Publication Date


Document Type


Committee Members

John C. Gallagher (Committee Member), Kuldip S. Rattan (Committee Chair), Xiaodong Zhang (Committee Member)

Degree Name

Master of Science in Engineering (MSEgr)


In aviation applications, navigation integrity is paramount. Integrity of GPS systems is well established with set standards. Vision based navigation systems have been found to be an adequate substitute for GPS, when it is unavailable but are unlikely to be utilized until there is a measure for system integrity. Work has been done to detect the effect of a single measurement pair being corrupted with a bias; however, the measurement geometry varies greatly with the environment. The environment could be sparse in visual features to track, or the environment could be rich with features. With more features, there is a greater probability of having multiple corrupted measurements. It is essential that multiple corrupt measurements are detected and excluded to assure the integrity and reliability of the system. This thesis focuses on understanding the existing integrity monitoring methods and using them for the detection of multiple errors in vision-based navigation systems. The current techniques are found to have the ability to detect single and multiple errors, but they cannot isolate them. This thesis develops an algorithm with the ability to isolate multiple erroneous measurements adding to the capabilities of existing integrity monitoring fault detection and isolation techniques.

Page Count


Department or Program

Department of Electrical Engineering

Year Degree Awarded