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Selected aspects of advanced receiver autonomous integrity monitoring application to kalman filter based navigation filter
Selected aspects of advanced receiver autonomous integrity monitoring application to kalman filter based navigation filter
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机译:先进接收机自主完整性监控在基于卡尔曼滤波器的导航滤波器中的某些应用
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摘要
A method of advanced receiver autonomous integrity monitoring of a navigation system is discussed and two modifications facilitating its implementation in a hybrid navigation system are disclosed. In the first approach, relations describing the effect of unmodeled biases in pseudo-measurement on the Kalman filter state estimate are analytically derived and their incorporation into the integrity monitoring algorithm is described. The method comprises receiving a plurality of signals transmitted from space-based satellites, determining a position full-solution and sub-solutions, specifying a pseudorange bias, computing a transformation matrix for the full-solution and all sub-solutions using a Kalman filter, computing a bias effect on an error of filtered state vectors of all sub-solutions, and adding the effect to computed vertical and horizontal protection levels. In the second approach, a modification for computationally effective calculation of the protection levels of hybrid navigation systems based on both integrity and non-integrity assured pseudorange error descriptions is disclosed.
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