Impact of unknown inter-filter correlation on continuity and integrity performance in a parallel bank of navigation filters

Inchara Lakshminarayan, Demoz Gebre-Egziabher

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

1 Scopus citations

Abstract

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 languageEnglish (US)
Title of host publicationProceedings of the 32nd International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2019
PublisherInstitute of Navigation
Pages3099-3112
Number of pages14
ISBN (Electronic)0936406232, 9780936406237
DOIs
StatePublished - 2019
Event32nd International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2019 - Miami, United States
Duration: Sep 16 2019Sep 20 2019

Publication series

NameProceedings of the 32nd International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2019

Conference

Conference32nd International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2019
CountryUnited States
CityMiami
Period9/16/199/20/19

Bibliographical note

Funding 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.

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