Integrity Risk of Kalman Filter-Based RAIM

  title={Integrity Risk of Kalman Filter-Based RAIM},
  author={Mathieu Joerger and Boris Pervan},
This paper introduces a new Kalman filter-based receiver autonomous integrity monitoring (RAIM) method for navigation systems that require measurement filtering over time (such as integrated GPS/INS navigation or carrier phase positioning). In contrast with existing sequential fault-detection algorithms, the proposed method is computationally efficient, straightforward to implement, and most importantly, it enables direct integrity risk evaluation. First, the Kalman filter-based detection test… CONTINUE READING


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