ION Technical Content
LAAS Integrity the Bayesian Way
| Abstract: | Applying Bayesian analysis techniques, the paper shows that the position distribution can be derived from the measurement data as a weighed sum of error distributions, in which the weights depend both on the measurement residuals, the statistical properties of the measurements and the a priori probabilities of failure. This description is not only elegant in the insight it provides on the ‘distribution’ of integrity over the different measurements, but also offers major operational benefits over existing methods. Unlike with currently available methods, the exact probability of hazardously misleading information P(HMI) is readily derived, while the processing scheme is simpler than for traditional fault detection based architectures. Secondly, the method makes it particularly easy to identify the exact contribution of each individual measurement to P(HMI), which simplifies the identification and removal of erroneous measurements. Finally, it becomes viable to do fault-tolerant position estimation in a way similar to the one described in [12] by a straight-forward minimization of P(HMI). |
| Published in: |
Proceedings of the 2000 National Technical Meeting of The Institute of Navigation January 26 - 28, 2000 Pacific Hotel Disneyland Anaheim, CA |
| Pages: | 236 - 245 |
| Cite this article: | Ober, P.B., "LAAS Integrity the Bayesian Way," Proceedings of the 2000 National Technical Meeting of The Institute of Navigation, Anaheim, CA, January 2000, pp. 236-245. |
| Full Paper: |
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