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Innovation vs Residual KF Based GNSS/INS Autonomous Integrity Monitoring in Single Fault Scenario

Garcia Crespillo, Omar and Grosch, Anja and Skaloud, Jan and Meurer, Michael (2017) Innovation vs Residual KF Based GNSS/INS Autonomous Integrity Monitoring in Single Fault Scenario. ION GNSS+ 2017, Portland, OR, USA.

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Abstract

We perform a comparison between an innovation and a residual based integrity monitoring in Extended Kalman Filters for the GNSS/INS hybridization. In this paper, we restrict the study to the detection of abrupt snapshot faults in order to get an intuitive insight. We study the di�erences in the distribution of the test statistics and the computation of the thresholds. We derive and compare the minimum detectable bias and we provide expressions for the protection levels for both approaches in the single fault situation. We compare them with the classical residual based GNSS RAIM algorithm. Additionally, we perform a sensitivity analysis of the integrity relevant parameters to the inertial sensor quality.

Item URL in elib:https://elib.dlr.de/116255/
Document Type:Conference or Workshop Item (Speech)
Title:Innovation vs Residual KF Based GNSS/INS Autonomous Integrity Monitoring in Single Fault Scenario
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Garcia Crespillo, Omaromar.garciacrespillo (at) dlr.deUNSPECIFIED
Grosch, AnjaAnja.Grosch (at) dlr.deUNSPECIFIED
Skaloud, JanUNSPECIFIEDUNSPECIFIED
Meurer, MichaelMichael.Meurer (at) dlr.deUNSPECIFIED
Date:2017
Refereed publication:No
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:GNSS, INS, Kalman Filter, Integrity Monitoring
Event Title:ION GNSS+ 2017
Event Location:Portland, OR, USA
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:air traffic management and operations
DLR - Research area:Aeronautics
DLR - Program:L AO - Air Traffic Management and Operation
DLR - Research theme (Project):L - Communication, Navigation and Surveillance
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Navigation
Deposited By: Garcia Crespillo, Omar
Deposited On:01 Dec 2017 10:40
Last Modified:01 Dec 2017 10:40

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