GNSS-aided INS Integrity Concept

Kurzfassung

This paper addresses the integration between Global Navigation Satellite System (GNSS) and Inertial Navigation System (INS) from an integrity perspective. In order to achieve this, we analyze a low-complex coupling scheme, where a GNSS layer resets the INS strapdown algorithm with position, velocity and their respective protection levels. In particular, RAIM and Velocity RAIM algorithms are used here as the integrity-based core system. Special focus is dedicated to the propagation of uncertainties in terms of covariances through the strapdown inertial algorithm, as well as the impact of the reset uncertainties and accelerometer noise on the final computed protection levels. Finally, it is shown how our integrated system may solve the continuity and availability problems of GNSS by coasting not only the position solution but also the protection levels.