Autonomous Integrity Monitoring in Integrated GPS/INS Navigation Systems
碩士 === 國立海洋大學 === 導航與通訊系碩士班 === 91 === Navigation system integrity refers to the ability of the system to provide timely warming to users when the system should not be used for navigation. A variety of RAIM (Receiver Autonomous Integrity Monitoring) schemes have been proposed, and most of...
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| Format: | Others |
| Language: | en_US |
| Published: |
2003
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| Online Access: | http://ndltd.ncl.edu.tw/handle/66643088978432797229 |
| Summary: | 碩士 === 國立海洋大學 === 導航與通訊系碩士班 === 91 === Navigation system integrity refers to the ability of the system to provide timely warming to users when the system should not be used for navigation. A variety of RAIM (Receiver Autonomous Integrity Monitoring) schemes have been proposed, and most of them are based on some kind of self-consistency check among the available redundant measurements. The conventional RAIM is “snapshot” approaches, which assumes each measurement is uncorrelated from one minute to the next. The principal limitation of snapshot RAIM is its availability. The availability can be improved by adding in measurements from other instruments on board the aircraft. The benefit gained by aiding the inertial system is robust since both systems have complementary characteristics and hence GPS/INS integrated system has been a very popular topic for research. In this thesis, the mathematical basis for RAIM will also be reviewed. Several typical snapshot and sequential algorithms will firstly be reviewed and established. After that, the corresponding mathematical basis of integrity using GPS aided INS approach is carried out. Performance assessment is provided for several integrity algorithms is this thesis.
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