Achieving Integrity in an INS/GPS Navigation Loop for Autonomous Land Vehicle Applications
Abstract
The objective of this paper is to introduce and investigate the issue of integrity in an INS/GPS navigation loop for autonomous land vehicle applications. The paper briefly outlines the standard fusion algorithm for the INS/GPS loop, while the focus is on the detection of possible faults both before and during the fusion process. The concept of fault detection focuses on the low frequency faults of the INS, caused by bias and drift, and the high frequency faults of the GPS unit caused by multipath errors and changes in satellite geometry.
Integrity signals
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For jumps in GPS observation and noise due to drift in state evaluation, a Kalman filter minimizes the chances of undetected faults.
“Jumps in GPS observation and noise due to drift in state evaluation [122] | Kalman filter | Minimize chances of undetected faults”
From Sensor-Based Prognostic Health Management of Advanced Driver Assistance System for Autonomous Vehicles: A Recent Survey (2022) · cites this paper as [122]
Cites
Stochastic models, estimation, and control
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The Rocky 7 Mars rover prototype
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Krotkov, E., Simmons, R. G., Cozman, F. G., et al. (1999) · Cited by 50 · see citing works
The GPS Aiding of INS for Land Vehicle Navigation
Sukkarieh, S., Nebot, E., & Durrant-Whyte, H. F. (1998) · Field and Service Robotics · doi:10.1007/978-1-4471-1273-0_41 · Cited by 6 · see citing works
Self-citationFault Detection in the Frequency Domain: Designing Reliable Navigation Systems
Scheding, S., Nebot, E., & Durrant-Whyte, H. F. (1998) · Field and Service Robotics · doi:10.1007/978-1-4471-1273-0_12 · Cited by 5 · see citing works
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Raouf, I., Khan, A., Khalid, S., Sohail, M., Azad, M. M., & Kim, H. S. (2022) · Mathematics · doi:10.3390/math10183233 · Cited by 41 · see citing works
- Authors
- Sukkarieh, S., Nebot, E. M., & Durrant-Whyte, H. F.
- Affiliations
- The University of Sydney (AU)
- ORCID
- Sukkarieh, S.
- Venue
- Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)
- Publisher
- IEEE
- Published
- 2002-11-27
- Volume
- 4
- Pages
- 3437-3442
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2104232191
- Cited by
- 54
- References
- 7
- Citations by year
- 2024: 1 · 2022: 1 · 2020: 1 · 2019: 2 · 2018: 1 · 2015: 1 · 2014: 1 · 2013: 2 · 2012: 2
- FWCI
- 11.32
- Type
- conference paper
- Language
- en
- Open access
- closed
- Locations
- Proceedings - IEEE International Conference on Robotics and Automation/Proceedings (publishedVersion)
- Topics
- Physical Sciences › Engineering › Aerospace Engineering › Inertial Sensor and Navigation
- Physical Sciences › Engineering › Aerospace Engineering › GNSS positioning and interference
- Physical Sciences › Engineering › Control and Systems Engineering › Fault Detection and Control Systems
- Keywords
- GPS/INS integration, navigation integrity, autonomous ground vehicles, fault detection, sensor fusion, satellite geometry
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