Achieving integrity in an INS/GPS navigation loop for autonomous land vehicle applications

Author

Sukkarieh, Salah ; Nebot, Eduardo M. ; Durrant-Whyte, Hugh F.

Author_Institution

Dept. of Mech. & Mechatronic Eng., Sydney Univ., NSW, Australia

Volume

4

fYear

1998

fDate

16-20 May 1998

Firstpage

3437

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

Keywords

Global Positioning System; fault diagnosis; inertial navigation; reliability; road vehicles; sensor fusion; Global Positioning System; INS/GPS navigation; autonomous land vehicle; bias; data fusion; fault detection; frequency faults; inertial navigation; integrity; multipath errors; satellite geometry; Fault detection; Frequency; Global Positioning System; Land vehicles; Navigation; Remotely operated vehicles; Robots; Robustness; Sensor fusion; Vehicle safety;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on

Conference_Location

Leuven

ISSN

1050-4729

Print_ISBN

0-7803-4300-X

Type

conf

DOI

10.1109/ROBOT.1998.680969

Filename

680969