitoring is crucial for mission(e.g.safety)critical applications.Receiver autonomous integrity monitoring(RAIM)based on consistency checking of redundant measurements is widely used for many applications.However,there are many challenges to the use of RAIM associated with multiple constellations and applications with very stringent requirements.This paper discusses two positioning techniques and corresponding integrity monitoring methods.The first is the use of single frequency pseudorange-based dual constellations.It employs a new cross constellation single difference scheme to benefit from the similarities while addressing the differences between the constellations.The second technique uses dual frequency carrier phase measurements from GLONASS and the global positioning system for precise point positioning.The results show significant improvements both in positioning accuracy and integrity monitoring as a result of the use of two constellations.The dual constellation positioning and integrity monitoring algorithms have the potential to be extended to multiple constellations.
文摘The Least Squares Residual(LSR)algorithm is commonly used in the Receiver Autonomous Integrity Monitoring(RAIM).However,LSR algorithm presents high Missed Detection Risk(MDR)caused by a large-slope faulty satellite and high False Alert Risk(FAR)caused by a small-slope faulty satellite.In this paper,the LSR algorithm is improved to reduce the MDR for a large-slope faulty satellite and the FAR for a small-slope faulty satellite.Based on the analysis of the vertical critical slope,the optimal decentralized factor is defined and the optimal test statistic is conceived,which can minimize the FAR with the premise that the MDR does not exceed its allowable value of all three directions.To construct a new test statistic approximating to the optimal test statistic,the Optimal Decentralized Factor weighted LSR(ODF-LSR)algorithm is proposed.The new test statistic maintains the sum of pseudo-range residual squares,but the specific pseudo-range residual is weighted with a parameter related to the optimal decentralized factor.The new test statistic has the same decentralized parameter with the optimal test statistic when single faulty satellite exists,and the difference between the expectation of the new test statistic and the optimal test statistic is the minimum when no faulty satellite exists.The performance of the ODFLSR algorithm is demonstrated by simulation experiments.