A Comprehensive Survey on the Integrity of Localization Systems

Area of Science:

• * Localization systems engineering
• * Navigation and positioning science
• * Signal processing and control theory

Background:

• * Existing definitions of integrity and protection levels in localization systems require refinement.
• * Current reviews often focus narrowly on Global Navigation Satellite System (GNSS)-based methods, neglecting other localization techniques.
• * There is a need for a comprehensive understanding of integrity across diverse localization approaches.

Purpose of the Study:

• * To extend and refine definitions of integrity and protection level for broad localization systems.
• * To systematically review and classify integrity methods across various localization techniques (optimization-based, fusion-based, SLAM-based) and sensors.
• * To identify research gaps and propose a unified framework for enhancing localization system reliability.

Main Methods:

• * Comprehensive literature survey and classification of localization techniques and integrity methods.
• * Development of a general probabilistic model for diverse error types in localization.
• * Comparative analysis of integrity methods based on algorithms, evaluation, sensor data, and limitations.

Main Results:

• * A significant research imbalance exists, with 73.3% of studies focusing on GNSS-based localization versus 26.7% on non-GNSS methods.
• * Few studies address protection level calculations, indicating a critical research gap.
• * Robust modeling, combining quantification and qualification, emerges as a promising integrity method.

Conclusions:

• * Refined definitions and a new classification of integrity methods provide a structured approach to localization system analysis.
• * Addressing the research imbalance towards non-GNSS methods and protection level calculations is crucial.
• * Robust modeling offers a unified framework for advancing localization system reliability and safety for autonomous operations.