Online from: 1929
Subject Area: Mechanical & Materials Engineering
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|Title:||Integrity monitoring using ERAIM for GNSS/inertial system|
|Author(s):||Haiying Liu, (Academy of Frontier Science, Nanjing University of Aeronautics and Astronautics, Nanjing, China), Weisong Ye, (Academy of Frontier Science, Nanjing University of Aeronautics and Astronautics, Nanjing, China), Huinan Wang, (Academy of Frontier Science, Nanjing University of Aeronautics and Astronautics, Nanjing, China)|
|Citation:||Haiying Liu, Weisong Ye, Huinan Wang, (2012) "Integrity monitoring using ERAIM for GNSS/inertial system", Aircraft Engineering and Aerospace Technology, Vol. 84 Iss: 5, pp.287 - 292|
|Keywords:||Aircraft navigation, Condition monitoring, ERAIM, GNSS, Inertial navigation, Integrity monitoring|
|Article type:||Research paper|
|DOI:||10.1108/00022661211255467 (Permanent URL)|
|Publisher:||Emerald Group Publishing Limited|
|Acknowledgements:||This work is partially supported by Natural Science Foundation of Jiangsu province, China, under grant KB2011729, and Aeronautic Science Foundation of China under grant 20090852011. The authors also gratefully acknowledge the helpful comments and suggestions of the reviewers, which have improved the presentation.|
Purpose – The purpose of this paper is to develop an integrity monitoring method using ERAIM (Extended Receiver Autonomous Integrity Monitoring) for the integrated GNSS/Inertial (Global Navigation Satellite System and inertial navigation system) of general aviation aircraft.
Design/methodology/approach – First the tightly integrated GNSS with Strapdown Inertial Navigation System (GNSS/SINS) and the Kalman filter is designed. Then the processing of ERAIM is presented, in which the least-squares theory is used to calculate the best estimators by integrating the predicted states with measurement states of Kalman filter. Based on the new measurement model, the integrity monitoring for GNSS/inertial system is carried out, including the fault detection, identification, reliability and separability. Lastly, the simulation and analysis for ERAIM vs RAIM are performed to validate the proposed method.
Findings – Simulation results show that the ERAIM method is able to detect and identify effectively any type of failure including step failure and ramp failure. Compared to the RAIM method for only GNSS, the ERAIM increases the redundant information and reduces the correlation of test statistics, as well as enhancing the reliability and thus can significantly improve the performance of integrity monitoring.
Practical implications – In safety critical sectors such as aviation, stringent integrity performance requirements must be met. The ERAIM method cannot only be used in integrity monitoring for the integrated GNSS/Inertial system, but also can be applied to only GNSS or other integrated navigation systems for general aviation aircraft.
Originality/value – The paper presents a new integrity monitoring method of ERAIM, which is able to improve the fault detection and identification capabilities significantly by extending GNSS-used RAIM method into the GNSS/Inertial integrated system.
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