Integrity for Tightly Coupled PPP and IMU

Kazuma Gunning, Juan Blanch, Todd Walter, Lance de Groot, Laura Norman

Abstract:	Precise Point Positioning (PPP) offers high accuracy, global positioning, and there is growing enthusiasm for the application of PPP techniques to safety critical systems [1], [2]. We have shown that PPP, in conjunction with techniques developed for integrity in aviation, can be used to produce meter-level protection levels for static, automotive, and flight scenarios [3]. Solution separation, which requires the creation of solutions that are tolerant to faults or sets of faults, has been shown to provide integrity to the PPP algorithm [3]. This paper builds off of previous work to improve a PPP with solution separation algorithm by using an inertial measurement unit (IMU) to improve solution and protection level continuity. Grouping of fault modes, in conjunction with the IMU and PPP, is shown to reduce computational load while maintaining high levels of performance. Finally, this paper introduces a method to reduce the fault exposure time for sequential filters with solution separation.
Published in:	Proceedings of the 32nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2019) September 16 - 20, 2019 Hyatt Regency Miami Miami, Florida
Pages:	3066 - 3078
Cite this article:	Gunning, Kazuma, Blanch, Juan, Walter, Todd, de Groot, Lance, Norman, Laura, "Integrity for Tightly Coupled PPP and IMU," Proceedings of the 32nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2019), Miami, Florida, September 2019, pp. 3066-3078. https://doi.org/10.33012/2019.17011
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