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US 12,699,188 B2Granted
System and method for bounding a satellite positioning solution integrity
AssigneeSwift Navigation, Inc.
InventorsPhilippe Brocard, Damien Theureau, Jan Bolting, Isak Tjernberg, Sébastien Carcanague
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Abstract
A method can include, or a system can be configured to perform the steps of, receiving satellite signals, determining a monitor condition, determining a monitor performance, determining a residual error magnitude, fitting the residual error magnitude, and determining a positioning solution.
Claims20
A method comprising:
- receiving global navigation satellite signal (GNSS) corrections;
- determining a corrections monitor probability distribution associated with a corrections monitor, wherein the corrections monitor probability distribution comprises probabilities of GNSS correction errors for the GNSS corrections;
- for each integrity risk of a plurality of integrity risks:
- determining an error detection threshold based on a probability of false alarm associated with the corrections monitor probability distribution;
- determining a residual error magnitude of a GNSS correction error of the GNSS corrections errors, that misses detection given the error detection threshold and the respective integrity risk;
- and
- fitting the residual error magnitudes with a bound function, wherein every value of the bound function is greater than or equal to the residual error magnitudes for each integrity risk of the plurality of integrity risks;
- based on the bound function and the GNSS corrections, determining a GNSS receiver position of a GNSS receiver;
- and
- reorienting the GNSS receiver based on the determined GNSS receiver position.
7 more elements
A system for determining GNSS corrections and bounds associated therewith comprising:
- a corrections generator communicatively coupled to a set of reference stations and an integrity monitor, wherein the corrections generator is configured to:
- receive a set of satellite observations from the set of reference stations;
- determine the GNSS corrections based on the set of satellite observations from the set of reference stations;
- determine the bounds associated with the GNSS corrections;
- and
- the integrity monitor, wherein the integrity monitor is configured to determine whether a probability that the GNSS corrections exceed the bounds is greater than an allocated integrity risk, wherein the allocated integrity risk is a predetermined probability for the GNSS corrections to exceed the bounds;
- wherein the corrections generator is configured to determine the bounds based on a predicted monitoring performance of the integrity monitor for determining whether the GNSS corrections exceed the bounds, wherein a GNSS receiver position is determined based on the GNSS corrections and the bounds, and where in the GNSS receiver is reoriented based on the GNSS receiver position.
4 more elements
Dependencies are inferred from the claim text.