Error Bounds of the GNSS/INS Integrated System Against GNSS Fault for Integrity Monitoring

Wei Liu, Dan Song, Zhipeng Wang, Yanbo Zhu, Qiang Li

Peer Reviewed

Abstract:	This paper introduces an Extend Kalman filter (EKF) innovation-based error bounds against Global Navigation Satellite System (GNSS) fault of the tightly coupled GNSS/Inertial Navigation System (INS) integrated navigation system. A new GNSS/INS integrity monitoring framework and integrity risk allocation tree under the fault assumption are developed to assure the integrity of the unmanned aerial vehicle (UAV) navigation systems. The error bounds of the error-state EKF are obtained according to the GNSS fault propagation derivation. This research then presented an EKF innovation-based fault detection method with the chisquare test statistics for the large step fault detection. The minimum detectable error (MDE) is also proposed to determine the upper bound on the probability of the hazardous misleading information. Simulation results show that the error bounds can fit the state error and reflecting the position error change caused by the GNSS fault in real time, which can be accurately overbounded during UAV operations under the missed detection probability requirement. The error bounds against GNSS fault enable direct and rigorous integrity risk evaluation, which can be used to assure the integrity of the GNSS/INS integrated architecture for an UAV.
Published in:	Proceedings of the 2020 International Technical Meeting of The Institute of Navigation January 21 - 24, 2020 Hyatt Regency Mission Bay San Diego, California
Pages:	557 - 569
Cite this article:	Liu, Wei, Song, Dan, Wang, Zhipeng, Zhu, Yanbo, Li, Qiang, "Error Bounds of the GNSS/INS Integrated System Against GNSS Fault for Integrity Monitoring," Proceedings of the 2020 International Technical Meeting of The Institute of Navigation, San Diego, California, January 2020, pp. 557-569. https://doi.org/10.33012/2020.17161
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