Journal of Positioning, Navigation, and Timing (J Position Navig Timing; JPNT)
Citation: Nam, G., Kim, J., Min, D., & Lee, J., 2023, Along-Track Position Error Bound Estimation using Kalman FilterBased RAIM for UAV Geofencing, Journal of Positioning, Navigation, and Timing, 12, 51-58.
Journal of Positioning, Navigation, and Timing (J Position Navig Timing) 2023 March, Volume 12, Issue 1, pages 51-58. https://doi.org/10.11003/JPNT.2023.12.1.51
Received on 16 February 2023, Revised on 21 February 2023, Accepted on 25 February 2023, Published on 30 March 2023.
License: Creative Commons Attribution Non-Commercial License (https://creativecommons.org/licenses/bync/4.0/) which permits unrestricted non-commercial use, distribution, and reproduction in any medium, provided the original work is properly cited.
Gihun Nam, Junsoo Kim, Dongchan Min, Jiyun Lee†
Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology, Daejeon 34141, Korea
†Corresponding Author: E-mail, jiyunlee@kaist.ac.kr; Tel: +82-42-350-3725
Geofencing supports unmanned aerial vehicle (UAV) operation by defining stay-in and stay-out regions. National Aeronautics and Space Administration (NASA) has developed a prototype of the geofencing function, SAFEGUARD, which prevents stayout region violation by utilizing position estimates. Thus, SAFEGUARD depends on navigation system performance, and the safety risk associated with the navigation system uncertainty should be considered. This study presents a methodology to compute the safety risk assessment-based along-track position error bound under nominal and Global Navigation Satellite Systems (GNSS) failure conditions. A Kalman filter system using pseudorange measurements as well as pseudorange rate measurements is considered for determining the position uncertainty induced by velocity uncertainty. The worst case pseudorange and pseudorange rate fault-based position error bound under the GNSS failure condition are derived by applying a Receiver Autonomous Integrity Monitor (RAIM). Position error bound simulations are also conducted for different GNSS fault hypotheses and constellation conditions with a GNSS/INS integrated navigation system. The results show that the proposed along-track position error bounds depend on satellite geometries caused by UAV attitude change and are reduced to about 40% of those of the single constellation case when using the dual constellation.
geo-fencing, navigation system error, position error bound, receiver autonomous integrity monitor
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Conceptualization, G.-H. Nam and J. -S. Kim.; methodology, G.-H. Nam and J. -S. Kim.; software, G.-H. Nam and J. -S. Kim.; validation, G.-H. Nam, D. -C. Min, and J. -Y. Lee.; formal analysis, G.-H. Nam and J. -S. Kim.; investigation, G.-H. Nam, J. -S. Kim, D. -C. Min, and J. -Y. Lee; resources, G.-H. Nam and J. -S. Kim.; data curation, G.H. Nam.; writing—original draft preparation, G.-H. Nam and J. -S. Kim.; writing—review and editing, G.-H. Nam, J. -S. Kim, D. -C. Min, and J. -Y. Lee; visualization, G.-H. Nam.; supervision, J. -Y. Lee.; project administration, J. -Y. Lee.; funding acquisition, J. -Y. Lee.
The authors declare no conflict of interest.