Safety critical bounds for precise positioning for aviation and autonomy
Abstract/Contents
- Abstract
- Unmanned aerial vehicle (UAV) and autonomous platforms can greatly benefit from an assured position solution with high integrity error bounds. The global navigation satellite system (GNSS) offers nearly ubiquitous positioning, and the expected high degree of connectivity in these vehicles will allow users to receive real time precise clock and ephemeris corrections to the GNSS navigation messages. Such corrections enable the use of precise point positioning (PPP) techniques. Up to now, these techniques have mostly been used to provide high accuracy, rather than focusing on high integrity applications. In this thesis, I apply the methodology and algorithms used in aviation to determine position error bounds with high integrity (or protection levels) for a PPP position solution. A navigation system that incorporates measurements from GNSS, an inertial measurement unit (IMU), and an odometer, and is tolerant to faulted measurements was developed and demonstrated with static, automobile, and flight data. Methods are developed and discussed that reduce the complexity and computational load of the system. In order to stress the error detection capabilities, faults are injected into the measurements. The overall position error bounds produced, which are often under two meters, offer a significant improvement over the state of the art in high integrity navigation, which is driven by the aviation industry and are on the order of tens of meters. Another contribution relaxes the requirements on the use of precise orbit and clock corrections by the navigation filter while still producing tighter error bounds through the use of precision navigation techniques. A final topic discussed involves techniques developed for measuring the errors affecting the GNSS satellites as they relate to GNSS constellation monitoring, which is required to support advanced receiver autonomous integrity monitoring (ARAIM). ARAIM is a high integrity navigation technique in development for aviation and that was adapted here to provide the protection levels for PPP. Significant temporal variations in the satellite performance are observed in ways that are undetectable to other constellation monitoring techniques.
Description
| Type of resource | text |
|---|---|
| Form | electronic resource; remote; computer; online resource |
| Extent | 1 online resource. |
| Place | California |
| Place | [Stanford, California] |
| Publisher | [Stanford University] |
| Copyright date | 2021; ©2021 |
| Publication date | 2021; 2021 |
| Issuance | monographic |
| Language | English |
Creators/Contributors
| Author | Gunning, Kazuma |
|---|---|
| Degree supervisor | Walter, Todd |
| Thesis advisor | Walter, Todd |
| Thesis advisor | Gao, Grace |
| Thesis advisor | Powell, J. David, 1938- |
| Degree committee member | Gao, Grace |
| Degree committee member | Powell, J. David, 1938- |
| Associated with | Stanford University, Department of Aeronautics and Astronautics |
Subjects
| Genre | Theses |
|---|---|
| Genre | Text |
Bibliographic information
| Statement of responsibility | Kazuma Gunning. |
|---|---|
| Note | Submitted to the Department of Aeronautics and Astronautics. |
| Thesis | Thesis Ph.D. Stanford University 2021. |
| Location | https://purl.stanford.edu/cj174dz8078 |
Access conditions
- Copyright
- © 2021 by Kazuma Gunning
- License
- This work is licensed under a Creative Commons Attribution Non Commercial 3.0 Unported license (CC BY-NC).
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