Fault detection and exclusion for GNSS measurements using observations projection on information space

Faults in the GNSS measurements are the main reason for uncertainty positioning. Accuracy can thus be maximized by selecting only those observations least contaminated by faults to form the navigation solution (positioning) and discarding the rest. In this paper, we propose an algorithm to solve the problem of multi faults in the GNSS observations (pseudorange). The algorithm is based on observations projection on information space in order to detect and exclude the measurement faults and on Information Filter in order to estimate the position. The proposed method is tested using real data acquired with an experimental vehicle using low cost GNSS receiver in order to demonstrate its efficiency and its validity.