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Quantifying Safety of Laser-Based Navigation

In this paper, a new safety risk evaluation method is developed, simulated, and tested for laser-based navigation algorithms using feature extraction (FE) and data association (DA). First, at FE, we establish a probabilistic measure of separation between features to quantify the sensor's ability to distinguish landmarks. Then, an innovation-based DA process is designed to evaluate the impact on integrity risk of incorrect associations, while considering all potential measurement permutations. The algorithm is analyzed and tested in a structured environment.