Evolution of Integrity Concept – From Galileo to Multisystem - Global Navigation Satellite Systems: Signal,Theory and Applications - page 97

Figures 9 and 10 show how the RAIM statistic behaves in the presence of a bias of 20 meters
inserted from the 30-th epoch in a satellite belonging to the Galileo constellation, and a bias
of 10 meters, from the 50-th epoch, in a GPS satellite. In both cases the RAIM statistic (green
and blue curves) exceeds the Test Statistic Threshold by a probability of 100%. The Figures
show the instantaneous behaviour of the RAIM. This way of representing the RAIM process

Fig. 8. RAIM and bias on pseudorange - satellite Galileo PRN 4 - RAIM algorithm

Weighte d RAIM

18

16

14

12

10

8

6

Te s t St at i s t i c Thr e s ho l d

4

2

0

0 10 20 30 40 50 60 70 80 90 100

Time [s]

Fig. 9. RAIM and bias on pseudorange - satellite Galileo PRN 4 - Multisystem Integrity
Algorithm