Robust state and protection-level estimation within tightly coupled GNSS/INS navigation system

Article Engineering, Civil

Predicting State Uncertainty Bounds Using Non-Linear Stochastic Reachability Analysis for Urban GNSS-Based UAS Navigation

Akshay Shetty et al.

Summary: This paper presents a non-linear stochastic reachability analysis to predict state uncertainty in unmanned aircraft systems, accounting for measurement biases. By simulating urban environments and pseudorange biases, the feasibility of the method is validated and applied towards ensuring safe UAS navigation in shared airspace.

IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS (2021)

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Proceedings Paper Engineering, Electrical & Electronic

Embedded Tightly Coupled INS/DGPS-DGAL Navigation Filter on a Mass-Market Single-Board Computer

Maximilian Nitsch et al.

Summary: This research successfully integrated a tightly coupled navigation filter on a Raspberry Pi 4B single-board computer, achieving high positioning accuracy and six-degree-of-freedom state estimation, meeting the International Maritime Organization requirements in port areas.

2021 INTERNATIONAL CONFERENCE ON LOCALIZATION AND GNSS (ICL-GNSS) (2021)

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Article Computer Science, Cybernetics

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

Shuchen Liu et al.

Summary: This publication describes the development of integrity monitoring and fault detection in aiding a tightly-coupled navigation filter. By combining traditional RAIM and innovative RSIVIA methods, it ensures providing sufficient fault-free GNSS measurements to improve the accuracy of the navigation solution.

ACTA CYBERNETICA (2021)

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Article Automation & Control Systems