A cooperative integrity monitoring (CIM) algorithm is proposed in this work. Under the CIM architecture, the algorithm can fully exploit the global navigation satellite system (GNSS) data and inter-vehicle measurements data to improve the detection and isolation of faulty measurements due to multipath or non line of sight (NLOS). Taking the advantages of cooperative scheme, a residual decomposition method is used to model the measurement errors into common and specific parts, a greedy search strategy is used to exclude the faulty measurements based on its sub-statistics. Simulation results show that CIM has better detection of GNSS fault than traditional receiver autonomous integrity monitoring (RAIM). Also, CIM is capable of detecting the faulty outliers in inter-vehicle measurements. The results indicate that CIM can be applied to many existing multi-sensor cooperative positioning algorithms.


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    Titel :

    Integrity for Multi-Sensor Cooperative Positioning


    Beteiligte:
    Xiong, Jun (Autor:in) / Cheong, Joon Wayn (Autor:in) / Xiong, Zhi (Autor:in) / Dempster, Andrew G. (Autor:in) / Tian, Shiwei (Autor:in) / Wang, Rong (Autor:in)


    Erscheinungsdatum :

    01.02.2021


    Format / Umfang :

    5968731 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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