Impact of Dynamic Information on GNSS Receiver Integrity Monitoring

Applications for kinematic GNSS positioning and navigation are as extensive as ever and are continually expanding in both new and existing fields. With the European Commission (EC) and European Space Agency’s (ESA) plans for Galileo and the modernisation of GPS well underway, a further increase in applications can only be expected. Traditionally, GNSS receiver autonomous integrity monitoring (RAIM) has been based upon the single epoch solutions. RAIM can be improved considerably when available dynamic information is fused together with the GNSS range measurements in a Kalman filter. While the Kalman Filtering technique is widely accepted to provide optimal estimations for the navigation parameters of a dynamic platform, assuming the state and observation models are correct, it is still susceptible to unmodeled errors. Significant deviations of the assumed models for dynamic systems may also occur. The state estimation procedure must therefore, be complemented with effective and reliable integrity measures. Such measures should include both reliability and separability.

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