Patent ID: 8508405

Claim:
A method of processing radionavigation receiver signals, the method comprising: providing, at an equipment with a Receiver Autonomous Integrity Monitoring (RAIM) functionality, measurements of pseudo-ranges between a plurality of satellites and a primary radionavigation receiver; providing, at the equipment, a geographical position and a clock shift of the primary radionavigation receiver; calculating, at the equipment, residuals of measurements of pseudo-ranqes obtained on the basis of the geographical position and the clock shift provided by said primary radionavigation receiver and on the basis of measurements of pseudo-ranges provided by said primary radionavigation receiver, said residuals being denoted by Yi, where i is an index of a satellite i in the plurality of satellites; forming, at the equipment, subsets of the residuals of a cardinal denoted by h=N−1 and/or N−2, N being the number of said residuals; calculating, at the equipment, a standard deviation of each subset with σ min being a smallest standard deviation and used as reference to weight said residuals; determining, at the equipment, a minimum value h min of the cardinal for which said σ min was calculated, a value of Y min , a vector of corresponding cardinal h min , and a value of m min , m min being a mean value of Y min ; for each satellite i, calculating, at the equipment, a first vector of residuals defined by: r vec , 1 = ( Yi - m min ) 2 σ min for the plurality of satellites, sorting, at the equipment, elements of the first vector r vec,1 in ascending order to obtain a sorted vector r vec,1 sorted ; calculating, at the equipment, a factor f defined by: f = ( χ 2 ) - 1 ⁢ ( h min N , 1 ) , where (χ 2 ) −1 (.,1) is an inverse of a Chi-squared x 2 statistic distribution with one degree of freedom; weighting at the equipment, said σ min in the following manner: σ min , 2 = r vec , 1 sorted ⁡ ( h min ) f * σ min for each said satellite, calculating, at the equipment, a new vector of residuals defined by: r vec , 2 = ( Yi - m min ) 2 σ min , 2 ; defining, at the equipment, a threshold T such that: T=(χ 2 ) − 1 (P,1), where P is a probability whose optimal value is determined by a probabilistic simulation; and comparing, at the equipment, each element of the new vector of residuals r vec,2 with the threshold T and if r vec,2 (i)>T, a fault is declared to have been detected, and said satellite i is excluded.