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1.发明公开
公开(公告)号：EP3964795A1
公开(公告)日：2022-03-09
申请号：EP21193883.2
申请日：2021-08-30
发明人： AHLBRECHT, Mark A. , BRENNER, Mats Anders , JOHNSON, Bruce G. , SOTAK, Milos , KANA, Zdenek , MCDONALD, James Arthur
摘要： Systems and methods for fault detection, exclusion, isolation, and re-configuration of navigation sensors using an abstraction layer are provided. In certain embodiments, a system includes a plurality of sensors that provide redundant sensor measurements, wherein redundancy of the redundant sensor measurements is achieved based on an independence between measurements from different physical sensor units in the plurality of sensors. The system additionally includes a fusion function configured to receive the redundant sensor measurements from each sensor in the plurality of sensors and calculate fused navigation parameters. Further, the system includes an abstraction layer that calculates an estimated state based on the fused navigation parameters, wherein the estimated state comprises safety assessment information for the fused navigation parameters and the fused navigation parameters. Moreover, the system includes a plurality of user systems, wherein each user system in the plurality of user systems receives the estimated state from the abstraction layer.
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2.发明公开
公开(公告)号：EP3968662A1
公开(公告)日：2022-03-16
申请号：EP21193672.9
申请日：2021-08-27
IPC分类号： H04W4/02
摘要： A method for determining fleet wide integrity comprises forming a user measurement block for each user in a fleet network, the user measurement block comprising: navigation measurements received by the user, relative user measurements received by the user from other users, and navigation state and integrity solutions. The user measurement block is signed and sent to all other users for validation. Each user executes a numerical process to determine a navigation state and integrity of all users. A fleet state block is formed comprising: a header including a hash of last valid fleet state block header, a nonce - proof of work, and a root hash of Merkle tree; and a data block including measurement, state, and integrity information of the fleet. The fleet state block is sent to all other users for validation. If the fleet state block passes validation, the user forms a chain of fleet state blocks.
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公开(公告)号：EP3693761A1
公开(公告)日：2020-08-12
申请号：EP20154443.4
申请日：2020-01-29
IPC分类号： G01S19/20
摘要： A method for computing and applying alternative uncertainty limits (500) is provided. The method includes generating a main solution from a plurality of received measurement signals (504). A solution separation is applied using a filter bank to generate sub-solutions from the received plurality of measurement signals (506). Each sub-solution uses all of the measurement signals from the plurality of measurement signals except one measurement signal to generate the associated sub-solution. Each sub-solution excludes a different measurement signal. One sub-solution is selected as fault free (508). A difference between the main solution and the selected sub-solution is determined (510). The determined difference is added to a rare normal protection limit to create a solution with improved integrity bounding (512). The solution with improved integrity bounding is then implemented (514).
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公开(公告)号：EP3985415A1
公开(公告)日：2022-04-20
申请号：EP21195395.5
申请日：2021-09-07
摘要： Techniques for detecting GNSS spoofing using inertial mixing data are disclosed. One or more navigation parameters are determined by at least one GNSS receiver and a plurality of IRS from at least two periods of time. The navigation parameters from the GNSS receiver(s) and the IRS are compared at each time period, and the difference(s) between the compared navigation parameters are further compared to generate at least one differential value. A system can detect GNSS spoofing by comparing the at least one differential value to a suitable threshold. In one aspect each IRS navigation parameter is compared with a corresponding GNSS navigation parameter, wherein the plurality of differential values is mixed before threshold comparison. In another aspect, each IRS navigation parameter is mixed before comparison with a GNSS navigation parameter, and the resulting differential value is then compared against a threshold.
