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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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公开(公告)号：EP3351959A1
公开(公告)日：2018-07-25
申请号：EP18151519.8
申请日：2018-01-12
发明人： VESELY, Milos , SOTAK, Milos , DUNIK, Jindrich
IPC分类号： G01S13/72
CPC分类号： H03H17/0261 , G01S13/723 , G06F17/18 , H03H17/0257
摘要： A method is provided. The method comprises: initializing at least one non-linear filter configured to provide at least one predictive measurement estimate probability density function; obtaining measurement data; determining if the measurement data is consistent; and if the measurement data is consistent, then estimating at least one state parameter with the at least one non-linear filter using the measurement data.
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3.发明公开
公开(公告)号：EP3598070A1
公开(公告)日：2020-01-22
申请号：EP19182739.3
申请日：2019-06-26
摘要： A system and methods for monitoring the integrity of navigation measurement information are disclosed. One method includes receiving a plurality of navigation measurement values, computing a first set and second set of estimates of the navigation measurement values, comparing the first set to the second set, and if the second set is statistically consistent with the first set, computing a plurality of sub-sets of the second set of estimates, computing a sub-solution for each sub-set of the second set of estimates, and computing an integrity value for each sub-solution.
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公开(公告)号：EP3382341B1
公开(公告)日：2019-08-14
申请号：EP18163208.4
申请日：2018-03-21
发明人： KANA, Zdenek , DUNIK, Jindrich , SOTAK, Milos , BARANEK, Radek
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5.发明公开
公开(公告)号：EP3407146A1
公开(公告)日：2018-11-28
申请号：EP18172212.5
申请日：2018-05-14
发明人： SOTAK, Milos , VESELY, Milos , DUNIK, Jindrich
IPC分类号： G05B17/02
CPC分类号： G01R29/0892 , G01S3/7803 , G05B17/02 , H04B17/318
摘要： A system is provided. The system comprises: a processing system comprising a memory coupled to a processor; wherein the processing system is configured to be coupled to at least one sensor; wherein the memory comprises a grid adaptation system, a system model, measurement data, and an estimation system; wherein the measurement data comprises data measured by the at least one sensor; wherein the estimation system is configured to provide probability density functions (PDFs) for a predictive estimate and a filtered estimate of a state in a form of a point-mass density; and wherein the grid adaption system is configured to adapt grid parameters of a predictive estimate and a filtered estimate.
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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
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。
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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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8.发明授权
公开(公告)号：EP3171132B8
公开(公告)日：2019-11-27
申请号：EP16190016.2
申请日：2016-09-21
发明人： SOTAK, Milos , MALINAK, Pavol , KANA, Zdenek , DUNIK, Jindrich
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9.发明授权
公开(公告)号：EP3043148B1
公开(公告)日：2017-07-19
申请号：EP15193083.1
申请日：2015-11-04
发明人： KANA, Zdenek , DUNIK, Jindrich , SOTAK, Milos
摘要： One embodiment is directed towards a method (200) for determining a heading for a hybrid navigation system with magnetometer aiding. The method includes receiving signals (202) from a plurality of GNSS satellites, obtaining three-dimensional inertial measurements (202) from one or more inertial sensors, and obtaining three-dimensional magnetic measurements (202) from one or more magnetometers. Magnetic bias states (204) are estimated for the three-dimensional magnetic measurements with a magnetic calibration filter using the three-dimensional inertial measurements, data from the signals from the plurality of GNSS satellites, and the three-dimensional magnetic measurements. An artificial heading (206) is calculated based on the magnetic bias states. A main navigation solution (208) can be estimated with a main navigation filter using the three-dimensional inertial measurements, data from the signals from a plurality of GNSS satellites, and the artificial heading.
摘要翻译： 一个实施例针对用于确定具有磁力计辅助的混合导航系统的航向的方法（200）。 该方法包括从多个GNSS卫星接收信号（202），从一个或多个惯性传感器获得三维惯性测量值（202），并从一个或多个磁强计获得三维磁测量值（202）。 使用三维惯性测量，来自多个GNSS卫星的信号的数据和三维磁测量，利用磁校准滤波器对三维磁测量估计磁偏置状态（204）。 基于磁偏置状态计算人工航向（206）。 主导航解决方案（208）可以利用三维惯性测量，来自多个GNSS卫星的信号的数据和人造航向的主导航滤波器来估算。
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10.发明公开HEADING FOR A HYBRID NAVIGATION SOLUTION BASED ON MAGNETICALLY CALIBRATED MEASUREMENTS 有权KURSLAGEFÜREINE HYBRIDENAVIGATIONSLÖSUNGAUF GRUNDLAGE MAGNETISCH KALIBRIERTER MESSUNGEN
公开(公告)号：EP3043148A1
公开(公告)日：2016-07-13
申请号：EP15193083.1
申请日：2015-11-04
发明人： KANA, Zdenek , DUNIK, Jindrich , SOTAK, Milos
摘要： One embodiment is directed towards a method (200) for determining a heading for a hybrid navigation system with magnetometer aiding. The method includes receiving signals (202) from a plurality of GNSS satellites, obtaining three-dimensional inertial measurements (202) from one or more inertial sensors, and obtaining three-dimensional magnetic measurements (202) from one or more magnetometers. Magnetic bias states (204) are estimated for the three-dimensional magnetic measurements with a magnetic calibration filter using the three-dimensional inertial measurements, data from the signals from the plurality of GNSS satellites, and the three-dimensional magnetic measurements. An artificial heading (206) is calculated based on the magnetic bias states. A main navigation solution (208) can be estimated with a main navigation filter using the three-dimensional inertial measurements, data from the signals from a plurality of GNSS satellites, and the artificial heading.
摘要翻译： 一个实施例涉及用于利用磁力计辅助来确定混合导航系统的航向的方法（200）。 该方法包括从多个GNSS卫星接收信号（202），从一个或多个惯性传感器获得三维惯性测量（202），以及从一个或多个磁力计获得三维磁测量（202）。 使用三维惯性测量，来自多个GNSS卫星的信号的数据和三维磁测量，使用磁性校准滤波器对三维磁测量估计磁偏置状态（204）。 基于磁偏置状态计算人造航向（206）。 使用三维惯性测量，来自多个GNSS卫星的信号的数据和人造航向的主导航滤波器可以估计主导航解决方案（208）。
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