International Global Navigation Satellite Systems Association
IGNSS Conference 2016
Colombo Theatres, Kensington Campus, UNSW Australia
6 – 8 December 2016
Integrity Monitoring Methods for Co-operative Intelligent
Transport Systems
Elizabeth Smith
1
UNSW Australia
Elizabeth.a.smith@student.unsw.edu.au
DST Group
Liz.smith@dsto.defence.gov.au
UNSW Australia
cjwayn@unsw.edu.au
Andrew Dempster
UNSW Australia
a.dempster@unsw.edu.au
ABSTRACT
Co-operative Intelligent Transport Systems (CITS) equip vehicles with
the ability to communicate with each other and surrounding
infrastructure wirelessly to enhance their positioning information
determined by on-board sensors. CITS are designed to increase the
accuracy and reliability of vehicle positioning leading to a safe,
efficient environment for vehicles and their passengers. For positioning
applications, the integrity monitoring process ensures that the data used
to compute a position solution is accurate. If the integrity monitoring
process fails to detect a fault in the data and the fault is not excluded, an
incorrect position solution may result. Analysis of the published works
available shows that each sensor utilised in CITS has its own
independent integrity monitoring process. This paper will present the
individual sensor error sources and related integrity monitoring
techniques. Through this investigation, it can be concluded that not all
fault detection methods are applicable to CITS and that further
consideration on the integrity requirements is needed.
KEYWORDS: CITS, Cooperative Positioning, Integrity, Fault Detection
1. INTRODUCTION
Vehicles that can self-navigate are becoming more established, however navigation
capabilities are not the only requirements for a safe network of autonomous vehicles. The
1
This research is supported by the Defence Science and Technology Group
