Fault detection, containment, isolation, and response architecture for a position, navigation, and timing (pnt) system

A position, navigation, and timing (PNT) system for a user, comprising:

• a plurality of sensors configured to collect measurements related to the user, wherein the plurality of sensors are grouped into a plurality of subsets of sensors;
• one or more processors in electronic communication with the plurality of sensors;
• and
• a memory coupled to the one or more processors, the memory storing data into one or more databases and program code that, when executed by the one or more processors, causes the PNT system to:
• individually compare a measured value collected by each of the plurality of sensors with a corresponding threshold value, wherein the measured values are compared individually at a first level of fault detection;
• determine a potential fault condition for a particular sensor exists when the measured value exceeds the corresponding threshold value;
• in response to detecting the potential fault condition, containing the potential fault condition by determining a replacement value;
• count a number of times that the potential fault condition is detected;
• compare the number of times that the potential fault condition is detected with a predetermined value;
• in response to determining the number of times that the potential fault condition is detected exceeds the predetermined value, determine a confirmed fault condition with the particular sensor;
• in response to determining the confirmed fault condition for the particular sensor, re-group the plurality of subsets of sensors;
• and
• proceed to a second level of fault detection, wherein the second level of fault detection includes determining a plurality of individual navigation solutions corresponding to each of the plurality of subsets of sensors, wherein each individual navigation solution is based on a corresponding subset of sensors.