Proposed architecture for integrity monitoring of a GNSS/MEMS system with a Fisheye camera in urban environment

Recently, an increasing trend of GNSS-based Safety Critical (SC) or Liability Critical (LC) urban applications has been observed. These applications, associated to dense urban canyons, can have very stringent requirements in terms of accuracy, reliability and availability of the provided position solution. In this paper, the implementation of a step-by-step algorithm able to ensure the robustness and integrity monitoring of an integrated GPS/Galileo receiver with low-cost MEMS sensors and aided by the video Fisheye camera is proposed.