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Integrity for Multi-Sensor Cooperative Positioning
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DOI：10.1109/TITS.2019.2956936.png)
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Abstract
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A cooperative integrity monitoring (CIM) algorithm is proposed in this work. Under the CIM architecture, the algorithm can fully exploit the global navigation satellite system (GNSS) data and inter-vehicle measurements data to improve the detection and isolation of faulty measurements due to multipath or non line of sight (NLOS). Taking the advantages of cooperative scheme, a residual decomposition method is used to model the measurement errors into common and specific parts, a greedy search strategy is used to exclude the faulty measurements based on its sub-statistics. Simulation results show that CIM has better detection of GNSS fault than traditional receiver autonomous integrity monitoring (RAIM). Also, CIM is capable of detecting the faulty outliers in inter-vehicle measurements. The results indicate that CIM can be applied to many existing multi-sensor cooperative positioning algorithms.
Keywords:
Global navigation satellite system
Receivers
Sensors
Monitoring
Satellites
Position measurement
Distance measurement
Multi-sensor cooperative navigation
cooperative integrity monitoring
GNSS
fault detection and exclusion
RAIM
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