Improving 3D Cellular Positioning Integrity with Bayesian RAIM

Autor:	Ding, Liqin, Seco-Granados, Gonzalo, Kim, Hyowon, Whiton, Russ, Ström, Erik G., Sjöberg, Jonas, Wymeersch, Henk
Rok vydání:	2024
Předmět:	Electrical Engineering and Systems Science - Signal Processing
Druh dokumentu:	Working Paper
Popis:	Ensuring positioning integrity amid faulty measurements is crucial for safety-critical applications, making receiver autonomous integrity monitoring (RAIM) indispensable. This paper introduces a Bayesian RAIM algorithm with a streamlined architecture for snapshot-type 3D cellular positioning. Unlike traditional frequentist-type RAIM algorithms, it computes the exact posterior probability density function (PDF) of the position vector as a Gaussian mixture (GM) model using efficient message passing along a factor graph. This Bayesian approach retains all crucial information from the measurements, eliminates the need to discard faulty measurements, and results in tighter protection levels (PLs) in 3D space and 1D/2D subspaces that meet target integrity risk (TIR) requirements. Numerical simulations demonstrate that the Bayesian RAIM algorithm significantly outperforms a baseline algorithm, achieving over $50\%$ PL reduction at a comparable computational cost. Comment: Submitted to IEEE Transactions on Vehicular Technology
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2408.04994 Zobrazit plný text záznamu View this record from Arxiv