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5.发明公开SYSTEM AND METHOD FOR ISOLATING ATTITUDE FAILURES IN AIRCRAFT 审中-公开FLUGZEUGEN系统VERFAHREN ZUM ISOLIEREN VON LAGEFEHLERN
公开(公告)号：EP3012586A1
公开(公告)日：2016-04-27
申请号：EP15189664.4
申请日：2015-10-13
摘要： Systems and methods for isolating attitude failures are provided. In one embodiment, an attitude integrity and display system comprises a display system comprising a primary system displaying a first attitude solution and a standby system displaying a second attitude solution;an attitude integrity system generating an attitude integrity (AI) solution calculated from measurements from an attitude solution data source, the AI solution comprising an aircraft roll and pitch, the data source providing data independent from any data generated by inertial sensor flight instruments and not displayed on either the primary or the standby systems; and an attitude monitor that compares the first solution against the second solution. When the first solution deviates from the second solution by more than a threshold, the monitor identifies on the display system which of either the first or the second solution is failed based on which has a greater deviation from the AI solution.
摘要翻译： 提供了用于隔离态度故障的系统和方法。 在一个实施例中，姿态完整性和显示系统包括显示系统，其包括显示第一姿势解决方案的主系统和显示第二姿态解决方案的待机系统;姿态完整性系统，其生成从 姿态解决方案数据源，AI解决方案包括飞机侧倾和俯仰，数据源提供独立于惯性传感器飞行仪器产生的并且不显示在主系统或备用系统上的任何数据的数据; 以及姿态监视器，其将第一解决方案与第二解决方案进行比较。 当第一个解决方案偏离第二个解决方案超过一个阈值时，监视器在显示系统上识别第一个或第二个解决方案中的哪个是基于哪个与AI解决方案有较大的偏差。
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公开(公告)号：EP3739366A1
公开(公告)日：2020-11-18
申请号：EP20174214.5
申请日：2020-05-12
IPC分类号： G01W1/00
摘要： A vehicle disturbance and isolation detection system is provided. The system includes at least one measurement sensor that is configured to generate measurement signals, at least one filter that is used to sort disturbance causes in the measured signals by frequencies, at least one controller that is used to compare the sorted signal to at least one threshold to determine if an event has occurred, a memory to store at least operating instructions for the at least one controller, a controller that is in communication with the memory and a communication system that is in communication with the at least one controller. The communication system is configured to transmit determined events to a remote location.
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公开(公告)号：EP3012586B1
公开(公告)日：2019-06-12
申请号：EP15189664.4
申请日：2015-10-13
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8.发明公开SYSTEMS AND METHODS FOR ATTITUDE FAULT DETECTION BASED ON INTEGRATED GNSS-INERTIAL HYBRID FILTER RESIDUALS 审中-公开基于残留集成GNSS / INTERTIALHYBRIDFILTER的系统和方法姿态检测
公开(公告)号：EP3006900A1
公开(公告)日：2016-04-13
申请号：EP15188275.0
申请日：2015-10-02
CPC分类号： G01C23/005 , B64D47/00 , G05D1/0077 , G05D1/0808 , G07C5/0808
摘要： Systems and methods for attitude fault detection based on integrated GNSS/inertial hybrid filter residuals are provided. In one embodiment, a fault detection system for aircraft attitude measurement system comprises: a sensor monitor coupled to a first inertial measurement unit, the sensor monitor comprising: a navigation error model for the first inertial measurement unit, the model configured to model a plurality of error states including at least an attitude error state vector, an velocity error state vector, and a position error state vector determined from data generated by the first inertial measurement unit; and a propagator-estimator configured to propagate and update error states based on GNSS data; and a residual evaluator configured to input measurement error residual values generated by the propagator-estimator, wherein the residual evaluator outputs an alert signal when the measurement error residual values exceed a threshold.
摘要翻译： 系统和基于全球导航卫星系统的综合故障检测方法的态度/提供惯性混合滤波残差。 在一个实施例中，飞行器姿态测量系统中的故障检测系统包括：耦合到第一惯性测量单元的传感器监测，该传感器监测器，包括：用于第一惯性测量单元中的导航误差模型，构造成的若干模型的模型 包括错误状态至少一个姿态误差向量状态到速度误差状态向量，并且从由所述第一惯性测量单元生成的数据开采的位置误差状态向量确定性; 并配置一个传播者，估计传播和更新错误基于全球导航卫星系统的数据状态; 和残留评估器构造成通过传播估计器产生的输入测量误差的残余值，worin残余评价者输出当测量误差残余值超过阈值，以提醒信号。
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