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On Fault Detection and Exclusion in Snapshot and Recursive Positioning Algorithms for Maritime Applications

Ziebold, Ralf and Lanca, Luis and Romanovas, Michailas (2017) On Fault Detection and Exclusion in Snapshot and Recursive Positioning Algorithms for Maritime Applications. European Transport Research Review, 9 (1), pp. 1-15. Springer. doi: 10.1007/s12544-016-0217-5. ISSN 1867-0717.

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Official URL: http://dx.doi.org/10.1007/s12544-016-0217-5


Resilient provision of Position, Navigation and Timing (PNT) data can be considered as a key element of the e-Navigation strategy developed by the International Maritime Organization (IMO). An indication of reliability has been identified as a high level user need with respect to PNT data to be supplied by electronic navigation means. The paper concentrates on the Fault Detection and Exclusion (FDE) component of the Integrity Monitoring (IM) for navigation systems based both on pure GNSS (Global Navigation Satellite Systems) as well as on hybrid GNSS/inertial measurements. Here a PNT-data processing Unit will be responsible for both the integration of data provided by all available on-board sensors as well as for the IM functionality. The IM mechanism can be seen as an instantaneous decision criterion for using or not using the system and, therefore, constitutes a key component within a process of provision of reliable navigational data in future navigation systems. The performance of the FDE functionality is demonstrated for a pure GNSS-based snapshot weighted iterative least-square (WLS) solution, a GNSS-based Extended Kalman Filter (EKF) as well as for a classical error-state tightly-coupled EKF for the hybrid GNSS/inertial system. Pure GNSS approaches are evaluated by combining true measurement data collected in port operation scenario with artificially induced measurement faults, while for the hybrid navigation system the measurement data in an open sea scenario with native GNSS measurement faults have been employed. The work confirms the general superiority of the recursive Bayesian scheme with FDE over the snapshot algorithms in terms of fault detection performance even for the case of GNSS-only navigation. Finally, the work demonstrates a clear improvement of the FDE schemes over non-FDE approaches when the FDE functionality is implemented within a hybrid integrated navigation system.

Item URL in elib:https://elib.dlr.de/110111/
Document Type:Article
Title:On Fault Detection and Exclusion in Snapshot and Recursive Positioning Algorithms for Maritime Applications
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Date:March 2017
Journal or Publication Title:European Transport Research Review
Refereed publication:Yes
Open Access:Yes
Gold Open Access:Yes
In ISI Web of Science:Yes
Page Range:pp. 1-15
EditorsEmailEditor's ORCID iDORCID Put Code
Keywords:Integrated Navigation System, Kalman Filtering, GNSS, Inertial Sensors, Integrity Monitoring
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: Ziebold, Ralf
Deposited On:11 Jan 2017 09:54
Last Modified:02 Nov 2023 14:47

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