Design of Estimators with Integrity in the Presence of Error Model Uncertainty

Juan Blanch and Todd Walter

Peer Reviewed

Abstract:	We develop and evaluate a new type of estimator designed for applications with error model uncertainty – and more specifically where the error model uncertainty is defined following the Advanced RAIM framework). We first establish a theoretical lower limit on the achievable state estimation error bound and use this limit to bound the distance to optimality of the proposed estimator. For requirements on integrity and continuity on the order of 10-7 , and prior fault probabilities of 10-4 (values typical for ARAIM), we find that the error bounds obtained in this type of estimator are within 20% of the best possible achievable bounds for critical geometries.
Published in:	Proceedings of the 35th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2022) September 19 - 23, 2022 Hyatt Regency Denver Denver, Colorado
Pages:	1467 - 1480
Cite this article:	Blanch, Juan, Walter, Todd, "Design of Estimators with Integrity in the Presence of Error Model Uncertainty," Proceedings of the 35th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2022), Denver, Colorado, September 2022, pp. 1467-1480. https://doi.org/10.33012/2022.18420
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