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Reliable GNSS Localization Against Multiple Faults Using a Particle Filter Framework [article]

Shubh Gupta, Grace X. Gao
2021 arXiv   pre-print
This paper proposes a novel particle filter-based framework that employs a Gaussian Mixture Model (GMM) likelihood of GNSS measurements to robustly estimate the position of a navigating vehicle under multiple  ...  For reliable operation on urban roads, navigation using the Global Navigation Satellite System (GNSS) requires both accurately estimating the positioning detail from GNSS pseudorange measurements and determining  ...  Acknowledgements This material is based upon work supported by the National Science Foundation under award #2006162.  ... 
arXiv:2101.06380v4 fatcat:xuq6dwkkczg2lnx7tspejfthoe

Research on Particle Filter Based on Neural Network for Receiver Autonomous Integrity Monitoring

Ershen Wang, Qing Zhang, Tao Pang, Qu Pingping, Xingkai Li
2016 TELKOMNIKA (Telecommunication Computing Electronics and Control)  
integrity monitoring (RAIM) algorithm based on PF algorithm combining neural network was proposed, which was used to improve the importance state adjustment of particle filter algorithm.  ...  According to the measurement noise feature of GPS receiver and the degeneracy phenomenon of particle filter (PF), in order to alleviate the sample impoverishment problem for PF, GPS receiver autonomous  ...  Currently, RAIM algorithms include two categories: one is the snapshots algorithm using the current amount of pseudorange measurement, and the other is the RAIM algorithm based on Kalman filter method.  ... 
doi:10.12928/telkomnika.v14i1.2359 fatcat:yqu3viu3uvh2bk2qh6q43ubdl4

Concept for an Onboard Integrated PNT Unit [chapter]

R Ziebold, Z Dai, T Noack, E Engler
2011 International Recent Issues about ECDIS, e-Navigation and Safety at Sea  
Generally an integrated PNT system is a composite of service components -like GNSS, Augmentation Systems and terrestrial Navigation Systems -and an on-board integrated PNT Unit, which uses the available  ...  Finally, a first integration scheme for an integrated PNT Unit will be presented with a special focus on the internal integrity monitoring concept.  ...  The Kalman filter-based algorithm could offer high sensitivity of detecting these errors. Integrity monitoring based on Kalman filter can be categorized into the following approaches [27] .  ... 
doi:10.1201/b11342-7 fatcat:4aho5ioi7jb3vpzn5f33ebzbzi

A Slowly Varying Spoofing Algorithm Avoiding Tightly-coupled GNSS/IMU with Multiple Anti-spoofing Techniques

Yangjun Gao, Guangyun Li
2022 IEEE Transactions on Vehicular Technology  
the positioning results of coupled system, and successfully avoid antispoofing techniques detection of least squares residual receiver autonomous integrity monitoring (RAIM) and parameter rationality  ...  GNSS spoofing mathematical model, and proposes a slowly varying spoofing algorithm to avoid tightly-coupled GNSS/IMU with multiple anti-spoofing techniques based on the analysis of the influence mechanism  ...  On the basis of sensor combination, users configure anti-spoofing algorithm, for example, receiver autonomous integrity monitoring (RAIM) and parameter rationality inspection of integrated navigation filtering  ... 
doi:10.1109/tvt.2022.3174406 fatcat:asgyxresszhuniasmofx3td2le

Particle Filtering Approach for GNSS Receiver Autonomous Integrity Monitoring and FPGA Implementation

Ershen Wang, Fuxia Yang, Gang Tong, Pingping Qu, Tao Pang
2016 TELKOMNIKA (Telecommunication Computing Electronics and Control)  
Therefore, in this paper, the particle filter algorithm is employed to GNSS receiver autonomous integrity monitoring(RAIM) to detect the fault of navigation satellite.  ...  In addition, The algorithm and its implementation can be embeded in GNSS receiver.  ...  Nos. 61571309 and 61101161),the Liaoning BaiQianWan Talents Program and the Open Program of Key Laboratory of Intelligent Waterway Transport of Ministry of Transport and the Fundamental Research Funds for  ... 
doi:10.12928/telkomnika.v14i4.4196 fatcat:uenuupztrvb2tpeatllpnms23m

