ION Technical Content
Velocity RAIM
| Abstract: | A method is presented for performing Receiver Autonomous Integrity Monitoring (RAIM) on GPS velocity measurements. Similar to standard RAIM, the algorithm calculates a velocity protection level, such that any fault-induced velocity error greater than that magnitude would be detected with high probability. A key challenge in this calculation is the dependence of velocity measurements on position knowledge. This dependence introduces cross-correlations into the velocity measurement errors, violating the usual assumption in RAIM that the error sources are Independent and Identically Distributed (IID). In fact, because of the correlation, even calculating the correct least-squares estimate of velocity is mathematically challenging. Fortunately, a method published by Kelly [1] allows for RAIM faults to be detected even in the presence of correlated errors, with some modifications. This method forms the basis for the Velocity RAIM solution. This paper presents the relevant mathematical analysis, followed by step-by-step solutions for performing correct velocity estimation and Velocity RAIM. Also presented are a Monte Carlo verification of the algorithms, and calculations of the worldwide availability of Velocity RAIM. The result is a verified algorithm which detects velocity faults immediately with quantifiably high probability. |
| Published in: |
Proceedings of the 2013 International Technical Meeting of The Institute of Navigation January 29 - 27, 2013 Catamaran Resort Hotel San Diego, California |
| Pages: | 301 - 408 |
| Cite this article: | Romney, Bruce, "Velocity RAIM," Proceedings of the 2013 International Technical Meeting of The Institute of Navigation, San Diego, California, January 2013, pp. 301-408. |
| Full Paper: |
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