Integrity monitoring for multi-sensor integrated navigation systems

Igor Nikiforov

Abstract:	Integrity monitoring requires that a navigation system detects, isolates faulty measurement sources, and removes them from the navigation solution before they sufficiently contaminate the output. Multi-sensor integrated navigation systems include different sensors (or subsystems): INS, GPS, Loran-C, air-data subsystem, Doppler radar and others. Integrity monitoring of multi-sensor integrated navigation systems is an important problem. The integrity monitoring includes the following functions: the detection of a position failure and the exclusion of the sensor (subsystem) responsible for this failure from the navigation solution. The recent researches show that the detection/exclusion of the GPS navigation message degradation is crucially important for many transportation systems [31]. It is proposed to “encourage all the transportation modes to give attention to autonomous integrity monitoring of GPS signals..." [31]. It is also proposed to “encourage the development of affordable vehicle-based backups such as GPS/inertial receivers, and, [...] GPS/Loran-C receivers." [31]. The advantages of an integrated system for the integrity monitoring are incontestable especially understanding that the GPS channels contamination can be intentional. The goal of this paper is to propose a unified approach to design, to analyze and to compare different fault detection and exclusion (FDE) algorithms.
Published in:	Proceedings of the 15th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2002) September 24 - 27, 2002 Oregon Convention Center Portland, OR
Pages:	579 - 590
Cite this article:	Nikiforov, Igor, "Integrity monitoring for multi-sensor integrated navigation systems," Proceedings of the 15th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2002), Portland, OR, September 2002, pp. 579-590.
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