A Tutorial Review of Statistical Snapshot Detectors for GNSS/RAIM Fault Detection: Unified Derivations and Detector Relationships

Yan, P., Song, B., Yuan, Li, Hsu, L.-T.

Sensors (2026)

journal

摘要

本综述以统一的数学框架整理 GNSS／RAIM 快照故障检测器，说明其推导、检测阈值及相互关系。

Sensors, 26(15), 4938.