Integrity monitoring of inertial reference unit

A method of controlling an aircraft or other vehicle performed by one or more data processors configured to provide command signals to one or more vehicle control devices, the method comprising:

• receiving from at least one Inertial Reference System (IRS) comprising a plurality of Inertial Reference Units (IRUs) signals representing vehicle state data;
• receiving from at least one Augmented Direct Mode Sensor (ADMS) signals representing independently-acquired vehicle state data corresponding to least a subset of the signals received from the IRS;
• performing signal selection and fault detection processes on the signals received from the at least one IRS and on the corresponding signals received from the ADMS;
• based at least partly on the signal and fault detection processes, determining whether at least one component of at least one of the IRS and ADMS is in a fault condition;
• and
• based on the determination whether the at least one component is in a fault condition, providing to at least one vehicle control system device one or more vehicle control command signals.

Computer readable programming media storable in memory accessible by a vehicle control system comprising at least one data processor, the media comprising processor-executable programming adapted to cause the at least one processor to:

• receive from at least one Inertial Reference System (IRS) comprising a plurality of Inertial Reference Units (IRUs) signals representing vehicle state data;
• receive from at least one Augmented Direct Mode Sensor (ADMS) signals representing independently-acquired vehicle state data corresponding to least a subset of the signals received from the IRS;
• perform signal selection and fault detection processes on the signals received from the at least one IRS and on the corresponding signals received from the ADMS;
• based at least partly on the signal and fault detection processes, determine whether at least one component of at least one of the IRS and ADMS is in a fault condition;
• and
• based on the determination whether the at least one component is in a fault condition, provide to at least one vehicle control system device one or more vehicle control command signals.