Using Delta Range on Gps Positioning, Fault Detection and Fault Exclusion
نویسندگان
چکیده
Conventionally, the well known position-velocity-acceleration (PVA) model is adopted as the dynamic model of Kalman filter for GPS positioning. However, as a moving vehicle corners at faster speeds, the conventional PVA model without using extra sensors can no longer be adequate for describing the motion of the vehicle. Thus, the positioning result of the vehicle will be less accurate, and normalized innovation squared (NIS) is not suitable as the test statistic for FDE anymore. Therefore, the delta range (DR) equation is proposed to accurately model the dynamic behavior of a maneuvering vehicle. Simulation results show that the proposed DR can perform both positioning and FDE well as the vehicle manoeuvres. Copyright © 2005 IFAC
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His main research area is scientific computing with particular emphasis on matrix computations and applications. Currently his interests include GPS integrity monitoring and positioning. His main research area is numerical linear algebra and its applications, and one of his interests is efficient and numerically reliable estimation for linear systems. Dr. Studenny is the Aerospace GPS Engineeri...
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