An Enhanced Framework for Collaborative All-Source Navigation with Integrity
Abstract
The Autonomous and Resilient Management of All-source Sensors with Stable Observability Monitoring (ARMAS-SOM) framework fuses collaborative all-source sensor information in a resilient manner with fault detection, exclusion, and integrity solutions recognizable to a Global Navigation Satellite System (GNSS) user. This framework uses a multi-filter residual monitoring approach for fault detection and exclusion which is augmented with an additional "observability" EKF sub-layer for resilience. We monitor the a posteriori state covariances in this sub-layer to provide intrinsic awareness when navigation state observability assumptions required for integrity are in danger. The framework leverages this to selectively augment with onboard information and preserve resilience. By maintaining split parallel collaborative and instances of ARMAS-SOM and employing the "stingy collaboration" technique, we are able maximize efficient use of network resources, limit the propagation of unknown corruption to a single donor, and maintain consistent collaborative navigation without fear of double-counting in a scalable processing footprint. Lastly, we preserve the ability to return to autonomy and are able to use the same intrinsic awareness to notify the user when it is safe to do so.
Document Details
- Document Type
- Technical Report
- Publication Date
- Sep 01, 2021
- Accession Number
- AD1150366
Entities
People
- Jonathon S. Gipson
Organizations
- Air Force Institute of Technology