USING DELTA RANGE ON GPS POSITIONING, FAULT DETECTION AND FAULT EXCLUSION

Conventionally, the well known position-velocity-acceleration (PVA) model is adopted as the dynamic model of Kalman filter for GPS positioning. However, as a moving vehicle corners at faster speeds, the conventional PVA model without using extra sensors can no longer be adequate for describing the motion of the vehicle. Thus, the positioning result of the vehicle will be less accurate, and normalized innovation squared (NIS) is not suitable as the test statistic for FDE anymore. Therefore, the delta range (DR) equation is proposed to accurately model the dynamic behavior of a maneuvering vehicle. Simulation results show that the proposed DR can perform both positioning and FDE well as the vehicle manoeuvres.