Abstract
The reliability of global navigation satellite system (GNSS) positioning degrades when satellite signals are interfered. Such degradation is hard to be deteced by a micro-electro mechanical system (MEMS) based inertial system(INS)/GNSS, integrating navigation system with a conventional Kalman filtering, which results in potential integrity problem of the system. Hence, an algorithm combining wireless fidelity (WiFi) signal with a federated Kalman filter (FKF) is proposed to identify the system integrity in dense urban navigation. The criterion of the system integrity detection is created followed by the derivation of the integrity coefficient. The field test shows that integrity changes can be captured by applying WiFi, and the maximum positioning error is reduced by 67% without compensation of inertial sensors in integrity deterioration.
Original language | English |
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Pages (from-to) | 350-354 |
Number of pages | 5 |
Journal | Transactions of Nanjing University of Aeronautics and Astronautics |
Volume | 30 |
Issue number | 4 |
Publication status | Published - Dec 2013 |
Keywords
- FKF
- Integrated navigation
- MEMS INS
- WiFi