A Framework for Bayesian Receiver Autonomous Integrity Monitoring in Urban Navigation

Abstract

A Bayesian framework for RAIM designed to meet the requirements of today's urban navigation is introduced. The framework is general in the sense that when contaminated observations can be modeled, integrity information can be computed. We consider the case of positioning in the presence of multipath signals. The proposed method consists of a Bayesian filter that computes the posterior distribution of the history of the presence of multipath signals and the sizes of multipath biases, along with the navigation parameters. From the posterior distribution, optimal integrity information can be theoretically derived. For practical implementation, the optimal Bayesian filter is approximated with various techniques, and suboptimal integrity information is achieved. Simulations show that the approximations of the Bayesian RAIM framework have good performance compared to the traditional least squares RAIM, the drawback being the computational complexity of the methods.

Urban multipath detection and mitigation with dynamic 3D maps for reliable land vehicle localization

“…Another related work attempts to autonomously detect multi path signals in urban environments with an integrated Bayesian integrity monitoring algorithm and shows its theoret ical feasibility through simulations [6]. One major drawback of the proposed implementation for Bayesian RAIM is the high computational demand.…”

Evaluation of Shadow Maps for Non-Line-of-Sight Detection in Urban GNSS Vehicle Localization with VANETs - The GAIN Approach

“…It is therefore not fully appropriate for urban multipath situations as proven in [9], where even more than one observation may be affected. Another related work attempts to autonomously detect multipath signals in urban environments with an integrated Bayesian integrity monitoring algorithm and shows its feasibility through simulations [10]. The last class of algorithms uses digital map databases to predict the directly visibility of GNSS satellites in urban areas.…”

Multipath detection with 3D digital maps for robust multi-constellation GNSS/INS vehicle localization in urban areas

“…Another related work attempts to autonomously detect multipath signals in urban environments with an integrated Bayesian integrity monitoring algorithm and shows its feasibility through simulations [5].…”