Integrity assurance of Kalman-filter based GNSS/IMU integrated systems against IMU faults for UAV applications

Jinsil Lee, Minchan Kim, Jiyun Lee, and Sam Pullen

Peer Reviewed

Abstract:	This study proposes an integrity architecture for an Extended Kalman filter (EKF) based Global Navigation Satellite System (GNSS)/Inertial Measurement Unit (IMU) integrated system to assure integrity of unmanned aerial vehicle (UAV) navigation systems. An integrity risk allocation tree is developed for each sensor fault hypothesis including the nominal hypothesis, a GNSS fault hypothesis, and an IMU sensor fault hypothesis. This paper then proposes a real-time EKF vertical protection level (VPL) against IMU sensor faultsto assure navigation integrity based on the relationship between EKF innovations and EKF state errors resulting from potential IMU faults and measurement noise. Simulations for the derived EKF VPLs are conducted under a specific IMU-fault condition and under no-IMU-fault condition to investigate typical performance. This study will be extended to assure the navigation integrity of different types of multi-sensor systems for UAV applications.
Published in:	Proceedings of the 31st International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2018) September 24 - 28, 2018 Hyatt Regency Miami Miami, Florida
Pages:	2484 - 2500
Cite this article:	Lee, Jinsil, Kim, Minchan, Lee, Jiyun, Pullen, Sam, "Integrity assurance of Kalman-filter based GNSS/IMU integrated systems against IMU faults for UAV applications," Proceedings of the 31st International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2018), Miami, Florida, September 2018, pp. 2484-2500. https://doi.org/10.33012/2018.15977
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