Fault detection and exclusion method for a tightly coupled localization system

Integrity monitoring for a positioning method permit us to guarantee a high integrity localization which is needed for an autonomous navigation system. Different approaches for localization integrity monitoring have been developed. In this paper, we propose a Fault Detection and Exclusion (FDE) method based on information metrics since it provides tools that allow designing residual test that increase the integrity of localization. A residual test based on the Kullback-Leibler divergence (KLD) is elaborated. It is integrated in a FDE architecture applied to localization using a tightly coupled multi-sensor (GPS and odometer) data fusion method.