EKF based on two FDE schemes for GNSS Vehicle Navigation

Due to the presence of outliers in GNSS measurements, a fault detection and exclusion module (FDE) is mandatory for applications such as vehicle navigation. In this paper, we propose a navigation processor with two different FDE. A first FDE based on the EKF innovation used when the convergence is ensured taking the benefit of the covariance matrix information. A second FDE with a standalone approach is used if the convergence is not ensured. Then, the performance of the proposed approach is evaluated with a large database of experiments.