Table 4 The specific description of the added faults
From: Multi-level autonomous integrity monitoring method for multi-source PNT resilient fusion navigation
Case | Fault time (s) | Fault navigation source | Fault sensor | Fault description |
|---|---|---|---|---|
1 | 80 ~ 100 | GNSS | SAT-2 | 0.02 m/s gradual increase fault |
2 | 80 ~ 100 | GNSS | SAT-3 & SAT-4 | 40 m constant bias fault |
3 | 120 ~ 140 | LBL | AP1 | 0.8 ms/s gradual increase fault |
4 | 120 ~ 140 | LBL | AP2 & AP3 | 0.5 s constant bias fault |
5 | 40 ~ 60 | USBL | Angle | 0.05°constant bias fault |
6 | 40 ~ 60 | USBL | Time | 0.05 ms/s gradual increase fault |