| Author: | Yan, Penggao |
| Title: | Integrity monitoring with non-gaussian nominal errors for safety-critical GNSS navigation |
| Advisors: | Hsu, Li-ta (AAE) Wen, Weisong (AAE) |
| Degree: | Ph.D. |
| Year: | 2025 |
| Subject: | Global Positioning System Fault location (Engineering) Aeronautics Hong Kong Polytechnic University -- Dissertations |
| Department: | Department of Aeronautical and Aviation Engineering |
| Pages: | xvii, 162 pages : color illustrations |
| Language: | English |
| Abstract: | Integrity stands as a paramount concern in civil aviation, ensuring the safety and reliability of global positioning system (GPS) navigation. With the development of new global navigation satellite system (GNSS) constellations and signals in the Aeronautical Radio Navigation Service (ARNS) bands, efforts from governments, academics, and the aviation industry are underway to promote a gradual transition from the legacy receiver autonomous integrity monitoring (RAIM) to the more advanced version, known as advanced RAIM (ARAIM). This evolution aims to facilitate a shift from primarily ensuring integrity in horizontal positioning to encompassing vertical guidance, addressing the increasingly stringent navigation requirements of modern aviation. The ARAIM algorithm has undergone regular updates over the years to incorporate new integrity analysis and performance enhancements. Nonetheless, a fundamental assumption is made in ARAIM that the nominal error is bounded by a conservative Gaussian distribution, which unnecessarily enlarges the protection level, thereby reducing the system availability under stringent navigation requirements. To release this assumption and improve the availability of integrity monitoring algorithms, this thesis prototypes a receiver autonomous integrity monitoring framework with non-Gaussian nominal errors covering GNSS error characterizing, overbounding theory, fault detection, and integrity verification. This thesis conducts a comprehensive analysis of signal-in-space range error (SISRE) of GPS and Galileo constellations, which reveals its heavy-tailed properties. A sharp yet conservative non-Gaussian overbound, Principal Gaussian overbound (PGO), is proposed to bound this kind of heavy-tailed error by leveraging the characteristics of the Gaussian mixture model. The overbounding property of the PGO is proved to be preserved through convolution, which makes it possible to derive measurement-level requirements from the position domain integrity requirements. Experimental results show that the PGO provides the most competitive bounding performance for SISRE when compared to the Gaussian overbound and Gaussian-Pareto overbound, yielding a sharp bound in both the core and tail parts of the error distribution. The proposed PGO served as the non-Gaussian nominal error bound for the development of fault detection and integrity monitoring algorithms in this thesis. This thesis proposes a fault detection method, the jackknife detector, for linearized pseudorange-based positioning systems with non-Gaussian nominal error. Specifically, a test statistic based on the jackknife technique is proposed, which is proved to be the linear combination of measurement errors without any assumption about error distribution. A hypothesis test with the Bonferroni correction is constructed to detect potential faults in measurements under single-fault assumption. Then, the jackknife detector is extended to simultaneous faults by combining multiple test statistics. The reliability of the proposed method is examined in a worldwide simulation in both single- and multiple-fault settings. This thesis proposes a multiple-hypothesis-based integrity monitoring algorithm, the jackknife ARAIM algorithm, by systematically exploiting the properties of the jackknife detector in the range domain, which is proven to be capable of handling either Gaussian or non-Gaussian nominal error bounds. A tight bound of the integrity risk is derived by quantifying the impacts of hypothetical fault vectors on the position solution. The proposed method is evaluated in a worldwide simulation with both single and dual constellations. Results reveal that the proposed method has higher system availability than the baseline ARAIM method, making it possible to support localizer performance with vertical guidance (LPV) with a decision height of 200 ft using the GPS-Galileo dual constellation. |
| Rights: | All rights reserved |
| Access: | open access |
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