Abstract
In this article, we develop new stochastic tropospheric error models for positioning, fault detection, and integrity monitoring over time. We first perform time-domain and frequency-domain analyses of residual tropospheric delays observed over 12 months at multiple globally distributed locations. We then derive bounding error models for time-sequential safety-critical navigation systems including global navigation satellite systems integrated with inertial navigation systems and Kalman filter implementations of advanced receiver autonomous integrity monitoring.
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