A method is introduced to conduct integrity monitoring using multiple mobile GNSS receivers, in order to detect common-mode satellite faults. Specifically, the monitoring approach introduced in this paper achieves high fault-detection sensitivity by first estimating a common-mode residual across all collaborating receivers. Residual noise is decreased (and monitor sensitivity enhanced) by forming a common-residual monitor statistic from this estimate and, separately, by forming a specific-residual monitor statistic by subtracting the common estimate from the residual vector for each individual receiver. Altogether, the CERIM approach preserves many of the benefits of RAIM (fast response time, with little infrastructure required) while greatly enhancing fault-detection capability.
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