Monitoring method for optimizing positioning integrity of automatic driving

The invention discloses a monitoring method for optimizing the positioning integrity of automatic driving, and the method comprises the steps: S1, carrying out the screening of a minimum unit subset through a scale factor method, and excluding K most secondary satellites; s2, on the basis of an internal and external point checking method of Kalman filtering, important satellites can be included in an internal point set Ainliers and a most secondary satellite can be included in an external point Aoutliers through an internal and external point discrimination method; and S3, obtaining an RRRAIM algorithm instance. According to the method, the fault tolerance and integrity monitoring efficiency of positioning are effectively improved, the final positioning effect is used as an evaluation standard, the defect of a single integrity evaluation standard is effectively overcome, the method is suitable for hardware configuration and performance improvement requirements of a current automatic driving system, and the me