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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Integrity for Multi-Sensor Cooperative Positioning


    Contributors:


    Publication date :

    2021-02-01


    Size :

    5968731 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Integrity for Belief Propagation-Based Cooperative Positioning

    Xiong, Jun / Xiong, Zhi / Xie, Xiangpeng et al. | IEEE | 2024


    Multi-sensor multi-vehicle cooperative positioning system and method

    GUO GE / LI ZENGBO / LIU JIAGENG et al. | European Patent Office | 2023

    Free access

    A MULTI-SENSOR PLATFORM FOR HIGH INTEGRITY MULTI-MODAL POSITIONING SYSTEM

    Capua, Roberto / Filip, Ales / Neri, Alessandro et al. | British Library Conference Proceedings | 2020



    Multi-sensor fusion positioning

    Lu, Zimo / Xu, Yanli | VDE-Verlag | 2022