Kassas, Zak (The Ohio State University), Jia, Mu (The Ohio State University)

Kalman Filter-Based Integrity Monitoring for GNSS and Signals of Opportunity Integrated Navigation

Scheduled for presentation during the Regular Session "Position, Navigation, and Timing Security in Highly Automated Vehicles" (TuBT3), Tuesday, August 30, 2022, 15:20−15:40, Ballroom

10th IFAC International Symposium on Advances in Automotive Control, August 28-31, 2022, Columbus, Ohio, USA

This information is tentative and subject to change. Compiled on April 24, 2024

Abstract

A Kalman filter-based receiver autonomous integrity monitoring algorithm (RAIM) is proposed to exploit sequential measurements from global navigation satellite system (GNSS) and terrestrial signals of opportunity (SOPs), to ensure safe vehicular navigation in urban envi- ronments. To deal with frequent threats caused by multipath and non-line-of-sight conditions, an innovation-based outlier rejection method is introduced. Next, a fault detection technique based on solution separation test is developed, and the quantification of protection levels is derived accordingly. Experimental results of a ground vehicle traveling in an urban environment, while making pseudorange measurements to GPS satellites and terrestrial 5G towers, are presented to demonstrate the efficacy of the proposed method. Incorporating 5G signals from only 2 towers is shown to reduce the horizontal protection level (HPL) by 0.22 m compared to using only GPS. Moreover, the proposed method is shown to reduce the HPL and vertical protection level (VPL) by 84.42% and 69.63%, respectively, over the snapshot advanced RAIM (ARAIM).