Estimating Covariance Models for Collaborative Integrity Monitoring
Abstract: This thesis
introduced a method for modeling non-stationary random errors to enable
Collaboration-Enhanced Receiver Integrity Monitoring (CERIM). Collaboration- Enhanced
Receiver Integrity Monitoring is a relative new method of GPS integrity monitoring which
has multiple advantages compared to conventional Receiver Au- tonomous Integrity
Monitoring (RAIM). The idea is to use information ... read morefrom multiple collaborative receivers
to compute a statistic which can be used to monitor system health. CERIM performance
depends strongly on the noise covariance model used for the collaborating receivers, but
it is not trivial to estimate the noise covariance for receiver teams, particularly for
teams operating in an urban environment. This thesis proposes and evaluates a method for
estimating a noise covariance model with- out any external infrastructure or ground
truth system. The method is designed to process data even for data sets where the
dimension of the CERIM residual vector changes continually (e.g. due to satellites
suddenly appearing or disappearing in an urban
Thesis (M.S.)--Tufts University, 2016.
Submitted to the Dept. of Mechanical Engineering.
Advisor: Jason Rife.
Committee: Robert White, and Usman Khan.
Keyword: Mechanical engineering.read less