Simulation Conditions
Navigation requirements | Integrity requirements allocated to the IMU fault hypothesis, IIMU | 3.3 × 10−8 /hour = IGNSS/IMU /3 = (10−7/hour)/3 (IGNSS/IMU is equally allocated among the three hypotheses, as defined in Figure 3) |
Continuity requirements allocated to the false alert event under the IMU fault hypothesis, CIMU (= Pfa,IMU*) *Only the continuity requirement due to a false alert is considered | 0.5 × 10−6 / hour = *CGNSS/IMU /2 = (10−6/hour)/2 (*CGNSS/IMU is equally allocated among the two fault monitors, as defined in Figure 3) | |
GNSS constellation | 31 GPS constellations | |
GNSS | GNSS error model |
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GNSS measurement update rate | 2 Hz | |
Prior probability of GNSS faults | 10−5 | |
IMU | IMU error model |
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IMU measurement update rate | 100 Hz | |
Prior probability of IMU sensor faults | 10−5 | |
Flight trajectory | Hovering scenario (static) |
Note: WAAS: Wide area augmentation system.