Integrity monitoring of GNSS/Barometer sensor integration using RAIM algorithm = RAIM 알고리즘을 이용한 GNSS/기압고도계 센서 융합 항법의 무결성 감시

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As the number of unmanned aircraft system (UAS) applications in the low-altitude civilian airspace increases, UAS traffic management (UTM) becomes vital to prevent unmanned aerial vehicles (UAVs) from collisions with the surrounding terrain, buildings and/or other vehicles. One feasible technology to accomplish UTM is receiver autonomous integrity monitoring (RAIM). RAIM is a Global Navigation Satellite System (GNSS)-receiver onboard system which can autonomously detect faults in measurements and produce protection levels in real time. The performance of RAIM is expected to be improved significantly due to the advent of GNSS multi-constellation and multi-frequency environments in the near future. In this thesis, we developed RAIM for UAVs which use sensor integration with a standalone Global Positioning System (GPS) and a low-cost micro-electromechanical system (MEMS)-based barometer for their navigation. First, we developed a snapshot residual-based RAIM and analyzed the vertical protection level (VPL) performance for GPS/barometer-integrated navigation. To do this, we defined statistical overbounding models of errors in GPS pseudoranges and barometer measurements. For the GPS/barometer-integrated RAIM, we modified the original residual-based RAIM to consider the nominal bias of a barometer in a fault detection algorithm and VPL equations. Through this analysis, we found that the GPS/barometer integration makes RAIM performance more robust to the satellite geometry compared to the standalone GPS. However, VPLs produced by the multisensory RAIM are still conservative because the system could not fully consider the different features of each sensor. For this reason, we proposed a new RAIM architecture termed residual-based-solution-separation (RB-SS) RAIM, representing the hybridization of a residual-based and a solution separation RAIM algorithm. Furthermore, we optimized integrity risk allocation to minimize VPLs. The proposed RAIM algorithm is beneficial in that it can exclude faulty sensors without greatly increased computational costs even under a GNSS multi-constellation environment while also effectively eliminating the conservativeness of the VPLs.
Lee, Jiyunresearcher이지윤researcher
한국과학기술원 :항공우주공학과,
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학위논문(석사) - 한국과학기술원 : 항공우주공학과, 2017.2,[v, 59 p. :]


Unmanned aircraft system traffic management (UTM); Global Navigation Satellite System (GNSS); Barometer; multi-sensor navigation; Receiver autonomous integrity monitoring (RAIM); Vertical protection level (VPL); Optimization; 무인항공기; 위성항법시스템; 기압고도계; 센서 융합 항법; 수신기 단독 무결성 감시; 수직보호수준; 최적화

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