GNSS Position Integrity in Urban Environments: A Review of Literature

Zhu, Ni; Marais, Juliette; Betaille, David; Berbineau, Marion

doi:10.1109/tits.2017.2766768

Cited by 351 publications

(190 citation statements)

References 66 publications

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“…However, these novel methods aim to improve the performance of FD in terms of time-to-detect, but make it very difficult to evaluate the integrity risk (i.e., the probability of hazardously misleading information). In practice, integrity risk evaluation is important in SCAs because the navigation system is designed to satisfy expected levels of integrity and is required to provide the users with timely alerts when the system cannot meet the integrity requirements [25]. Accordingly, traditional hypothesis-test approaches are more suitable than these novel methods in SCAs because they are convenient and straightforward for error-bounding, probability calculation and integrity risk derivation.…”

Section: Of 21mentioning

confidence: 99%

Fault Detection and Exclusion for Tightly Coupled GNSS/INS System Considering Fault in State Prediction

Wang

Zhan

Zhai

et al. 2020

Sensors

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To ensure navigation integrity for safety-critical applications, this paper proposes an efficient Fault Detection and Exclusion (FDE) scheme for tightly coupled navigation system of Global Navigation Satellite Systems (GNSS) and Inertial Navigation System (INS). Special emphasis is placed on the potential faults in the Kalman Filter state prediction step (defined as “filter fault”), which could be caused by the undetected faults occurring previously or the Inertial Measurement Unit (IMU) failures. The integration model is derived first to capture the features and impacts of GNSS faults and filter fault. To accommodate various fault conditions, two independent detectors, which are respectively designated for GNSS fault and filter fault, are rigorously established based on hypothesis-test methods. Following a detection event, the newly-designed exclusion function enables (a) identifying and removing the faulty measurements and (b) eliminating the effect of filter fault through filter recovery. Moreover, we also attempt to avoid wrong exclusion events by analyzing the underlying causes and optimizing the decision strategy for GNSS fault exclusion accordingly. The FDE scheme is validated through multiple simulations, where high efficiency and effectiveness have been achieved in various fault scenarios.

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Section: Of 21mentioning

confidence: 99%

Fault Detection and Exclusion for Tightly Coupled GNSS/INS System Considering Fault in State Prediction

Wang

Zhan

Zhai

et al. 2020

Sensors

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“…An aviation low cost system that consisted of a classical GNSS/INS system augmented by an optical positioning system for integrity monitoring was described in [10]. Key differences between integrity monitoring scheme in aviation domain and urban transport field were addressed in [14,15]. The accuracy and integrity requirements, and the positioning system for no-fly zone unmanned aerial vehicle (UAV) management were specified in [16].…”

Section: Related Workmentioning

confidence: 99%

“…(14) is the direction of the eigenvector of (15). The probability that the user will experience a true position inside the protection ellipse is conservatively calculated using the addition theorem for the chi-square distribution:…”

Section: Sbas-based Maritime Vessel Protection Area Conceptmentioning

confidence: 99%

Integrity Concept for Maritime Autonomous Surface Ships’ Position Sensors

Zalewski

2020

Sensors

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The primary means for electronic position fixing currently in use in majority of contemporary merchant ships are shipborne GPS (Global Positioning System) receivers or DGPS (Differential GPS) and IALA (International Association of Lighthouse Authorities) radio beacon receivers. More advanced GNSS (Global Navigation Satellite System) receivers able to process signals from GPS, Russian GLONASS, Chinese Beidou, European Galileo, Indian IRNSS, Japan QZSS, and satellite-based augmentation systems (SBAS), are still relatively rare in maritime domain. However, it is expected that such combined or multi-system receivers will soon become more common in maritime transport and integrated with gyro, inertial, radar, laser, and optical sensors, and they will become indispensable onboard maritime autonomous surface ships (MASS). To be prepared for a malfunction of any position sensors, their state-of-the-art integrity monitoring should be developed and standardized, taking into account the specificity of MASS and e-navigation safety. The issues of existing requirements, performance standards, and future concepts of integrity monitoring for maritime position sensors are discussed and presented in this paper.

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“…In addition, integrity exhibits the ability of a navigation system to provide the user with timely warnings when the information provided is inaccurate. The integrity of a navigation system can be reported via the alert limit (AL), integrity risk, time to alert (TTA) and protection level (PL) [41].…”

Section: Integritymentioning

confidence: 99%