Research on integrity monitoring for integrated GNSS/SINS system

This paper present a Residuals Chi-square Test Method (RCTM) and an Autonomous Integrity monitoring by Extrapolation Method (AIME) for the integrity monitoring of integrated GNSS/SINS system. Firstly the tightly coupled integrated architectures and Kalman filer are designed, then a detailed investigation of the capability of the RCTM and AIME algorithms to deal with the step and ramp failure are carried out, and the realistic simulation platform is established. The simulated GNSS and SINS measurements for the aircraft are used to evaluate the performance of the integrity algorithms. Results show that RCTM can detect step and quickly growing failure effectively, while for slowly growing failure the AIME algorithm can detect earlier than RCTM. Combining the two methods can detect and eliminate both the step failure and ramp failure quickly and accurately.