Measurement fault detection
First Claim
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1. A method of fault detection, comprising:
- recording a plurality of measurements, each measurement having an associated measurement time;
sorting the plurality of measurements, wherein the sort of the plurality of measurements is performed in order of increasing fault probability;
propagating a state matrix and a covariance matrix forward from the first time to a time of the measurement having a highest fault probability;
processing the measurement having the highest fault probability first, wherein processing comprises;
updating the state matrix and the covariance matrix at a time of the measurement having the highest fault probability; and
propagating the state matrix and the covariance matrix backwards in time to a time of a measurement with a next highest fault probability;
continuing processing until all measurements have been processed; and
propagating the state matrix and the covariance matrix forward from a last measurement time to a reporting time.
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Abstract
The present invention discloses a method and an apparatus for improving measurement fault detection in a sequential measurement processing estimator, and is particularly applied to Global Positioning Receivers.
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Citations
4 Claims
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1. A method of fault detection, comprising:
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recording a plurality of measurements, each measurement having an associated measurement time;
sorting the plurality of measurements, wherein the sort of the plurality of measurements is performed in order of increasing fault probability;
propagating a state matrix and a covariance matrix forward from the first time to a time of the measurement having a highest fault probability;
processing the measurement having the highest fault probability first, wherein processing comprises;
updating the state matrix and the covariance matrix at a time of the measurement having the highest fault probability; and
propagating the state matrix and the covariance matrix backwards in time to a time of a measurement with a next highest fault probability;
continuing processing until all measurements have been processed; and
propagating the state matrix and the covariance matrix forward from a last measurement time to a reporting time. - View Dependent Claims (2, 3, 4)
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Specification