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

Shuchen Liu; Jan-Jöran Gehrt; Dirk Abel; René Zweigel

doi:10.14232/actacyb.285315

Shuchen Liu Institute of Automatic Control at RWTH Aachen University, Germany https://orcid.org/0000-0003-4685-491X
Jan-Jöran Gehrt Institute of Automatic Control at RWTH Aachen University, Germany https://orcid.org/0000-0003-4348-2110
Dirk Abel Institute of Automatic Control at RWTH Aachen University, Germany https://orcid.org/0000-0003-0286-3654
René Zweigel Institute of Automatic Control at RWTH Aachen University, Germany https://orcid.org/0000-0003-2440-2138

DOI: https://doi.org/10.14232/actacyb.285315

Keywords: RSIVIA, RAIM, GNSS, fault detection and identification, Kalman Filter

Abstract

This publication presents the development of integrity monitoring and fault detection and exclusion (FDE) of pseudorange measurements, which are used to aid a tightly-coupled navigation filter. This filter is based on an inertial measurement unit (IMU) and is aided by signals of global navigation satellite system (GNSS). Particularly, the GNSS signals include global positioning system (GPS) and Galileo. By using GNSS signals, navigation systems suffer from signal interferences resulting in large pseudorange errors. Further, a higher number of satellites with dual-constellation increases the possibility that satellite observations contain multiple faults. In order to ensure integrity and accuracy of the filter solution, it is crucial to provide sufficient fault-free GNSS measurements for the navigation filter. For this purpose, a new hybrid strategy is applied, combining conventional receiver autonomous integrity monitoring (RAIM) and innovative robust set inversion via interval analysis (RSIVIA). To further improve the performance, as well as the computational efficiency of the algorithm, the estimated velocity and its variance from the navigation filter is used to reduce the size of the RSIVIA initial box. The designed approach is evaluated with recorded data from an extensive real-world measurement campaign, which has been carried out in GATE Berchtesgaden, Germany. In GATE, up to six Galileo satellites in orbit can be simulated. Further, the signals of simulated Galileo satellites can be manipulated to provide faulty GNSS measurements, such that the fault detection and identification (FDI) capability can be validated. The results show that the designed approach is able to identify the generated faulty GNSS observables correctly and improve the accuracy of the navigation solution. Compared with traditional RSIVIA, the designed new approach provides a more timely fault identification and is more computational efficient.

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Author Biographies

Jan-Jöran Gehrt, Institute of Automatic Control at RWTH Aachen University, Germany

Jan-Jöran Gehrt is a research associate at the Institute of Automatic Control at RWTH Aachen University and group manager of the Galileo research group. His research activities focus on Galileo-based localization and sensor fusion techniques for different applications such as railway and vessels. He is manager of the project GALILEOnautic 2.

Dirk Abel, Institute of Automatic Control at RWTH Aachen University, Germany

Dirk Abel is a full professor and the director of the Institute of Automatic Control at RWTH Aachen University. His methodological interests include model predictive control (MPC) as well as rapid control prototyping (RCP), among others.

René Zweigel, Institute of Automatic Control at RWTH Aachen University, Germany

René Zweigel is senior scientist at the Institute of Automatic Control at RWTH Aachen University. His research team develops satellite-based navigation systems for autonomous driving and navigation, which include applications for automobiles, railways, vessels, and multirotor unmanned aerial vehicles.