|Abstract:||Various extensions to Receiver Autonomous Integrity Monitoring (RAIM) are offered for GPS/INS integration. Segmented estimation enables application to position and velocity updates from pseudoranges and carrier phase changes, respectively. Full exploitation of the information content in covariance matrices produces a reliable data editor, without separate subfilter solutions. Correlations due to differencing across satellites are included. Development validates a simple process for pre-editing each individual GPS/INS update, separately from all others, offering performance consistent with the parity approach, widely accepted and revisited herein. Exclusion/isolation is performed with a single parity scalar, and the method is fully and easily adaptable to multiple failed satellites.|
|Published in:||NAVIGATION, Journal of the Institute of Navigation, Volume 53, Number 1|
|Pages:||33 - 40|
|Cite this article:||
Farrell, James L., "Full Integrity Testing for GPS/INS", NAVIGATION, Journal of The Institute of Navigation, Vol. 53, No. 1,
2006, pp. 33-40.
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