P-RANSAC: An integrity monitoring approach for GNSS signal degraded scenario

Satellite navigation is critical in signal-degraded environments where signals are corrupted and GNSS systems do not guarantee an accurate and continuous positioning. In particular measurements in urban scenario are strongly affected by gross errors, degrading navigation solution; hence a quality check on the measurements, defined as RAIM, is important. Classical RAIM techniques work properly in case of single outlier but have to be modified to take into account the simultaneous presence of multiple outliers. This work is focused on the implementation of random sample consensus (RANSAC) algorithm, developed for computer vision tasks, in the GNSS context. This method is capable of detecting multiple satellite failures; it calculates position solutions based on subsets of four satellites and compares them with the pseudoranges of all the satellites not contributing to the solution. In this work, a modification to the original RANSAC method is proposed and an analysis of its performance is conducted, processing data collected in a static test.