Research on GPS Receiver Autonomous Integrity Monitoring Algorithm In the Occurrence of Two-satellite Faults

Er Shen Wang, Xiao Dong Yue, Tao Pang, Zhi Xian Zhang, W.-P. Sung, J.C.M. Kao
2016 MATEC Web of Conferences  
Based on particle filter, a novel RAIM method was proposed to detect two-satellite faults of the GPS signal by using hierarchical particle filter.  ...  GPS receiver autonomous integrity monitoring (RAIM) technique can detect and isolate fault satellite.  ...  Because GNSS measurement error does not follow a Gaussian distribution perfectly [5] , Kalman filter will use an inaccurate error model that may cause performance degradation.  ... 
doi:10.1051/matecconf/20164401017 fatcat:sqwpc6xyabafpdjky5zxlzvyde

A Robust Fault Detection Algorithm for the GNSS/INS Integrated Navigation Systems

2020 Journal of Geodesy and Geoinformation Science  
Integrity is an important index for GNSS-based navigation and positioning, and the receiver autonomous integrity monitoring (RAIM) algorithm has been presented for integrity applications.  ...  In the integrated navigation systems of a global navigation satellite system (GNSS) and inertial navigation system (INS),the conventional RAIM algorithm has been developed to extended receiver autonomous  ...  A double loop tracking structure based on pre ̄filter is proposed after modifying the structure of vector receiverꎬ and the influence of noise is reduced by pre ̄filter based on cubature Kalman filtering  ... 
doi:10.11947/j.jggs.2020.0102 doaj:35fd02c6383c4bb58ded5f3487958a2c fatcat:mt6k5jmdyzga3k2rlvgp27q53m

Robust GPS-INS Outlier Accommodation: A Soft-thresholded Optimal Estimator

Paul F. Roysdon, Jay A. Farrell
2017 IFAC-PapersOnLine  
Common implementations use a single epoch Extended Kalman Filter (EKF) combined with the Receiver Autonomous Integrity Monitoring (RAIM) for GNSS outlier detection.  ...  Common implementations use a single epoch Extended Kalman Filter (EKF) combined with the Receiver Autonomous Integrity Monitoring (RAIM) for GNSS outlier detection.  ...  Common implementations use a single epoch Extended Kalman Filter (EKF) combined with the Receiver Autonomous Integrity Monitoring (RAIM) for GNSS outlier detection.  ... 
doi:10.1016/j.ifacol.2017.08.682 fatcat:z25hca6gbbel5c75uav3psf53y

A review of the evolution of the integrity methods applied in GNSS

Paul Zabalegui, Gorka De Miguel, Alejandro Perez, Jaizki Mendizabal, Jon Goya, Inigo Adin
2020 IEEE Access  
For this purpose, basic concepts and possible GNSS error sources (and their corresponding solutions) are introduced.  ...  INDEX TERMS Fault detection and exclusion, GNSS, integrity monitoring, protection level, receiver autonomous integrity monitoring.  ...  The CRAIM method proposed in [67] , which is a carrierphase based algorithm for high-accuracy positioning based on Kalman filtering, only allows failure detection and does not provide failure identification  ... 
doi:10.1109/access.2020.2977455 fatcat:gwwrllia2rgbti76rgrex4z2ve

Concept for an integrated PNT-unit for maritime applications

Ralf Ziebold, Zhen Dai, Thoralf Noack, Evelin Engler
2010 2010 5th ESA Workshop on Satellite Navigation Technologies and European Workshop on GNSS Signals and Signal Processing (NAVITEC)  
In this paper the current status of PNT sensors for maritime application is reviewed and first ideas towards an integrity concept for a maritime PNT unit are presented.  ...  Integrity monitoring based on Kalman filter can be categorized into the following approaches [31] . 1) Kalman filter estimates (bias check) In a Kalman filter, the sensor measurement biases can be estimated  ...  The Kalman filter-based algorithm could offer high sensitivity of detecting these errors.  ... 
doi:10.1109/navitec.2010.5708061 fatcat:r23dsufsiffp3jjkvsdonbxai4

