High Integrity Multi-Sensor Navigation System For Safety Critical Applications

M. Saidani, D. Gallego Maya, A. Guinamard

Abstract:	The high increase of safety critical applications such as autonomous driving, Advanced Driver Assistance System (ADAS), Intelligent Transportation System (ITS) and many applications that can cause human or economic losses pose a significant challenge of navigation integrity. Although the integrity concept is not new, a major challenge in these applications is to ensure both high accuracy and high integrity in very challenging environments. In response to the high requirements of these applications, this paper will present a high integrity multi-sensor navigation system specially designed for safety critical applications. The system is composed of a MEMS Inertial Measurement Unit (IMU), a multi-constellation multi-frequency GNSS receiver and an odometer communicating via a CAN bus. A tightly coupled solution [1] based on an Extended Kalman Filter (EKF) has been developed by SBG-Systems to fuse all these sensors to deliver a high accuracy and availability especially in complex environments where satellites signals are prone to attenuation or even unavailability. In addition, advanced vehicle modeling and constraints [2] have been added with respect to the motion profile to provide a navigation solution for the targeted applications. The integrity management starts with the correction service such as the State Space Representation Corrections (SSR) [3]; many services now provide SSR corrections over the world with integrity messages. Another challenging aspect of robust navigation is the integration of an Advanced Receiver Autonomous Integrity Monitoring (ARAIM) [4], which can be defined as a two steps process. First, a Fault Detection and Exclusion (FDE) is performed, then if a consistent solution is found the Protection Levels (PL) are calculated [5]. The system will assure a continuous monitoring of multiple integrity indicator, the PL will be computed and compared to an Alert Limit (AL) threshold to notify the user about system availability. During the GNSS outages, the INS and the odometer not only keep the precision of the position solution, but also scale and propagate the PL using the inertial models [6]. This paper also focuses on the integrity assessment of the developed system. Indeed, an extensive test campaign has been conducted to evaluate the maturity of the technology and its compliance with autonomous vehicles requirements. Several ranges of products and configurations are tested to measure the performance driving factors and evaluate the typical use case.
Published in:	Proceedings of the 34th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2021) September 20 - 24, 2021 Union Station Hotel St. Louis, Missouri
Pages:	1767 - 1781
Cite this article:	Saidani, M., Maya, D. Gallego, Guinamard, A., "High Integrity Multi-Sensor Navigation System For Safety Critical Applications," Proceedings of the 34th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2021), St. Louis, Missouri, September 2021, pp. 1767-1781. https://doi.org/10.33012/2021.17957
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