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

Abstract

As described in the Market Report from European Global Navigation Satellite Systems Agency (GSA), satellite-based navigation will substantially contribute to the future innovation of self-driving vehicles (see [1]). In autonomous applications, especially in safetycritical scenarios, a false estimation of vehicle state can result in catastrophic accidents, which requires the high accuracy and integrity of the navigation solution. To maintain the integrity of a global navigation satellite system (GNSS)-based navigation system, the faulty GNSS observations caused by signal interferences and other possible reasons shall be detected, identi ed and excluded. Since the open service of the newly developed EU satellite navigation system Galileo is in operation, the combination of GPS and Galileo provides the modern navigation systems more available satellites in view. However, a higher number of satellites also increases the possibility that satellite observations contain a fault or even multi-faults. Therefore, identi cation of multi-faults becomes a crucial and challenging task to maintain the integrity of GNSS-based navigation systems. The previous work [2] presents the development of a fault detection and exclusion (FDE) algorithm of GNSS measurements. The approach is an extension of an existing tightlycoupled navigation lter, which integrates the measurements from GNSS and an inertial