Multi-level autonomous integrity monitoring method for multi-source PNT resilient fusion navigation

Abstract For the integrity monitoring of a multi-source PNT (Positioning, Navigation, and Timing) resilient fusion navigation system, theoretical framework multi-level autonomous is proposed. According to mode navigation, adopts top-down logic structure establishes source fault detection model based on multi-combination separation residual method detect isolate at system level subsystem level. isolated non-redundant sources, recovery verification used. multi-redundant sensor optimized with dimension-expanding matrix used sensors, sensors are verified in real-time. Finally, according results each level, observed information solution dynamically adjusted. On this basis, risk dynamic tree established calculate Protection Level (PL) evaluate integrated system. The proposed paper tested using Inertial Navigation System (INS), Global Satellite (GNSS), Long Baseline Location (LBL), Ultra Short (USBL). test show that can effectively within 5 s, quickly multiple faulty ensuring positioning accuracy m, improving resilience reliability