Sensitivity of Innovation Monitors to Uncertainty in Error Modeling

Birendra Kujur, Cagatay Tanil, Samer Khanafseh, and Boris Pervan

Abstract: The innovation sequence-based detector, which monitors time history of Kalman Filter (KF) innovations in a tightly coupled INS/GNSS integration, is a feasible anti-spoofing solution for navigation applications. The monitor with realistic error models has shown to acheive low missed detection rates for worst-case spoofing, even if the spoofer tracks the user position and smooths high-frequency tracking errors. The KF and monitor utilize error-models to account for the INS/GNSS system dynamics. However, the monitor performance suffers from modeling errors in the INS and GNSS parameters as they deviate from the truth. This work first shows that the monitor is more sensitive to GNSS error model parameters compared to INS. We then quantified missed detection against conservatism and optimism in modeling systematic and random errors in code and carrier phase signals. The sensitivity analysis results in this paper are the foundation for eventual implementation and certification of the monitor.
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: 3266 - 3274
Cite this article: Kujur, Birendra, Tanil, Cagatay, Khanafseh, Samer, Pervan, Boris, "Sensitivity of Innovation Monitors to Uncertainty in Error Modeling," Proceedings of the 32nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2019), Miami, Florida, September 2019, pp. 3266-3274.
https://doi.org/10.33012/2019.17066
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