A Survey on Integrity Monitoring of GNSS Navigation for Ground Vehicles

Global Navigation Satellite System (GNSS) has become a key component of the navigation system for airplanes and ground vehicles. GNSS performance degrades greatly when satellite signals are blocked or reflected multiple times before reaching the receiver, especially in urban environments, where the range measurement accuracy can only attain to tens of meters or even worse. Moreover, radio frequency interferences are threatening the GNSS navigation system. Integrity is one important criteria to evaluate the performance of the navigation system. This paper presents the state-of-art integrity monitoring and fault detection and mitigation methods for ground transportation application.