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Computational Aspects of Sensor Fusion for GNSS Outlier Mitigation in Navigation

Medina, Daniel and García, Jesús and Ziebold, Ralf (2016) Computational Aspects of Sensor Fusion for GNSS Outlier Mitigation in Navigation. [Other]

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As the Global Navigation Satellite Systems (GNSS) are intensively used as main source of Position, Navigation and Timing (PNT) information for maritime and inland water navigation, it becomes increasingly important to ensure the reliability of GNSS-based navigation solutions for challenging environments. Although an intensive work has been done in developing GNSS Receiver Autonomous Integrity Monitoring (RAIM) algorithms, a reliable procedure to mitigate multiple simultaneous outliers is still lacking. The presented work evaluates the performance of several methods for multiple outlier mitigation based on robust estimation framework and compares them to the performance of state-of-the-art methods. The relevant methods include M-estimation, S-estimation, Least Median of Squares LMS-based approaches as well as corresponding modifications for C/N0-based weighting schemes. The snapshot positioning methods are also tested within the quaternion-based Unscented Kalman filter for integrated inertial/GNSS solution. The proposed schemes are evaluated using real measurement data from challenging inland water scenarios with multiple bridges and a waterway lock. The initial results are encouraging and clearly indicate the potential of the discussed methods both for classical snapshot solutions as well for the methods with complementary sensors.

Item URL in elib:https://elib.dlr.de/108719/
Document Type:Other
Additional Information:Master Thesis for the University Carlos III Madrid, within the Master program "Master in Computer Science and Technology"
Title:Computational Aspects of Sensor Fusion for GNSS Outlier Mitigation in Navigation
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
García, JesúsUniversidad Carlos III MadridUNSPECIFIEDUNSPECIFIED
Date:5 February 2016
Refereed publication:Yes
Open Access:Yes
Keywords:Integrated Navigation Systems; Robust Estimation; Global Navigation Satellite System GNSS; Kalman Filtering; Inertial Sensing.
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Traffic Management (old)
DLR - Research area:Transport
DLR - Program:V VM - Verkehrsmanagement
DLR - Research theme (Project):V - Automated Aids for Safe and Efficient Vessel Traffic Process (old)
Location: Neustrelitz
Institutes and Institutions:Institute of Communication and Navigation > Nautical Systems
Deposited By: Medina, Daniel
Deposited On:08 Jun 2018 12:34
Last Modified:31 Jul 2019 20:05

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