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High-Integrity GPS/INS Integrated Navigation with Error Detection and Application to LAAS

Published online by Cambridge University Press:  07 June 2011

Fang-Cheng Chan  and
Boris Pervan
Fang-Cheng Chan*
Affiliation:
(Illinois Institute of Technology)
Boris Pervan
Affiliation:
(Illinois Institute of Technology)
*
(Email: chanfan@iit.edu.)
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Abstract

A dynamic state realization for tightly coupling Global Positioning System (GPS) measurements with an Inertial Navigation System (INS) is described. The realization, based on the direct fusion of GPS and INS systems through Kalman filter state dynamics, explicitly accounts for temporal and spatial decorrelation of GPS measurement errors (such as tropospheric, ionospheric, and multipath errors) through state augmentation, thereby ensuring Kalman filter integrity under fault-free error conditions. Predicted system performance for a Local Area Augmentation System (LAAS) aircraft precision approach application is evaluated using covariance analysis and validated with flight data.

Built-in fault detection mechanisms based on the Kalman filter innovations are also evaluated to help provide integrity under certain fault conditions. It is shown that an algorithm based on the integral of Kalman filter innovations outperforms other existing GPS fault detection methods in the detection of slowly developing ranging errors, such as those caused by ionospheric and tropospheric anomalies.

Keywords

GPSGPS/INS integrationLAAS applications
Type
Research Article
Information
The Journal of Navigation , Volume 64 , Issue 3 , July 2011 , pp. 467 - 493
Copyright
Copyright © The Royal Institute of Navigation 2011

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