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Proceedings of the 17th World Congress The International Federation of Automatic Control Seoul, Korea, July 6-11, 2008

Preliminary Experiments of GPS/INS Based Integrity Monitoring Using MSASDifferential Correction Data
T. Tsujii*. H. Tomita*. T. Fujiwara*. and M. Harigae* *Aviation Program group, Japan Aerospace Exploration Agency, Tokyo, Japan (Tel: +81-422-40-3605; e-mail: tsujii@chofu.jaxa.jp). Abstract: Japan Aerospace Exploration Agency (JAXA) has developed several GPS/INS systems called GAIA (GPS Aided Inertial navigation Avionics) for over ten years and succeeded in automaticlanding of unmanned experimental vehicle in differential mode. In order to use GAIA for civil aviation, JAXA has been developing a fault detection and exclusion (FDE) software for integrity monitoringbased on filter bank method. On the other hand, a Japanese satellite based augmentation system, MSAS (MTSAT Satellite-based Augmentation System) is planned to be operational in 2007, and the testsignal is transmitted. A flight experiment to collect MSAS data was conducted and GPS/MSAS data were used to compute horizontal protection level (HPL). The GPS/INS filter bank method showed a reduced HPL,compare to MSAS-based HPL. 1. INTRODUCTION GPS/INS integrated navigation system has been a candidate of integrity monitoring system since an inertial sensor could improve performance of the faultdetection and exclusion (FDE) functions. JAXA has developed several GPS/INS systems called GAIA (GPS Aided Inertial navigation Avionics) for over ten years and succeeded in automatic landing of unmannedexperimental vehicle in differential mode. Although high accuracy at the level of Category III approach and landing was achieved, GAIA could not be used for civil aviation since its integrity was notensured. Therefore, JAXA has commenced research on FDE algorithms for GPS/INS navigation system, and a prototype software based on filter bank method was developed. On the other hand, a Japanese...
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