A Combination of Classification Robust Adaptive Kalman Filter with PPP-RTK to Improve Fault Detection for Integrity Monitoring of Autonomous Vehicles

A Combination of Classification Robust Adaptive Kalman Filter with PPP-RTK to Improve Fault Detection for Integrity Monitoring of Autonomous Vehicles

Real-time integrity monitoring (IM) is essential for autonomous vehicle positioning, requiring high availability and manageable computational load. This research proposes using precise point positioning real-time kinematic (PPP-RTK) as the positioning method, combined with an improved classification...

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Bibliographic Details
Main Authors: Hassan Elsayed, Ahmed El-Mowafy, Amir Allahvirdi-Zadeh, Kan Wang, Xiaolong Mi
Format: Article
Language:English
Published: MDPI AG 2025-01-01
Series:Remote Sensing
Subjects:
integrity monitoring
fault detection and identification
autonomous vehicles
PPP-RTK
robust estimation
adaptive Kalman filter
Online Access:https://www.mdpi.com/2072-4292/17/2/284
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