RAIM-NET: A Deep Neural Network for Receiver Autonomous Integrity Monitoring

Yuan Sun
2020 Remote Sensing  
Although the existing Receiver Autonomous Integrity Monitoring (RAIM) algorithm has been embedded in the GNSS receiver as a standard method, it might still suffer from small fault detection and delay alarm  ...  Finally, real GNSS data experiments are designed to verify the performance of RAIM-NET in fault detection and time delay for integrity monitoring.  ...  The most common filtering algorithms are based on Kalman filter or the modified version, such as adaptive Kalman filter [20] .  ... 
doi:10.3390/rs12091503 fatcat:7ipiys24t5dgnhpmhg7pkhuy6u

Deep fusion of vector tracking GNSS receivers and a 3D city model for robust positioning in urban canyons with NLOS signals

Mohamed Sahmoudi, Aude Bourdeau, Jean-Yves Tourneret
2014 2014 7th ESA Workshop on Satellite Navigation Technologies and European Workshop on GNSS Signals and Signal Processing (NAVITEC)  
In this work, we propose a deep integration of the 3D model-based signal characterization into an advanced GNSS receiver architecture called vector tracking loops.  ...  To exploit these biased signals, we compensate for the NLOS bias using a 3D GNSS simulation model of the environment.  ...  ACKNOWLEDGMENT The authors would like to thank OKTAL-SE, Thales Alenia Space and DGA for supporting this work.  ... 
doi:10.1109/navitec.2014.7045155 fatcat:sevwk2wzlbcbjlrtuc26batdre

GNSS Position Integrity in Urban Environments: A Review of Literature

Ni Zhu, Juliette Marais, David Betaille, Marion Berbineau
2018 IEEE transactions on intelligent transportation systems (Print)  
by GNSS receivers in such scenario.  ...  In recent years, many GNSS-based applications emerge in the urban environment including liability critical ones, so the concept of integrity attracts more and more attention from urban GNSS users.  ...  Except for these snapshot algorithms, several Kalman filter based RAIM/FDE schemes are proposed [43] TABLE I CLASSIFICATION I OF RAIM TECHNIQUES Architecture Measurement Algorithms FDE Capability  ... 
doi:10.1109/tits.2017.2766768 fatcat:3wieh6mt6ja3zpsqp6eayixfu4

Identification of Multi-Faults in GNSS Signals using RSIVIA under Dual Constellation

Shuchen Liu, Jan-Jöran Gehrt, Dirk Abel, René Zweigel
2021 Acta Cybernetica  
For this purpose, a new hybrid strategy is applied, combining conventional receiver autonomous integrity monitoring (RAIM) and innovative robust set inversion via interval analysis (RSIVIA).  ...  This filter is based on an inertial measurement unit (IMU) and is aided by signals of global navigation satellite system (GNSS).  ...  The necessary equations of residual-based RAIM for pseudorange fault detection are given in [1] [10] . Further, using parity space based RAIM for fault identification is introduced in [12] [10] .  ... 
doi:10.14232/actacyb.285315 fatcat:t2yhycc545d2fkg7rwyhfbbbh4

Correlation Analysis for Fault Detection Statistics in Integrated GNSS/INS Systems

Jinling Wang, Ali Almagbile, Youlong Wu, Toshiaki Tsujii
2012 Journal of Global Positioning Systems  
Over the past two decades, GNSS Receiver Autonomous Integrity Monitoring (RAIM) procedures have been developed, but the efficiency of such procedures is highly dependent on measurement redundancy and geometric  ...  Therefore, the integrity of the satellite based navigation systems has been a major concern for many liability critical applications, such as civil aviation, and location-based services (LBS).  ...  Such a procedure should be implemented through a Kalman filter for GNSS/INS integration where the dynamic information captured by the INS sensors can be efficiently used.  ... 
doi:10.5081/jgps.11.2.89 fatcat:l2jontjipbgt3jgz34xjxokqhy
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