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Reliability is an essential factor in a navigation system. Therefore, an integrity monitoring system is considered one of the most important parts in an avionic navigation system. A fault due to systematic malfunctioning definitely requires integrity reinforcement through systematic analysis. In this paper, we propose a method to detect faults of the GPS signal by using a distributed nonlinear filter based probability test. In order to detect faults, consistency is examined through a likelihood ratio between the main and auxiliary particle filters (PFs). Specifically, the main PF which includes all the measurements and the auxiliary PFs which only do partial measurements are used in the process of consistency testing. Through GPS measurement and the application of the autonomous integrity monitoring system, the current study illustrates the performance of the proposed fault detection algorithm

GPS Integrity Monitoring Method Using Auxiliary Nonlinear Filters with Log Likelihood Ratio Test Approach