Trusted Overbounding Position Errors for GNSS Positioning in Urban Environments

K.A. Bin Ahmad, M. Sahmoudi, C. Macabiau

Abstract:	Confidence in positioning requires that the position errors to be kept under certain acceptable limit stipulated by its application. However, these errors are not observable directly by GNSS receiver, therefore RAIM methods use statistics based on the pseudorange residuals (i.e. observable errors). Unfortunately, in harsh urban environment, the position errors is not Gaussian distributed as commonly assumed in the RAIM algorithms thus renders RAIM ineffective for such areas. In this work, we propose a test statistic which is derived based on the position residuals (rather than the pseudorange residuals) which is mapped or inflated to match the characterized overbounding position error CDF. In this approach, we are able to monitor the position error by means of checking the inflated position residual against a specific threshold so that the positioning integrity and continuity are met at a certain level of confidence.
Published in:	Proceedings of the 27th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2014) September 8 - 12, 2014 Tampa Convention Center Tampa, Florida
Pages:	3618 - 3628
Cite this article:	Ahmad, K.A. Bin, Sahmoudi, M., Macabiau, C., "Trusted Overbounding Position Errors for GNSS Positioning in Urban Environments," Proceedings of the 27th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2014), Tampa, Florida, September 2014, pp. 3618-3628.
Full Paper:	ION Members/Non-Members: 1 Download Credit Sign In