Study of Fault Detection in Double Difference Tight Coupling Relative Positioning

Abstract

In this paper, the proposed fault detection method detected outliers of the pseudo-range which are one of the problems in tight coupling relative positioning. The tight coupling relative positioning is a technique to calculate a relative position using the velocity vector of the each antennas traveling, and the pseudo-range was calculated by the propagation delay time from the satellite observed from two GNSS antennas. The proposed fault detection of pseudo-range considers an innovation process to be one signal in the tight coupling using the motion of GNSS antenna state and tries to isolate the signal by using the stationarity state. The proposed method judge the stationarity state to have an effect such as the cycle-slip or the multi-path when a signal was able to separate and handle the signals for outliers. The effect of the proposed method was inspected by using a vehicle. As a result, the proposed method proved that the technique was particularly to effective in the area where there were few common visible satellite number. On the other hand, the proposed method had less efficient in the area where there were many common visible satellites, thus it was necessary to devise a more suitable techniques such as combining plural techniques.