GPS Vector Tracking Receivers with Rate Detector for Integrity Monitoring

In this paper, the integrity monitoring algorithm based on a Kalman filter (KF) based rate detector is employed in the vector tracking loop (VTL) of the Global Positioning System (GPS) receiver. In the VTL approach, the extended Kalman filter (EKF) simultaneously tracks the received signals and estimates the receiver’s position, velocity, etc. In contrast to the scalar tracking loop (STL) that uses the independent parallel tracking loop approach, the VTL technique uses the correlation of each satellite signal and user dynamics and thus reduces the risk of loss lock of signals. Although the VTL scheme provides several important advantages, the failure of tracking in one channel may affect the entire system and lead to loss of lock on all satellites. The integrity monitoring algorithm can be adopted for robustness enhancement. In general, the standard integrity monitoring algorithm can timely detect the step type erroneous signals. However, in the presence of ramp type slowly growing erroneous signals, detection of such type of error takes much more time since the error cannot be detected until the cumulative exceeds the specified threshold. The integrity monitoring based on the rate detector possesses good potential for resolving such problem. The test statistic based on the pseudorange residual in association with the EKF is applied for determination of whether the test statistic exceeds the allowable threshold values. The fault detection and exclusion (FDE) mechanism can then be employed to exclude the hazardous erroneous signals for the abnormal satellites to assure normal operation of GPS receivers. Feasibility of the integrity monitoring algorithm based on the EKF based rate detector will be demonstrated. Performance assessment and evaluation will be presented.