Outlier-robust Bayesian Filter with Integrity Monitoring for GNSS Positioning
Henri Pesonen · 2009
ing his Ph.D. studies. His research interests are ro-bust and reliable positioning methods and Bayesian statistics. We present an outlier-robust positioning Bayesian filter based on Gaussian mixture distributions and a fast sequential technique to approximate the posterior distribution. Also, a receiver au-tonomous integrity monitoring (RAIM) scheme based on Bayesian decision theory is introduced. The performances of the proposed methods are compared via simulations in urban personal po-sitioning scenarios. The simulations show that the proposed techniques work well as outlier-robust positioning methods and that the integrity mon-itoring technique further enhances the perfor-mance. 1