Extended Receiver Autonomous Integrity Monitoring ( eRAIM ) for GNSS/INS Integration

Abstract

The integration of globe navigation satellite system (GNSS) with inertial navigation system (INS) is being heavily investigated as it can deliver more robust and reliable systems than either of the individual systems. In order to ensure the integrity of navigation solutions, it is necessary to incorporate an effective quality control scheme which uses redundant information provided by both the measurement and dynamic models. As the GNSS receiver autonomous integrity monitoring (RAIM) algorithms are well developed, here they are adapted to integrated GNSS/INS systems referred as extended RAIM