Abstract
With advances in microelectromechanical system (MEMS) technology, many modern personal navigation devices incorporate measurements from various low-cost sensors alongside Global Navigation Satellite Systems (GNSS) receivers. However, both GNSS and other low-cost sensors are prone to the occurrence of faults that are either un-modeled or poorly modeled. This affects the usability of such personal navigation devices in some applications where reliability is a critical parameter. This paper thus presents several algorithms to either detect and remove such faults or model them properly in order to improve performance, especially reliability, for low cost multi-sensor integrated navigation systems.
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