Method and system for fault detection and exclusion for multi-sensor navigation systems
AssigneeRockwell Collins, Inc.
InventorsShih-Yih R. Young, Gary A. McGraw
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Abstract
A new Fault Detection and Exclusion (FDE) approach for tightly integrated GPS/inertial sensors that combines a normalized solution separation for fault detection and a residual monitoring scheme for fault exclusion is described. The computation of the detection threshold, the horizontal protection level and the horizontal uncertainty level are also presented. This new FDE algorithm is designed to enable the tightly integrated GPS/inertial sensor to be used as a primary means of navigation sensor for civil aviation.
Claims20
An aviation navigation system comprising:
- a global positioning system (GPS) receiver configured to produce GPS signals representative of a geographic location of an aircraft;
- an inertial navigation system (INS) which is configured to monitor acceleration and rotational rate of an aircraft and generate INS signals representative of position, velocity and attitude of said aircraft;
- an integration processor, coupled to said GPS receiver and INS, said integration processor configured to receive said GPS signals and said INS signals and generate a corrected position of said aircraft in response thereto;
- said integration processor computes a multitude of navigation solutions based on different fault hypotheses;
- and
- said integration processor further comprising a fault detection function and a fault exclusion function;
- and
- wherein said fault exclusion function is separate and distinct from said fault detection function.
A navigation system comprising:
- means for determining a geographic location of an object in response received satellite signals;
- means for monitoring acceleration and rotational rate of said object;
- means for integrating outputs from said means for determining and said means for monitoring;
- and
- wherein said means for integrating comprises a means for fault detection and a means for fault exclusion which function independently and are based on a multitude of navigation solutions.
A method of improving integrity of position information of a navigation system comprising the steps of:
- determining a plurality of locations of a moving object using signals from a plurality of global positioning system satellites;
- monitoring acceleration and attitude characteristics of said object using an inertial sensor;
- detecting faults in said plurality of locations, by using a detection test statistic in a first domain;
- excluding faults from said plurality of locations, by using an exclusion test statistic in a second domain;
- and
- wherein said first domain and said second domain are different.
Dependencies are inferred from the claim text.