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公开(公告)号：US20220082704A1
公开(公告)日：2022-03-17
申请号：US17022412
申请日：2020-09-16
Applicant: Honeywell International Inc.
Inventor： Gary Duane Lemke , Karl Abraham Keyzer , Mark A. Ahlbrecht , James Arthur McDonald
Abstract: 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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公开(公告)号：US11073620B2
公开(公告)日：2021-07-27
申请号：US16269154
申请日：2019-02-06
Applicant: Honeywell International Inc.
Inventor： James Arthur McDonald , Mark A. Ahlbrecht , Zdenek Kana
Abstract: A method for computing and applying alternative uncertainty limits is provided. The method includes generating a main solution from a plurality of received measurement signals. A solution separation is applied using a filter bank to generate sub-solutions from the received plurality of measurement signals. 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. A difference between the main solution and the selected sub-solution is determined. The determined difference is added to a rare normal protection limit to create a solution with improved integrity bounding. The solution with improved integrity bounding is then implemented.
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公开(公告)号：US20160107761A1
公开(公告)日：2016-04-21
申请号：US14575762
申请日：2014-12-18
Applicant: Honeywell International Inc.
Inventor： Mark A. Ahlbrecht , Michael R. Ibis , John R. Morrison
Abstract: 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.
Abstract translation: 提供了用于隔离姿态故障的系统和方法。 在一个实施例中，姿态完整性和显示系统包括显示系统，其包括显示第一姿态解决方案的主系统和显示第二姿势解决方案的备用系统; 一种姿态完整性系统，其产生从姿态解决方案数据源的测量结果计算的姿态完整性（AI）解决方案，包括航空器侧倾和俯仰的AI解决方案，数据源提供与惯性传感器飞行仪器产生的任何数据无关并且不显示的数据 在主系统或备用系统上; 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一个是基于哪个与AI解决方案有较大的偏差。
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公开(公告)号：US11379344B2
公开(公告)日：2022-07-05
申请号：US16453599
申请日：2019-06-26
Applicant: Honeywell International Inc.
Inventor： Zdenek Kana , Mark A. Ahlbrecht , Milos Sotak
Abstract: A method to assure integrity of integrated certified and non-certified sensors or systems comprises calculating a certified main solution filter within a first software thread in a certified partition; calculating certified sub-solution filters, and sub-sub-solution filters within the first software thread; calculating a non-certified main solution filter within a second software thread in a non-certified partition; if applicable, reusing the certified main solution filter as a non-certified sub-solution filter, and reusing the certified sub-solution filters, as non-certified sub-sub-solution filters; calculating non-certified sub-solution filters, and sub-sub-solution filters, within the second software thread; based on the certified filters, determining protection limits of the certified partition, and/or providing execution of fault detection and exclusion; based on the non-certified filters, determining protection limits of the non-certified partition, and/or providing execution of fault detection and exclusion; outputting certified solutions from the certified partition; and outputting non-certified solutions from the non-certified partition.
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公开(公告)号：US20220065980A1
公开(公告)日：2022-03-03
申请号：US17410886
申请日：2021-08-24
Applicant: Honeywell International Inc.
Inventor： Mark A. Ahlbrecht , Mats Anders Brenner , Bruce G Johnson , Milos Sotak , Zdenek Kana , James Arthur McDonald
Abstract: 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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Patent Agency Ranking
6.发明授权Systems and methods for attitude fault detection based on integrated GNSS/inertial hybrid filter residuals 有权基于综合GNSS /惯性混合滤波器残差的姿态故障检测系统和方法公开(公告)号：US09593962B2
公开(公告)日：2017-03-14
申请号：US14564359
申请日：2014-12-09
Applicant: Honeywell International Inc.
Inventor： Mats Anders Brenner , Mark A. Ahlbrecht , John R. Morrison
CPC classification number: G01C23/005 , B64D47/00 , G05D1/0077 , G05D1/0808 , G07C5/0808
Abstract: 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.
Abstract translation: 提供了基于综合GNSS /惯性混合滤波器残差的姿态故障检测系统和方法。 在一个实施例中，用于飞行器姿态测量系统的故障检测系统包括：传感器监测器，耦合到第一惯性测量单元，所述传感器监测器包括：用于所述第一惯性测量单元的导航误差模型，所述模型被配置为对多个 误差状态至少包括由第一惯性测量单元产生的数据确定的姿态误差状态矢量，速度误差状态矢量和位置误差状态矢量; 以及传播者估计器，被配置为基于GNSS数据传播和更新错误状态; 以及残差评估器，被配置为输入由所述传播器估计器生成的测量误差残差值，其中当所述测量误差残差值超过阈值时，所述残差评估器输出报警信号。
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公开(公告)号：US11789110B2
公开(公告)日：2023-10-17
申请号：US17410886
申请日：2021-08-24
Applicant: Honeywell International Inc.
Inventor： Mark A. Ahlbrecht , Mats Anders Brenner , Bruce G Johnson , Milos Sotak , Zdenek Kana , James Arthur McDonald
CPC classification number: G01S5/0263 , G01S5/0264 , G01C21/165 , G01S5/0294
Abstract: 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：US11585941B2
公开(公告)日：2023-02-21
申请号：US17022412
申请日：2020-09-16
Applicant: Honeywell International Inc.
Inventor： Gary Duane Lemke , Karl Abraham Keyzer , Mark A. Ahlbrecht , James Arthur McDonald
Abstract: 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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公开(公告)号：US09688416B2
公开(公告)日：2017-06-27
申请号：US14575762
申请日：2014-12-18
Applicant: Honeywell International Inc.
Inventor： Mark A. Ahlbrecht , Michael R. Ibis , John R. Morrison
Abstract: 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.
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公开(公告)号：US20150276413A1
公开(公告)日：2015-10-01
申请号：US14230738
申请日：2014-03-31
Applicant: Honeywell International Inc.
Inventor： Mark Hickey , Kevin D. Vanderwerf , Mark A. Ahlbrecht
CPC classification number: G01C21/165 , G01S19/23
Abstract: A method to calibrate at least one lever arm between at least one respective global positioning system (GPS) antenna/receiver and a communicatively coupled inertial navigation system is provided. The method includes receiving signals from the at least one GPS antenna/receiver at the inertial navigation system communicatively coupled to a Kalman filter; and estimating, in the Kalman filter, at least one fixed lever arm component while accounting for a bending motion of the lever arm based on the received signals.
Abstract translation: 提供了一种在至少一个相应的全球定位系统（GPS）天线/接收机和通信耦合的惯性导航系统之间校准至少一个杠杆臂的方法。 该方法包括在通信地耦合到卡尔曼滤波器的惯性导航系统处接收来自至少一个GPS天线/接收机的信号; 并且在卡尔曼滤波器中基于接收到的信号估计至少一个固定杠杆臂部件，同时考虑杠杆臂的弯曲运动。
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