Implementation and Experimental Validation of Cycle Ambiguity Resolution with Position Domain Integrity Risk Constraints

Samer Khanafseh and Steven Langel

Peer Reviewed

Abstract: Cycle ambiguity resolution in applications that require both high accuracy and high integrity is challenging. This paper describes new results, implementation details, and experimental validation for the Enforced Position-domain Integrity-risk Cycle resolution algorithm (EPIC). EPIC computes tight bounds on the integrity risk of cycle resolution by evaluating the impact of incorrect fixes in the position domain. Although the fundamentals of EPIC were mathematically formulated in previous work, EPIC was limited to simple snapshot-fixing systems (using least squares estimation). In this paper, EPIC’s capabilities are expanded to more general applications that include Kalman filtering in the position estimation process. Practical implementation issues, such as using partially-fixed ambiguity vectors in the filter, dealing with satellite geometry changes and cycle slips, re-fixing the re-acquired satellites without jeopardizing integrity, and sensitivity analysis are thoroughly addressed. Finally, experimental validation is provided and the results are compared with other methods for integrity-constrained cycle resolution.
Published in: NAVIGATION, Journal of the Institute of Navigation, Volume 58, Number 1
Pages: 45 - 58
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