Title: Estimating Covariance Models for Collaborative Integrity Monitoring
Author(s): Liyan Yang, Jason Rife
Published in: Proceedings of the 29th International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS+ 2016)
September 12 - 16, 2016
Oregon Convention Center
Portland, Oregon
Pages: 1103 - 1113
Cite this article: Yang, Liyan, Rife, Jason, "Estimating Covariance Models for Collaborative Integrity Monitoring," Proceedings of the 29th International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS+ 2016), Portland, Oregon, September 2016, pp. 1103-1113.
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Abstract: Collaboration-Enhanced Receiver Integrity Monitoring is a relative new method of GPS integrity monitoring which has multiple advantages compared to conventional Receiver Autonomous Integrity Monitoring (RAIM). The idea is to use information from multiple collaborative receivers to compute a statistic which can be used to monitor system health. CERIM performance depends strongly on the noise covariance model used for the collaborating receivers, but it is not trivial to estimate the noise covariance for receiver teams, particularly for teams operating in an urban environment. This paper proposes and evaluates a method for estimating a noise covariance model without any external infrastructure or ground truth system. The method is designed to process data even for datasets where the dimension of the CERIM residual vector changes continually (e.g. due to satellites suddenly appearing or disappearing in an urban canyon).