Systems and methods for redundant integrity monitoring
AssigneeTrx Systems, Inc.
InventorsJonathan Fetter-Degges, John Karvounis, Carole Teolis
Life of this patent
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Abstract
System, computer program products, and methods for detecting and compensating for sensor interference. Sensor interference may result from environmental interference or from electronic signal interference. Sensor location input may be adapted or rejected when interference is detected. The system can monitor the accuracy, as well as the integrity, of all navigation sensors. The system can also automatically eliminate the faulty or compromised data from a final navigation solution.
Claims13
Method for automatically adjudicating sensor input for use in a navigation solution, comprising:
- identifying N potentially compromised sensor inputs, generating a first navigation solution including trusted sensor input and without the N potentially compromised sensor inputs, and outputting the first navigation solution;
- and
- utilizing one or more levels of integrity monitoring to determine if one or more of the N potentially compromised sensor inputs can be validated, generating at least a second navigation solution including the trusted sensor input and with one or more of the N potentially compromised sensor inputs, and outputting the second navigation solution when one or more of the N potentially compromised sensor inputs are validated.
A method for automatically adjudicating sensor input for use in a navigation solution, comprising:
- receiving input data from a sensor and a preprocessed integrity estimate of the input data;
- splitting the navigation solution within a state space filter into a trusting solution and an untrusting solution based on the preprocessed integrity estimate;
- performing a cross consistency check of the trusting solution and the untrusting solution based on other sensor input data;
- adjusting the state space filter based on the cross consistency check;
- computing divergence within the state space filter;
- adjusting the state space filter based on the divergence within the state space filter to adjust the trusting solution and the untrusting solution;
- and
- fusing all, part or none of the trusting solution and the untrusting solution into the navigation solution.
Dependencies are inferred from the claim text.