FULL INTEGRITY TESTING for GPS/INS

Various extensions to Receiver Autonomous Integrity Monitoring (RAIM) are offered for GPS/INS integration. Segmented estimation enables application to position and velocity updates from pseudoranges and carrier phase changes, respectively. Full exploitation of the information content in covariance matrices produces a reliable data editor, without separate subfilter solutions. Correlations due to differencing across satellites are included. Development validates a simple process for pre-editing each individual GPS/INS update, separately from all others, offering performance consistent with the parity approach, widely accepted and revisited herein. Exclusion/isolation is performed with a single parity scalar, and the method is fully and easily adaptable to multiple failed satellites.