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US 12,498,493 B2Granted
System and method for distributed integrity monitoring
AssigneeSwift Navigation, Inc.
InventorsPhilippe Brocard, Alex Parkins, Sébastien Carcanague, James Tidd
Life of this patent
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Abstract
A method can include receiving satellite observations, determining GNSS corrections, monitoring the GNSS corrections, transmitting the GNSS corrections and monitor result, and determining a GNSS receiver positioning solution.
Claims20
A system for determining global navigation satellite systems (GNSS) corrections comprising:
- a first remote processor, separate from a GNSS receiver, configured to:
- receive a first set of satellite observations associated with a first epoch from a first set of reference stations;
- determine the GNSS corrections using the first set of satellite observations;
- and
- transmit the GNSS corrections and optionally a timestamp associated with the first epoch;
- a second remote processor, separate from the GNSS receiver, configured to:
- receive a second set of satellite observations associated with a second epoch from a second set of reference stations;
- compensate the second set of satellite observations to generate a set of compensated satellite observations;
- when a residual difference between the GNSS corrections and the set of compensated satellite observations is less than a threshold, generate an integrity flag indicating the GNSS corrections are valid;
- and
- when the residual difference is greater than or equal to the threshold, generate the integrity flag indicated the GNSS corrections are not valid;
- transmit a timestamp associated with the second epoch and the integrity flag;
- and
- a local processor, collocated with the GNSS receiver, configured to:
- receive the GNSS corrections, the timestamp associated with the second epoch, and the integrity flag;
- determine a correction integrity age (CIA) using the timestamp;
- when the CIA is less than a target time, correct a third set of GNSS corrections received by the GNSS receiver using the GNSS corrections, wherein the corrected third set of GNSS corrections are used to determine a position of the GNSS receiver;
- and
- when the CIA is greater than the target time or the integrity flag indicates the GNSS corrections are not valid, determine the position of the GNSS receiver using the third set of GNSS corrections without correcting the third set of GNSS corrections.
16 more elements
A method comprising:
- receiving a set of satellite observations from a set of reference stations;
- transmitting, during an observations transmission time, the set of satellite observations and global navigation satellite signals (GNSS) corrections to a corrections integrity chain after a station processing time;
- at the corrections integrity chain, during an integrity checking time, checking the GNSS corrections for an integrity violation and generating an integrity flag indicating whether the integrity violation has occurred;
- transmitting, during an integrity flag transmission time, the integrity flag to a positioning engine;
- and
- at the positioning engine, processing the integrity flag during a positioning engine processing time;
- wherein the positioning engine determines an age of integrity of the GNSS corrections that accounts for the observations transmission time, the station processing time, the integrity checking time, the integrity flag transmission time, and the positioning engine processing time.
4 more elements
Dependencies are inferred from the claim text.