An Integrity and Quality Control Procedure for Use in Multi Sensor Integration

P.J.G. Teunissen

Abstract:	Real-time estimation of parameters in dynamic systems becomes increasingly important in the field of high precision navigation. The real-time estimation inevitably requires real-time integrity monitoring of the models underlying the navigation system. This paper presents a real-time recursive detection, identification and adaptation (DIA) procedure for use in integrated navigation systems. It is based on the concept of multi-sensor integration and makes use of the redundancy information stemming from both the measurement model and dynamic model. The tests proposed are optimal in the uniformly-most-powerful-invariant sense. Their inverted power function is used to introduce the concept of minimal detectable biases (MDB). The MDB is a diagnostic tool for inferring the detectability of particular model errors. It can be used for the design of a navigation filter that allows for a sufficient control on the presence of bias.
Published in:	Proceedings of the 3rd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1990) September 19 - 21, 1990 The Broadmoor Hotel Colorado Spring, CO
Pages:	513 - 522
Cite this article:	Teunissen, P.J.G., "An Integrity and Quality Control Procedure for Use in Multi Sensor Integration," Proceedings of the 3rd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1990), Colorado Spring, CO, September 1990, pp. 513-522.
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