User Level Integrity Monitoring and Quality Control for High Accuracy Positioning Using GPS/INS Measurements

Abstract

This paper presents research undertaken to develop sensor level autonomous integrity monitoring and quality control to support centimetre level positioning in all conditions and environments as conceived under the SPACE (Seamless Positioning in All Conditions and Environments) project. The basic philosophy for integrity monitoring and quality control is early detection of anomalies which requires monitoring of the entire processing chain. A number of novel concepts and algorithms are developed including algorithms to deal with special issues associated with carrier phase based integrity monitoring (including integration with INS), a new “difference test” integrity monitoring algorithm for detection of slowly growing errors, and a new group separation concept for simultaneous multiple failure exclusion. Both real and simulated data are used to test the new algorithms. The results show that the new algorithms, when used together with selected existing ones, provide effective integrity monitoring and quality control for centimetre level seamless positioning in all conditions and environments.