Multi-sensor data fusion based on information theory. Application to GNSS positionning and integrity monitoring

Integrity monitoring is considered now as an important part of a vehicle navigation system. Localisation sensors faults due to systematic malfunctioning require integrity reinforcement of multi-sensors fusion method through systematic analysis and reconfiguration method in order to exclude the erroneous information from the fusion procedure. In this paper, we propose a method to detect faults of the GPS signals by using a distributed information filter with a probability test. In order to detect faults, consistency is examined through a log likelihood ratio of the information innovation of each satellite using mutual information concept. Through GPS measurements and the application of the autonomous integrity monitoring system, the current study illustrates the performance of the proposed fault detection algorithm and the pertinence of the reconfiguration of the multi-sensors data fusion.