The Design of High Integrity Navigation Systems

This paper describes some key elements of our current work to design high-integrity navigation systems for use in large autonomous mobile vehicles. A frequency domain model of sensor contributions to navigation system performance is introduced and used to demonstrate the manner in which conventional navigation loops fail. On this basis, a new navigation system structure is introduced which is capable of detecting faults in any combination of navigation sensors. The main elements of the proposed structure are analysed. Two example implementations of this structure are described; a system for land-vehicle navigation employing twin GPS/Inertial and radar/encoder navigation loops, and an underground vehicle navigation system employing twin laser/sonar/inertial and laser/encoder navigation loops.

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