PNT

The addition of alternative sensors such as cameras, magnetometers, and small ranging radios increases the likelihood of a mismodeled and/or faulty sensor, affecting the accuracy and performance of the overall navigation solution. Unlike two-sensor systems such as GPS-inertial integration, systems of three or more sensors present the problem of ambiguity as to which sensor is adversely affecting the solution. This presents the need for a robust framework that can maintain navigation integrity despite the additional sensor modalities.