Window based GPS integrity test using tight GPS/IMU integration applied to a sounding rocket

This paper presents an integrity monitoring method for tight integration of an Inertial Measurement Unit (IMU) and a GPS receiver. The method is applied to data from a Maxus sounding rocket used for microgravity research. It is crucial to determine the rocket position during launch to ensure a safe landing location. Today, the navigation relies on IMU integration only. Involving a GPS receiver enhances the position accuracy but there is a need for protection against faulty satellite range measurements. Monitoring over a sequence of the measurements gives higher confidence to the tests.