Journal article

Case study of Bayesian RAIM algorithm integrated with Spatial Feature Constraint and Fault Detection and Exclusion algorithms for multi-sensor positioning

J Gabela, A Kealy, M Hedley, B Moran

Navigation, Journal of the Institute of Navigation | Published : 2021


This study proposes three novel integrity monitoring algorithms based on Bayesian Receiver Autonomous Integrity Monitoring (BRAIM). Two problems of integrity monitoring for land-based applications for GNSS challenging environments are explored: requirements for sufficient measurement redundancy and the presence of large biases. The need for measurement redundancy was mitigated by using BRAIM. This enabled the employment of a Fault Detection and Exclusion (FDE) algorithm without the required minimum availability of six measurements. To increase the estimated integrity, a Spatial Feature Constraint (SFC) algorithm was implemented to constrain solutions to feasible locations within a road featu..

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