Modified Multiple Model Adaptive Estimation (M 3 AE) for Accurate Navigation and Detection of Electromagnetic Interference to the GPS Signal

Mikel M. Miller and Peter S. Maybeck

Abstract:	Electromagnetic (EM) radio interference may cause deg-radation in the Global Positioning System (GPS) radio signal, resulting in subnormal navigation performance. In Kalman filter-based GPS-aided inertial navigation sys-tems, this interference may be represented by an increase in the variance of the measurement noise affecting the GPS measurements. Since EM interference degrades navigation performance in GPS-based navigation systems, it is often desired to identify the onset of the interference, its magnitude, and yet still navigate given this EM envi-ronment. A new architecture, the Modified Multiple Model Adaptive Estimation (M 3 AE) [1], is proposed to estimate the current GPS EM operating environment and provide accurate navigation for a GPS/INS-based naviga-tion system. The M 3 AE incorporates multiple model adaptive estimation (MMAE) and Kalman filter-based techniques to provide an accurate navigation solution given degraded GPS performance. The new M 3 AE archi-tecture is presented with simulation results supporting its capability to provide navigation solutions during periods of EM interference.
Published in:	Proceedings of the 11th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1998) September 15 - 18, 1998 Nashville, TN
Pages:	895 - 904
Cite this article:	Miller, Mikel M., Maybeck, Peter S., "Modified Multiple Model Adaptive Estimation (M 3 AE) for Accurate Navigation and Detection of Electromagnetic Interference to the GPS Signal," Proceedings of the 11th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1998), Nashville, TN, September 1998, pp. 895-904.
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