Physics

GNSS applications

Key (lock)

Mathematics

Satellite navigation

Inertial measurement unit

Inertial navigation system

Engineering

Orientation (vector space)

Artificial intelligence

Power (physics)

GNSS augmentation

Systems engineering

Geometry

Navigation system

Computer science

Global Positioning System

Quantum mechanics

Real-time computing

Computer security

Reliability (semiconductor)

Air navigation

Telecommunications

IEEE Transactions on Intelligent Transportation Systems

Positioning and navigation are critical functions of automated driving functions, which help autonomous vehicles determine their absolute and relative positions in the environment that they operate. Integrity Monitoring (IM) systems, which are intended to assess the reliability and trustworthiness of the information provided by the navigation systems, are crucial for ensuring the safety of automated driving functions. This paper provides a comprehensive review of the existing IM frameworks for safety-critical navigation applications and expands on the state-of-the-art of the most recent development of such systems for connected automated vehicles. We mainly focus on IM methods for Global Navigation Satellite Systems (GNSS) and Inertial Navigation Systems (INS). However, we also cover IM for map assisted and wireless signal augmented navigation systems, which are promising for high-performance navigation applications, such as automated driving functions. For each main category of solutions, key aspects such as the characteristics of measurement errors and faults related to various data sources are discussed to provide deeper insights into designing of reliable IM systems. Also, some of the major open research challenges to the best knowledge of the authors have been identified and discussed.

Integrity Monitoring of GNSS/INS Based Positioning Systems for Autonomous Vehicles: State-of-the-Art and Open Challenges