Lower Bounds in Optimal Integrity Monitoring
Juan Blanch, Todd Walter · Proceedings of the ION ... Pacific PNT Meeting/Proceedings of the Institute of Navigation Pacific PNT · 2019
The goal of integrity monitoring in positioning algorithms consists in finding a test statistic and an estimator that meets both the integrity requirements and the alert requirements under a set of conditions. The search for such test statistics can be cast as an optimization problem where the goal is to minimize the integrity risk while maintaining the alert requirements. In this work, we provide results that extend previous results in two ways. First, we provide a lower bound on the integrity risk for linear unbiased estimators (but not necessarily optimal). Second we provide a lower on the integrity risk in the case of fault detection and exclusion. The results developed in this work here are very general. In particular, they are applicable to both snapshot solutions and Kalman filter solutions, and to any combination of sensors.