Using Delta Range for Fault Detection/Exclusion on GPS Positioning

Conventionally, the well‐known position‐velocity‐acceleration (PVA) model is adopted as the dynamic model of the Kalman filter for global positioning system (GPS) positioning. Nevertheless, when a moving vehicle corners in the situation of accelerated motion, the conventional PVA model without using extra sensors is no longer adequate for describing the motion of the vehicle. Thus, the positioning result of the vehicle is less accurate during accelerated motion, and normalized innovation squared is no longer suitable as the test statistic measurement for fault detection and exclusion on GPS positioning. Therefore, in this paper, the delta range (DR) equation is proposed to accurately model the dynamic behavior of a maneuvering vehicle. We propose both the conventional PVA model and the delta range model on the Kalman filter for a maneuvering vehicle to measure its position. Simulation results show that the proposed delta range can perform both positioning and fault detection and exclusion well as the vehicle maneuvers. Finally, we successfully perform two experiments to demonstrate that the DR model has a better positioning effect than the PVA model for a maneuvering vehicle. Copyright © 2011 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society