Sequential integrity monitoring for Kalman filter innovations-based detectors

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

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Abstract

This paper describes the derivation, analysis and evaluation of a new sequential integrity monitoring for Kalman filter (KF) applications. The monitor uses innovation sequence obtained from a single Kalman filter for fault detection. Unlike multiple hypothesis solution separation monitors, it does not require running sub-filters to detect and exclude the fault. The main contributions of this paper is an analytical recursive expression of the worst case failure mode slopes, which is direct means of computing protection levels in real-time. The performance of the monitor is evaluated and verified against single satellite faults through a tightly-coupled INS/GNSS integrated navigation systems in aircraft approach and en route operations. However, the methodology developed in this paper is not limited to INS/GNSS systems but applicable to any other multi-sensor systems using KF estimators.

Original languageEnglish (US)
Title of host publicationProceedings of the 31st International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2018
PublisherInstitute of Navigation
Pages2440-2455
Number of pages16
ISBN (Electronic)0936406100, 9780936406107
Publication statusPublished - Jan 1 2018
Event31st International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2018 - Miami, United States
Duration: Sep 24 2018Sep 28 2018

Publication series

NameProceedings of the 31st International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2018

Conference

Conference31st International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2018
CountryUnited States
CityMiami
Period9/24/189/28/18

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Tanıl, Ç., Khanafseh, S., Joerger, M., & Pervan, B. (2018). Sequential integrity monitoring for Kalman filter innovations-based detectors. In Proceedings of the 31st International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2018 (pp. 2440-2455). (Proceedings of the 31st International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2018). Institute of Navigation.