Fault Detection Method for INS/GNSS Navigation System Based on CERIM in V2V Network

Internet-connected vehicles are one of the research directions in the field of intelligent transportation, and navigation integrity is of great importance for the safe operation of vehicles in dense urban building conditions. In this paper, we propose a fault detection method using baseline inter-vehicle collaboration algorithm to improve the fault detection and integrity assurance of navigation system under the condition of limited measurement information, in view of the fault influence of GNSS in the process of vehicle navigation. The proposed algorithm can make full use of the observation information of the cooperative vehicles to improve the sensitivity and accuracy of fault detection. Simulations show that compared with the traditional GNSS receiver autonomous integrity detection technology, this paper can significantly improve the fault detection sensitivity of vehicle navigation system in urban environment and guarantee the navigation integrity under fault conditions.