The impact of unknown or poorly modeled correlations in an integrated navigation system that uses a bank of filters (local filters) is analyzed. Such architectures are expected to be more prevalent in future multi-senor navigation systems, in order to successfully apply these systems to safety-critical applications. To this end, the continuity and integrity performance of such filters is analyzed. Analysis and Monte Carlo simulations are used to asses and characterize the impact of the number of local filters, state vector dimensions and magnitude of correlation between the local filters on the false alarm rate and protection levels observed in the fused solution. It is shown that poorly modeled inter-filter correlations can lead to higher false alarm rates than expected and errors in protection level calculations, hence increasing the integrity and continuity risk in the system. To mitigate this impact, a protection level overbounding method is proposed and demonstrated to meet integrity requirements.
|Original language||English (US)|
|Title of host publication||Proceedings of the 32nd International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2019|
|Publisher||Institute of Navigation|
|Number of pages||14|
|ISBN (Electronic)||0936406232, 9780936406237|
|State||Published - 2019|
|Event||32nd International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2019 - Miami, United States|
Duration: Sep 16 2019 → Sep 20 2019
|Name||Proceedings of the 32nd International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2019|
|Conference||32nd International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2019|
|Period||9/16/19 → 9/20/19|
Bibliographical noteFunding Information:
The authors gratefully acknowledge the financial support from Minnesota Invasive Terrestrial Plants and Pests Center (MITPPC) who sponsor research in the use of autonomous systems for monitoring and mitigating pest infestation in agriculture and forestry. However, any opinions, findings, conclusions, or recommendations in this paper are those of the authors and do not necessarily reflect views of the above organization.