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公开(公告)号：EP3073223A1
公开(公告)日：2016-09-28
申请号：EP16159288.6
申请日：2016-03-08
CPC分类号： G01C21/165 , B64G1/36 , G01C21/005 , G01C21/025
摘要： One embodiment is directed towards a method of navigating a body. The method includes determining a respective measured direction of each of a plurality of celestial objects with respect to the body based on an output of one or more star tracking sensors mounted to the body. Calculating an expected direction of at least one of the plurality of celestial objects with respect to the body based on a current navigation solution for the body. Calculating an updated navigation solution for the body based on the expected direction of the at least one celestial object, the measured direction of the plurality of celestial objects, and an output of one or more inertial sensors mounted to the body.
摘要翻译： 一个实施例涉及导航身体的方法。 该方法包括基于安装到身体的一个或多个恒星跟踪传感器的输出来确定相对于身体的多个天体中的每一个的相应测量的方向。 基于身体的当前导航解，计算相对于身体的多个天体中的至少一个天体的预期方向。 基于所述至少一个天体的预期方向，所测量的多个天体的方向以及安装到所述身体的一个或多个惯性传感器的输出来计算身体的更新的导航解决方案。
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公开(公告)号：EP3333546A1
公开(公告)日：2018-06-13
申请号：EP17204246.7
申请日：2017-11-28
CPC分类号： G06N7/005 , G01C21/165 , G01C21/30
摘要： A method is provided. The method comprises: initializing a point mass filter; initializing the one or more Bayesian filters; obtaining measurement data associated with a horizontal position on a surface; obtaining measurement data of a horizontal position and a velocity; obtaining geo-mapping data; estimating, with the point mass filter, the horizontal position on the surface based upon the geo-mapping data and the measurement data; estimating, with the one or more Bayesian filters, remaining state parameters based upon an output of the point mass filter and the measurement data; predicting, with the point mass filter, an a priori horizontal position, on a surface for a future time when the next measurement data will be obtained; and predicting, with the one or more Bayesian filters, an a priori remaining state parameters for a future time when the next measurement data will be obtained.
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3.发明公开GLOBAL NAVIGATION SATELLITE SYSTEM (GNSS) SPOOFING DETECTION WITH CARRIER PHASE AND INERTIAL SENSORS 审中-公开全球定位系统（SPD）检测技术（MIT HILFE VONTRÄGERPHASEUNDTRÄGHEITSSENSOREN）
公开(公告)号：EP3109670A1
公开(公告)日：2016-12-28
申请号：EP16173204.5
申请日：2016-06-06
IPC分类号： G01S19/21
CPC分类号： G01S19/215 , G01S19/246 , G01S19/29
摘要： A system to detect spoofing attacks is provided. The system includes a global navigation satellite system (GNSS) receiver, inertial sensors, a satellite-motion-and-receiver-clock-correction module, a compute-predicted-range-and-delta-range module, a subtractor, and delta-range-difference-detection logic. The satellite-motion-and-receiver-clock-correction module periodically inputs, from the GNSS receiver, a carrier phase range for a plurality of satellites. The satellite-motion-and-receiver-clock-correction module outputs a corrected-delta-carrier-phase range for a current epoch to a first input of a subtractor. The compute-predicted-range-and-delta-range module outputs a predicted delta range to a second input of the subtractor. The predicted delta range is based on inertial measurements observed for the current epoch. The subtractor outputs a difference between the corrected-delta-carrier-phase range and the predicted delta range for the current epoch to delta-range-difference-detection logic. The delta-range-difference-detection logic determines if the difference exceeds a selected-range threshold. If the difference exceeds the selected-range threshold, the delta-range-difference-detection logic determines the GNSS receiver was spoofed in the current epoch.
摘要翻译： 提供了一种检测欺骗攻击的系统。 该系统包括全球导航卫星系统（GNSS）接收机，惯性传感器，卫星运动和接收机时钟校正模块，计算预测范围和Δ范围模块，减法器和delta- 范围差检测逻辑。 卫星运动和接收机时钟校正模块周期地从GNSS接收机输入多个卫星的载波相位范围。 卫星运动和接收机时钟校正模块将当前时期的经校正的Δ-载波相位范围输出到减法器的第一输入。 计算预测范围和Δ范围模块将预测的增量范围输出到减法器的第二输入。 预测的δ范围是基于当前时期观测到的惯性测量。 减法器将校正后的delta-载波相位范围和当前时期的预测的Δ范围之间的差输出到Δ-范围 - 差分检测逻辑。 Δ范围差检测逻辑确定差异是否超过选择范围阈值。 如果差异超过选择范围阈值，则差值差值检测逻辑确定了GNSS接收器在当前时代被欺骗。
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公开(公告)号：EP3770554A1
公开(公告)日：2021-01-27
申请号：EP20186802.3
申请日：2020-07-20
IPC分类号： G01C21/16
摘要： Using geo-mapping data and only at least one inertial sensor, a Bayesian estimator uses at least one element of an uncorrected inertial navigation vector, of a moveable object on a surface, to estimate inertial navigation error information including corresponding statistical information. The estimated inertial navigation error information is used to error correct the uncorrected inertial navigation vector. The Bayesian filter also predicts inertial navigation error information, including corresponding statistical information, for a future time instance when a next uncorrected inertial navigation vector will be obtained.
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公开(公告)号：EP3073223B1
公开(公告)日：2019-06-19
申请号：EP16159288.6
申请日：2016-03-08
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