Implementation and Experimental Validation of Cycle Ambiguity Resolution with Position Domain Integrity Risk Constraints

Samer Khanafseh, Steven Langel and Boris Pervan

Abstract:	Cycle ambiguity resolution in applications that require both high accuracy and high integrity is challenging. This paper describes new results, implementation details, and experimental validation for the Enforced Position-domain Integrity-risk Cycle resolution algorithm (EPIC). EPIC computes tight bounds on the integrity risk of cycle resolution by evaluating the impact of incorrect fixes in the position domain. In previous work, the fundamentals of the EPIC fixing method were described, mathematically formulated, and the algorithm’s performance was quantified for simple snapshot-fixing systems that use least squares estimation techniques. A significant gain in navigation performance using EPIC was demonstrated when compared with other existing methods for constraining integrity risk. In this paper, EPIC’s capabilities are expanded to more general applications that include Kalman filtering in the position estimation process. Practical implementation issues, such as using partially-fixed ambiguity vectors in the filter, dealing with satellite geometry changes and cycle slips, re-fixing the re-acquired satellites without jeopardizing integrity, and sensitivity analysis to the input parameters are also thoroughly addressed. Finally, experimental validation is provided and the results are compared with other methods for integrity-constrained cycle resolution.
Published in:	Proceedings of the 2010 International Technical Meeting of The Institute of Navigation January 25 - 27, 2010 Catamaran Resort Hotel San Diego, CA
Pages:	553 - 565
Cite this article:	Updated citation: Published in NAVIGATION: Journal of the Institute of Navigation
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