A New Particle Filter Framework for Bayesian Receiver Autonomous Integrity Monitoring in Urban Environments

01/16/2021
by   Shubh Gupta, et al.
0

Existing urban navigation algorithms employ integrity monitoring (IM) to mitigate the impact of measurement bias errors and determine system availability when estimating the position of a receiver. Many IM techniques, such as receiver autonomous integrity monitoring (RAIM), utilize measurement residuals associated with a single receiver position to provide integrity. However, identifying a single correct receiver position is often challenging in urban environments due to low satellite visibility and multiple measurements with bias errors. To address this, we propose Particle RAIM as a novel framework for robust state estimation and IM using GNSS and odometry measurements. Particle RAIM integrates residual-based RAIM with a particle filter and Gaussian mixture model likelihood to jointly perform state estimation and fault mitigation using a multimodal probability distribution of the receiver state. Our experiments on simulated and real-world data show that Particle RAIM achieves smaller positioning errors as well as smaller probability of false alarm and probability of missed-identification in determining system availability than existing urban localization and IM approaches in challenging environments with a relatively small computation overhead.

READ FULL TEXT

page 16

page 17

page 19

01/15/2021

A Particle Filtering Framework for Integrity Risk of GNSS-Camera Sensor Fusion

Adopting a joint approach towards state estimation and integrity monitor...
01/16/2021

Data-Driven Protection Levels for Camera and 3D Map-based Safe Urban Localization

Reliably assessing the error in an estimated vehicle position is integra...
10/04/2019

SLAM-based Integrity Monitoring Using GPS and Fish-eye Camera

Urban navigation using GPS and fish-eye camera suffers from multipath ef...
06/23/2018

Robust Navigation In GNSS Degraded Environment Using Graph Optimization

Robust navigation in urban environments has received a considerable amou...
12/12/2021

3D LiDAR Aided GNSS NLOS Mitigation in Urban Canyons

In this paper, we propose a 3D LiDAR aided global navigation satellite s...
01/13/2021

Robust GPS-Vision Localization via Integrity-Driven Landmark Attention

For robust GPS-vision navigation in urban areas, we propose an Integrity...
12/15/2017

Fast Monte-Carlo Localization on Aerial Vehicles using Approximate Continuous Belief Representations

Size, weight, and power constrained platforms impose constraints on comp...