This work first examines fundamental differences between measurement models established for GPS and those of proposed image-based navigation systems. In contrast to single value per satellite GPS pseudorange measurements, image measurements are inherently angle-based and represent pixel coordinate pairs for each mapped target. Thus, in the image-based case, special consideration must be given to the units of the transformations between the states and measurements, and also to the fact that multiple rows of the observation matrix relate to particular error states. An algorithm is developed to instantiate a framework for image-based integrity analogous to that of GPS RAIM. The algorithm is applied cases where the navigation system is estimating position only and then extended to cases where both position and attitude estimation is required. Detailed analysis demonstrates the impact of angular error on a single pixel pair measurement and comparisons from both estimation scenario results show that, from an integrity perspective, there is significant benefit in having known attitude information. Additional work demonstrates the impact of pixel pair measurement relative geometries on system integrity, showing potential improvement in image-based integrity through screening and adding measurements, when available, to the navigation system solution.
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