Overbounding GNSS/INS Integration with Uncertain GNSS Gauss-Markov Error Parameters

Omar Garcia Crespillo, Mathieu Joerger, Steve Langel

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

The integration of GNSS with Inertial Navigation Systems (INS) has the potential to achieve high levels of continuity and availability as compared to standalone GNSS and therefore to satisfy stringent navigation requirements. However, robustly accounting for time-correlated measurement errors is a challenge when designing the Kalman filter (KF) used for GNSS/INS coupling. In particular, if the error processes are not fully known, the KF estimation error covariance can be misleading, which is problematic in safety-critical applications. In this paper, we design a GNSS/INS integration scheme that guarantees upper bounds on the estimation error variance assuming that measurement errors are first-order Gauss-Markov processes with parameters only known to reside within pre-established bounds. We evaluate the filter performance and guaranteed estimation by covariance analysis for a simulated precision approach procedure.

Original languageEnglish (US)
Title of host publication2020 IEEE/ION Position, Location and Navigation Symposium, PLANS 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages481-489
Number of pages9
ISBN (Electronic)9781728102443
DOIs
StatePublished - Apr 2020
Externally publishedYes
Event2020 IEEE/ION Position, Location and Navigation Symposium, PLANS 2020 - Portland, United States
Duration: Apr 20 2020Apr 23 2020

Publication series

Name2020 IEEE/ION Position, Location and Navigation Symposium, PLANS 2020

Conference

Conference2020 IEEE/ION Position, Location and Navigation Symposium, PLANS 2020
CountryUnited States
CityPortland
Period4/20/204/23/20

Keywords

  • ARAIM
  • Colored Noise
  • GNSS
  • Gauss Markov Process
  • Guaranteed estimation
  • Inertial Systems
  • Kalman filtering
  • Overbounding
  • Precision Approach

ASJC Scopus subject areas

  • Signal Processing
  • Aerospace Engineering
  • Control and Optimization
  • Instrumentation

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    Crespillo, O. G., Joerger, M., & Langel, S. (2020). Overbounding GNSS/INS Integration with Uncertain GNSS Gauss-Markov Error Parameters. In 2020 IEEE/ION Position, Location and Navigation Symposium, PLANS 2020 (pp. 481-489). [9109874] (2020 IEEE/ION Position, Location and Navigation Symposium, PLANS 2020). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/PLANS46316.2020.9109874