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Sensors 2015, 15(9), 22854-22873; doi:10.3390/s150922854

Vision-Aided RAIM: A New Method for GPS Integrity Monitoring in Approach and Landing Phase

School of Electronic and Information Engineering, Beihang University, Beijing 100191, China
School of Civil and Environmental Engineering, UNSW Australia, Sydney NSW 2052, Australia
Author to whom correspondence should be addressed.
Academic Editor: Gert F. Trommer
Received: 19 March 2015 / Revised: 11 May 2015 / Accepted: 8 September 2015 / Published: 10 September 2015
(This article belongs to the Section Physical Sensors)
View Full-Text   |   Download PDF [1443 KB, uploaded 21 September 2015]   |  


In the 1980s, Global Positioning System (GPS) receiver autonomous integrity monitoring (RAIM) was proposed to provide the integrity of a navigation system by checking the consistency of GPS measurements. However, during the approach and landing phase of a flight path, where there is often low GPS visibility conditions, the performance of the existing RAIM method may not meet the stringent aviation requirements for availability and integrity due to insufficient observations. To solve this problem, a new RAIM method, named vision-aided RAIM (VA-RAIM), is proposed for GPS integrity monitoring in the approach and landing phase. By introducing landmarks as pseudo-satellites, the VA-RAIM enriches the navigation observations to improve the performance of RAIM. In the method, a computer vision system photographs and matches these landmarks to obtain additional measurements for navigation. Nevertheless, the challenging issue is that such additional measurements may suffer from vision errors. To ensure the reliability of the vision measurements, a GPS-based calibration algorithm is presented to reduce the time-invariant part of the vision errors. Then, the calibrated vision measurements are integrated with the GPS observations for integrity monitoring. Simulation results show that the VA-RAIM outperforms the conventional RAIM with a higher level of availability and fault detection rate. View Full-Text
Keywords: GPS; RAIM; aviation navigation; approach and landing phase; computer vision; VA-RAIM GPS; RAIM; aviation navigation; approach and landing phase; computer vision; VA-RAIM

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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Fu, L.; Zhang, J.; Li, R.; Cao, X.; Wang, J. Vision-Aided RAIM: A New Method for GPS Integrity Monitoring in Approach and Landing Phase. Sensors 2015, 15, 22854-22873.

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