Abnormal value detection apparatus for satellite positioning system, abnormal value detection method, and abnormal value detection program

Abstract

To detect an abnormal value in a satellite positioning system with high precision even when the observation environment changes or there is the time series correlation between data. An abnormal value index calculation unitcalculates an abnormal value index at each time of time-series data such as a pseudo distance between each artificial satellite and a receiver in the satellite positioning system or the like. A dynamic model forming unitdynamically forms a model from the abnormal value index in a predetermined period and calculates a change point index from the time-series abnormal value index based on the dynamic model. The change point index is an index for determining whether the time-series is a one-shot outlier from a dynamic model or the dynamic model itself of input data changes when the time-series value which suddenly increases and decreases exists. The abnormal value detection unitcompares the change point index with a threshold value set in advance and detects the abnormal value index corresponding to the change point index at that time as an abnormal value when the value of the change point index is greater than the threshold value.