Advances in Deterministic Approaches for Bounding Uncertainty and Integrity Monitoring of Autonomous Navigation

authored by: Jingyao Su, Steffen Schön
Abstract: Critical issues for the integrity monitoring of any autonomous navigation applications include adequate uncertainty budget in the observation domain, the redundancy for the determination of the navigational states, as well as the capability of fault detection and exclusion (FDE). Purely statistical evaluation of integrity will not always be adequate due to the presence of remaining systematic uncertainty. This paper aims to contribute to the alternative integrity approach based on interval and set-representations for bounding and propagating system uncertainty. Several key aspects are addressed: how to determine interval bounds to handle GNSS multipath effect in urban environment, how to realize fault detection and exclusion based on constraint satisfaction and set-membership, and how to improve the detector using weighting models. Simulated and real-world experiments are carried out to demonstrate the feasibility of proposed methods. In this way, the alternative integrity approach will contribute to future autonomous navigation applications.
Organisation(s): Institute of Geodesy
Graduiertenkolleg 2159: Integrität und Kollaboration in dynamischen Sensornetzen
Type: Conference contribution
Pages: 1410-1422
No. of pages: 13
Publication date: 2022
Publication status: Published
Peer reviewed: Yes
ASJC Scopus subject areas: Software, Information Systems, Communication, Electrical and Electronic Engineering, Computer Networks and Communications, Computer Science Applications
Research Area (based on ÖFOS 2012): Navigation systems, Mathematical statistics, Satellite geodesy
Electronic version(s): https://doi.org/10.33012/2022.18418 (Access: Closed)
: Details in the research portal "Research@Leibniz University"

BibTeX

@inproceedings{8ec8dbd7cbe644faa1aaf861e791ae53,
title = "Advances in Deterministic Approaches for Bounding Uncertainty and Integrity Monitoring of Autonomous Navigation",
abstract = "Critical issues for the integrity monitoring of any autonomous navigation applications include adequate uncertainty budget in the observation domain, the redundancy for the determination of the navigational states, as well as the capability of fault detection and exclusion (FDE). Purely statistical evaluation of integrity will not always be adequate due to the presence of remaining systematic uncertainty. This paper aims to contribute to the alternative integrity approach based on interval and set-representations for bounding and propagating system uncertainty. Several key aspects are addressed: how to determine interval bounds to handle GNSS multipath effect in urban environment, how to realize fault detection and exclusion based on constraint satisfaction and set-membership, and how to improve the detector using weighting models. Simulated and real-world experiments are carried out to demonstrate the feasibility of proposed methods. In this way, the alternative integrity approach will contribute to future autonomous navigation applications.",
author = "Jingyao Su and Steffen Sch{\"o}n",
note = "Publisher Copyright: {\textcopyright} International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2022. All rights reserved.",
year = "2022",
doi = "10.33012/2022.18418",
language = "English",
pages = "1410--1422",
booktitle = "35th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2022",
publisher = "Institute of Navigation",
}