A Practical Approach to RAIM-based Fault-Tolerant Position Estimation

F-C. Chan, B. Pervan

Abstract:	GPS navigation systems usually target optimal navigation solutions in terms of accuracy. However, certain applications must comply with extremely stringent requirements on system integrity in order to address safety-of-life concerns. This is especially true for aviation applications. To ensure system integrity, receiver autonomous integrity monitoring (RAIM) is commonly used as an integrity monitoring method due to its self-contained nature and easy implementation. Typical RAIM schemes can be categorized into two general groups: solution separation methods [1] and residual-based methods [2]. RAIM methods provide integrity for navigation systems, but only at the expense of reduced system availability. Earlier research [3] introduced an optimal fault-tolerant position estimation (FTE) and fault detection algorithm using a multiple hypothesis approach to reduce the integrity risk in such a way that the RAIM availability can be improved. However, it is extremely time consuming (highly demanding on computational power) to compute the false alarm probability for the optimal FTE fault detection method. Therefore, the challenge of using optimal FTE with fault detection in real time remains the capability to timely predict the system continuity and integrity. In this work, we focus on the optimal fault-tolerant position estimation concepts in [3] to address real-time implementation issues. The resulting methodology aims at minimizing integrity risk as in [3], but is specifically focused on reducing algorithm complexity for real time improvement.
Published in:	Proceedings of the 23rd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2010) September 21 - 24, 2010 Oregon Convention Center, Portland, Oregon Portland, OR
Pages:	3181 - 3190
Cite this article:	Chan, F-C., Pervan, B., "A Practical Approach to RAIM-based Fault-Tolerant Position Estimation," Proceedings of the 23rd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2010), Portland, OR, September 2010, pp. 3181-3190.
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