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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 canyon).
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
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