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    On Detection of Observation Faults in the Observation and Position Domains for Positioning of Intelligent Transport Systems

    76748.pdf (3.509Mb)
    Access Status
    Open access
    Authors
    El-Mowafy, Ahmed
    Date
    2019
    Type
    Journal Article
    
    Metadata
    Show full item record
    Citation
    El-Mowafy, A. 2019. On Detection of Observation Faults in the Observation and Position Domains for Positioning of Intelligent Transport Systems. Journal of Geodesy. 93.
    Source Title
    Journal of Geodesy
    DOI
    10.1007/s00190-019-01306-1
    ISSN
    0949-7714
    Faculty
    Faculty of Science and Engineering
    School
    School of Earth and Planetary Sciences (EPS)
    Funding and Sponsorship
    http://purl.org/au-research/grants/arc/DP170103341
    Remarks

    This is a post-peer-review, pre-copyedit version of an article published in Journal of Geodesy. The final authenticated version is available online at: http://doi.org/10.1007/s00190-019-01306-1.

    URI
    http://hdl.handle.net/20.500.11937/76505
    Collection
    • Curtin Research Publications
    Abstract

    Intelligent transportation systems (ITS) depend on global navigation satellite systems (GNSS) as a major positioning sensor, where the sensor should be able to detect and exclude faulty observations to support its reliability. In this article, two fault detection and exclusion (FDE) approaches are discussed. The first is its application in the observation domain using Chi-square test in Kalman filter processing. The second approach discusses FDE testing in the positioning domain using the solution separation (SS) method, where new FDE forms are presented that are tailored for ITS. In the first form, the test is parameterized along the direction of motion of the vehicle and in the cross-direction, which are relevant to applications that require lane identification and collision alert. A combined test is next established. Another form of the test is presented considering the maximum possible positioning error, and finally a direction-independent test. A new test that can be implemented in the urban environment is presented, which takes into account multipath effects that could disrupt the zero-mean normal distribution assumption of the positioning errors. Additionally, a test is presented to check that the position error resulting from the remaining measurements lies within acceptable limits. The proposed methods are demonstrated through a kinematic test run in various environments that may be experienced in ITS.

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