Innovation-Based Fault Detection and Exclusion Applied to Ultra-WideBand Augmented Urban GNSS Navigation

Due to their ability provide a worldwide absolute outdoor positioning, Global Navigation Satellite Systems (GNSS) have become reference technology in terms of navigation technologies. Transportation-related sectors make use this order obtain position, velocity, and time solution for different tasks applications. However, the performance GNSS-based is degraded when employed urban areas which satellite visibility not good enough or nonexistent, as ranging signals obstructed reflected by any numerous surrounding objects. For these situations, Ultra-Wideband (UWB) perfect candidate complement GNSS solution, its anchor trilateration-based radiofrequency positioning resembles GNSS’s principle. Nevertheless, fusion vulnerable interferences affecting both systems, since multiple signal-degrading error sources can be found environments. Moreover, an inadequate location augmenting UWB transmitters introduce additional errors system due vulnerability multipath effect. Therefore, misbehavior augmentation could lead unexpected critical faults instead improving standalone GNSS. Accordingly, research work presents improvement caused application Fault Detection Exclusion methods applied UWB-augmented low-cost