Abstract:Integrity monitoring (IM) in autonomous navigation has been extensively researched, but currently available solutions are mainly applicable to specific algorithms and sensors, or limited by linearity or 'Gaussianity' assumptions. This study investigates a Solution Separation (SS) based framework for universal IM, scalable to multi-sensor fusion as each hypothesis assumes a whole sensor measurement set as faulty. Architecturally we consider that: 1) multi sensor systems must account for various sensor noise mod… Show more
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