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    METHODS FOR ATTITUDE AND HEADING REFERENCE SYSTEM TO MITIGATE VEHICLE ACCELERATION EFFECTS
    2.
    发明公开
    METHODS FOR ATTITUDE AND HEADING REFERENCE SYSTEM TO MITIGATE VEHICLE ACCELERATION EFFECTS 有权
    PROCEDURE姿态和航向参考系统以减少车辆加速影响的

    公开(公告)号：EP3171132A1

    公开(公告)日：2017-05-24

    申请号：EP16190016.2

    申请日：2016-09-21

    申请人： Honeywell International Inc.

    发明人： SOTAK, Milos ,  MALINAK, Pavol ,  KANA, Zdenek ,  DUNIK, Jindrich

    IPC分类号： G01C21/16

    摘要： An attitude and heading reference system (AHRS) for a vehicle is provided along with methods for mitigating vehicle acceleration effects in the AHRS. The AHRS comprises an inertial measurement unit configured to generate inertial measurements from at least one accelerometer and at least one gyroscope, a heading source configured to generate heading measurements, and an adaptive statistical filter configured to mitigate the impact of vehicle acceleration effects on attitude and heading.

    摘要翻译： 一种用于车辆的姿态航向基准系统（AHRS）的地连同用于减轻在AHRS车辆加速度效应的方法提供的。 惯性测量单元的AHRS包括被配置为从至少一个加速度计和至少一个陀螺仪，用于生成标题，以及配置成缓解的车辆加速效果上姿态航向的影响自适应统计滤波测量航向源产生惯性测量 ，

    SELECTED ASPECTS OF ADVANCED RECEIVER AUTONOMOUS INTEGRITY MONITORING APPLICATION TO KALMAN FILTER BASED NAVIGATION FILTER
    3.
    发明公开
    SELECTED ASPECTS OF ADVANCED RECEIVER AUTONOMOUS INTEGRITY MONITORING APPLICATION TO KALMAN FILTER BASED NAVIGATION FILTER 审中-公开

    公开(公告)号：EP3598177A1

    公开(公告)日：2020-01-22

    申请号：EP19197043.3

    申请日：2014-01-13

    申请人： Honeywell International Inc.

    发明人： DUNIK, Jindrich ,  OREJAS, Martin ,  KANA, Zdenek

    IPC分类号： G01S19/20 ,  G01S19/47 ,  G01C21/16

    摘要： A method of advanced receiver autonomous integrity monitoring of a navigation system is discussed and two modifications facilitating its implementation in a hybrid navigation system are disclosed. In the first approach, relations describing the effect of unmodeled biases in pseudo-measurement on the Kalman filter state estimate are analytically derived and their incorporation into the integrity monitoring algorithm is described. The method comprises receiving a plurality of signals transmitted from space-based satellites, determining a position full-solution and sub-solutions, specifying a pseudorange bias, computing a transformation matrix for the full-solution and all sub-solutions using a Kalman filter, computing a bias effect on an error of filtered state vectors of all sub-solutions, and adding the effect to computed vertical and horizontal protection levels. In the second approach, a modification for computationally effective calculation of the protection levels of hybrid navigation systems based on both integrity and non-integrity assured pseudorange error descriptions is disclosed.

    INTEGRITY MONITORING OF RADAR ALTIMETERS
    8.
    发明公开
    INTEGRITY MONITORING OF RADAR ALTIMETERS 审中-公开
    雷达高度仪的完整性监测

    公开(公告)号：EP3260877A2

    公开(公告)日：2017-12-27

    申请号：EP17170286.3

    申请日：2017-05-09

    申请人： Honeywell International Inc.

    发明人： DUNIK, Jindrich ,  SOTAK, Milos ,  KANA, Zdenek ,  VACANTI, David C. ,  DOBES, Michal

    IPC分类号： G01S7/40 ,  G01S13/86 ,  G01S19/20

    CPC分类号： G01S13/882 ,  G01C21/165 ,  G01C21/20 ,  G01C21/30 ,  G01S7/40 ,  G01S13/08 ,  G01S13/86 ,  G01S19/20 ,  G01S19/47

    摘要： Methods for radar altimeter integrity monitoring are provided. One method comprises obtaining one or more GNSS measurements, or one or more hybridized GNSS/INS measurements, in an earth-centered-earth-fixed (ECEF) coordinate frame for a vehicle; obtaining one or more altitude measurements from one or more radar altimeters; transforming the altitude measurements into the ECEF coordinate frame using a terrain map and a GNSS or hybridized GNSS/INS based position estimate with ensured integrity; determining a full solution estimate of position for the vehicle based on the transformed altitude measurements, and the GNSS or hybridized GNSS/INS measurements; determining one or more sub-solution estimates of position based on a subset of the transformed altitude measurements, and the GNSS or hybridized GNSS/INS measurements; comparing the full solution estimate with the sub-solution estimates using statistical analysis; and determining an altitude protection level based on a probability of hazardous misleading information and a probability of false detection.

    摘要翻译： 提供了雷达高度计完整性监测的方法。 一种方法包括在车辆的地心固定（ECEF）坐标系中获得一个或多个GNSS测量结果或一个或多个混合GNSS / INS测量结果; 从一个或多个雷达高度计获得一个或多个高度测量结果; 使用地形图和全球导航卫星系统或基于混合GNSS / INS的位置估计将高度测量值转换为ECEF坐标系，确保完整性; 基于转换的高度测量结果和GNSS或混合GNSS / INS测量结果来确定车辆的位置的完整解决方案估计; 基于转换的高度测量结果的子集以及GNSS或混合GNSS / INS测量结果来确定位置的一个或多个子解估计; 使用统计分析将完整解估计与子解估计进行比较; 以及基于危险误导信息的概率和错误检测的概率来确定高度保护等级。

    APPARATUS AND METHOD FOR DATA-BASED REFERENCED NAVIGATION
    10.
    发明公开
    APPARATUS AND METHOD FOR DATA-BASED REFERENCED NAVIGATION 审中-公开

    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

    申请人： Honeywell International Inc.

    发明人： DUNIK, Jindrich ,  SOTAK, Milos ,  VESELY, Milos ,  HAWKINSON, Wesley J.

    IPC分类号： G01C21/30 ,  G01C21/16 ,  G05D1/02

    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.