Integrity Monitoring and Error Identification of Ultra-tightly Integrated GNSS/INS Navigation System

F. Qin, X. Zhan, S. Jing

Abstract:	The research on the integrity monitoring of the ultra-tightly integrated GNSS/INS navigation system is insufficient. This paper offers the extension of the integrity monitoring to the ultra-tightly integrated navigation system. The whole procedure of the integrity monitoring can be carried out without number of visible satellite limitation. This is a significant advantage over the conventional receiver autonomous integrity monitoring. To verify the proposed integrity monitoring method, a dynamic scenario is simulated and some validation experiments are further conducted. After the fault of the ultra-tightly integrated GNSS/INS navigation system is detected, the error source which causes the fault is further analyzed and identified for fault exclusion by learning from the traditional DGNSS. The presented error identification method aided by the single difference can effectively identify the satellite clock error, the receiver clock error, the INS error and the multipath error.
Published in:	Proceedings of the 2014 International Technical Meeting of The Institute of Navigation January 27 - 29, 2014 Catamaran Resort Hotel San Diego, California
Pages:	115 - 126
Cite this article:	Qin, F., Zhan, X., Jing, S., "Integrity Monitoring and Error Identification of Ultra-tightly Integrated GNSS/INS Navigation System," Proceedings of the 2014 International Technical Meeting of The Institute of Navigation, San Diego, California, January 2014, pp. 115-126.
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