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Position and velocity reliability testing in degraded GPS signal environments

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Abstract

Reliability testing, namely receiver autonomous integrity monitoring (RAIM), consists of statistical testing of least-squares residuals of observations, e.g., on an epoch-by-epoch basis aiming towards reliable navigation fault detection and exclusion (FDE). In this paper, classic RAIM and FDE methods are extended with testing of range-rate residuals to find inconsistent velocity solutions in order to contribute to the reliability of the system with special focus on degraded signal environments. Reliability enhancement efforts discussed include a Backward-FDE scheme based on statistical outlier detection and an iteratively reweighted robust estimation technique, a modified Danish method. In addition, measurement weighting assigned to code and Doppler observations is assessed in the paper in order to allow fitting a priori variance models to the estimation processes. The schemes discussed are also suitable in terms of computational convenience for a combined GPS/Galileo system. The objective of this paper is to assess position and velocity reliability testing and enhancement in urban and indoor conditions and to analyze the navigation accuracy conditions with high sensitivity GPS (HSGPS) tests. The results show the necessity of weighted estimation and FDE for reliability enhancement in degraded signal-environment navigation.

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Acknowledgements

The authors would like to thank Dr. A. Wieser and Ms. Diep Dao from the University of Calgary, Canada for their effort. The Nokia Foundation, the National Technology Agency of Finland, and the Graduate School of Electronics, Telecommunications, and Automation are acknowledged for financial support and SiRF Technologies Inc. for providing the test equipment.

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Authors and Affiliations

  1. Institute of Digital and Computer Systems, Tampere University of Technology, P.O. Box 553, 33101, Tampere, Finland

    Heidi Kuusniemi & Jarmo H. Takala

  2. Department of Geomatics Engineering, The University of Calgary, 2500 University Drive, NW, Calgary, Alberta, Canada, T2 N 1 N4

    Gérard Lachapelle

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  1. Heidi Kuusniemi
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  2. Gérard Lachapelle
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  3. Jarmo H. Takala
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Correspondence to Gérard Lachapelle.

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Kuusniemi, H., Lachapelle, G. & Takala, J.H. Position and velocity reliability testing in degraded GPS signal environments. GPS Solutions 8, 226–237 (2004). https://doi.org/10.1007/s10291-004-0113-7

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  • DOI: https://doi.org/10.1007/s10291-004-0113-7

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