Autonomous Integrity Monitoring of Tightly Coupled GNSS/INS Navigation System

Abstract

Abstract:

Reliability and separability are two crucial indicators to assess the performance of system integrity. In this paper, the system reliability and Fault Detection and Isolation (FDI) capability were analyzed upon multi-constellation GNSS navigation system and GNSS/INS integrated navigation system. Simulation results show that by fusing multi-constellation GNSS systems, the satellite geometric strength is largely enhanced so as to improve the system internal reliability and the capability of FDI. Besides, the system reliability and separability are further improved by integrating GNSS and INS. The higher the accuracy of the inertial sensors, the better the system performance in terms of reliability and ability of FDI.

Key words: GNSS/INS, integrity, FDI, reliability, separability

CLC Number:

P228

References

[1]Ochieng W, Sheridan K, Sauer K, et al.An Assessment of the RAIM Performance of a Combined GalileoGPS Navigation System Using the Marginally Detectable Errors (MDE) Algorithm[J].GPS Solutions, 2002, 5(3):42-51
[2]Cai Changsheng, Cao Yang.A Combined GPSGLONASS Navigation Algorithm for use with Limited Satellite Visibility[J].Journal of Navigation, 2009, 62(4):671-685
[3]Hewitson S, Kyu L, Wang J.Localizability analysis for GPSGalileo receiver autonomous integrity monitoring[J].Journal of Navigation, 2004, 57(2):245-259
[4]Ji Shengyue, Chen Wu, Ding Xiaoli, et al.Potential Benefits of GPSGLONASSGALILEO Integration in an Urban Canyon – Hong Kong[J].Journal of Navigation, 2010, 63(4):681-693
[5]Angrisano A, Petovello M, Pugliano G.Benefits of Combined GPSGLONASS with Low-Cost MEMS IMUs for Vehicular Urban Navigation[J].Sensors, 2012, 12(4):5134-5158
[6]Baarda W.A testing procedure for use in geodetic networks[J].Netherland Geodetic Commission, 1968, 2(5):1-97
[7] Pope A.The statistics of residuals and the detection of outliers [R]. NOAA Technical Report NOS 65 NGS 1, Grenoble, France, 1976.
[8] Forstner W.Reliability and discernability of extended Gauss-Markov models [J]. In: Seminar on mathematical models to outliers and systematic errors, Deutsche Geod?tische Kommision, Series A, Munich, Germany, 1983, 98: 79–103.
[9] Li Deren.Trennbarkeit und Zuverl?ssigkeit bei zwei verschiedenen alternativhypothesen im Gau?–Markoff-Modell [J]. Zeitschrift für Vermessungswesen, 1986, 3: 114-128.
[10] Teunissen, P.Quality control in integrated navigation systems [C]//Proceedings of Position Location and Navigation Symposium. Las Vegas: IEEE, 1990: 158-165.
[11]Hewitson S, Wang Jinling.GNSS Receiver Autonomous Integrity Monitoring (RAIM) with a dynamic model[J].Journal of Navigation, 2007, 60(2):247-263
[12]Gao Weiguang, Yang Yuanxi.Neural Network Aided GPSINS Integrated Navigation Fault Detection Algorithms[J].Acta Geodaetica et Cartographica Sinica, 2008, 37(4):03-07
[13]Xu Changhui, GaoJingxiang, Zhou Feng, et al.Reliability Analysis of Precise Point Positioning[J].Gemomatics and Information Science of Wuhan University, 2012, 37(6):709-713
[14]Yang Ling, Wang Jinling.Outlier separability analysis with a multiple alternative hypotheses test[J].Journal of Geodesy, 2013, 87(6):591-604
[15]Yang Ling, Knight N, Li Yong, et al.Optimal Fault Detection and Exclusion Applied in GNSS Positioning[J].Journal of Navigation, 2013, 66(5):1-18
[16]Aydin C, Demirel H.Computation of Baarda’s lower bound of the non-centrality parameter[J].Journal of Geodesy, 2005, 78(7-8):437-441
[17]Aydin C.Power of global test in deformation analysis[J].Journal of Surveying Engineering, 2012, 138(2):51-56
[18]Wu Fumei, Yang Yuanxi.A New Two-Step Adaptive Robust Kalman Filtering in GPSINS Integrated Navigation System[J].Acta Geodaetica et Cartographica Sinica, 2010, 37(4):522-527
[19]Georgy J, Noureldin A, Goodall C.Vehicle Navigator using a Mixture Particle Filter for Inertial SensorsOdometerMap DataGPS Integration[J].IEEE Transaction on Consumer Electronics, 2012, 58(2):544-552
[20]Soon B, Scheding S, Lee H, et al.An approach to aid INS using time-differenced GPS carrier phase (TDCP) measurements[J].GPS Solutions, 2008, 12(4):261-271
[21]Li Wei, Wang Jinling.Effective Adaptive Kalman Filter for MEMS-IMUMagnetometers Integrated Attitude and Heading Reference Systems[J].Journal of Navigation, 2013, 1(1):1-15
[22]Han Songlai, Wang Jinling.Quantization and colored noises error modeling for inertial sensors for GPSINS integration[J].IEEE Transactions on Sensors Journal, 2011, 11(6):1493-1503
[23]Kauffman K, Raquet J, Morton Y, et al.Real-Time UWB-OFDM Radar-Based Navigation in Unknown Terrain[J].IEEE Transactions on Aerospace and Electronic Systems, 2013, 49(3):1453-1466