Receiver Autonomous Integrity Monitoring (RAIM+) includes fault detection mechanisms at all levels of the receiver, including solving observation values, quality control, and navigation algorithms. Detected erroneous observations (usually caused by high multipath or active ionosphere) will be removed from the solution. This article validates the autonomous integrity monitoring function of Septentrio RAIM+using an actual testing scenario. When using Septentrio modules or integrated integrated integrated receivers, it is necessary to perform high and low temperature measurement positioning performance. The experimental environment is as follows: 1. Forward the GNSS satellite signal to the high and low temperature box through a repeater, 1. The strength of the forwarded signal in the temperature box is consistent with the actual outdoor GNSS signal, and 1. Place the integrated receiver in the temperature box to receive the signal from the repeater&Nbsp
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