Self-Contained GPS Integrity Monitoring Using a Censored Kalman Filter

Paul W. McBurney, R. Grover Brown

Abstract:	At least two approaches to GPS integrity monitoring have been presented in the last year which are based on the statistics of the measurement residuals from redundant satellites. These tests have provided adequate detection of a single satellite failure when the satellite geometry yields the necessary redundancy. However, the parameter of interest in the civil aviation community is the horizontal protection and not the measurement residuals. Thus, most tests suffer from providing only a weak inference about the horizontal protection. This work attempts to firm up this connection by placing the final integrity check in the horizontal plane. An algorithm is presented which censors the measurement residuals from one measurement source and determines the effect on the horizontal position estimate. The final test is a two confidence region overlap test about the horizontal position estimates. Analytic expressions are developed for the alarm and miss rate as well as the horizontal protection level. Simulation results are also presented which show the effectiveness of the scheme in detecting incipient satellite clock failures in the presence of selective availability.
Published in:	Proceedings of the International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1988) September 19 - 23, 1988 The Broadmoor Hotel Colorado Spring, CO
Pages:	441 - 450
Cite this article:	McBurney, Paul W., Brown, R. Grover, "Self-Contained GPS Integrity Monitoring Using a Censored Kalman Filter," Proceedings of the International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1988), Colorado Spring, CO, September 1988, pp. 441-450.
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