Sigma Point Kalman Filters for GPS Navigation with Integrity in Aviation

Greer, Duncan G., Bruggemann, Troy S., & Walker, Rodney A. (2007) Sigma Point Kalman Filters for GPS Navigation with Integrity in Aviation. In Dempster, Andrew (Ed.) IGNSS 2007, 4-6 December 2007, Sydney, Australia.


This paper presents an investigation into the benefits of Sigma Point Kalman Filters (SPKF) applied to GPSOnly estimation problem for highintegrity navigation in aviation applications. Navigation systems used for aircraft approach and landing must meet strict requirements for accuracy, integrity, availability and continuity. Modern GPS is capable of meeting the accuracy and availability requirements, however the integrity and continuity required for approach navigation mandate the use of additional sensors to meet the standards. Modern signal processing techniques can allow greater capability of existing systems, lowering the costs for all users of the system, particularly in the General Aviation sector. This work begins by comparing the raw estimation performance of the sigmapoint filter against established approaches of the Extended Kalman Filter (EKF) and snapshot Leastsquares (LSQ). The fault detection algorithms are then developed for the SPKF filters based on an approach used for highgrade navigation systems. It is hypothesised that since the SPKF can provide a more accurate estimate of the state covariance, then the fault detection scheme, including the integrity protection level, will be more reliable. Comparisons of the faultdetection performance against current techniques are presented. Finally, conclusions are drawn as to the overall benefits of the SPKF approach to navigation integrity. It is demonstrated that whilst the accuracy of the SPKF is not significantly different than the EKF or Least Squares approaches, the covariance estimation and resultant integrity protection level is reliable.

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ID Code: 11143
Item Type: Conference Paper
Refereed: Yes
Additional URLs:
Keywords: GPS, Extended Kalman Filter, SigmaPoint, Unscented Kalman Filter, Integrity
ISBN: 9780646483535
Subjects: Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > AEROSPACE ENGINEERING (090100) > Aerospace Engineering not elsewhere classified (090199)
Divisions: Current > Research Centres > Australian Research Centre for Aerospace Automation
Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
Copyright Owner: Copyright 2007 Duncan Greer
Deposited On: 10 Dec 2007 00:00
Last Modified: 29 Feb 2012 13:35

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