METHOD AND APPARATUS FOR DETERMINING THE OPERATIONAL STATE OF A NAVIGATION SYSTEM
First Claim
1. A method of determining an operational state of a navigation system comprising:
- testing at least a portion of hardware in the navigation system;
combining a measurement of at least one navigation variable from an inertial sensor with a measurement of another navigation variable;
determining a plurality of residuals for the measurement of at least one navigation variable and the measurement of another navigation variable with a blending filter;
estimating an error for the measurement of at least one navigation variable based on the plurality of residuals;
predicting an error for the measurement of at least one navigation variable while the navigation system is en route;
determining whether the navigation system meets operational standards based on testing at least a portion of hardware, estimating an error for the measurement of at least one navigation variable, and predicting an error for the measurement of at least one navigation variable; and
outputting one of a first state and a second state of the navigation system, the first state indicating that the navigation system does meet operational standards and the second state indicating that the navigation system does not meet operational standards.
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Abstract
A method of determining an operational state of a navigation system of a platform is provided. The method comprises testing at least a portion of hardware in the navigation system. Additionally, a measurement of at least one navigation variable from an inertial sensor is combined with a measurement of another navigation variable. A plurality of residuals for the measurement of at least one navigation variable and the measurement of another navigation variable are determined with a blending filter. An error for the measurement of at least one navigation variable is estimated based on the plurality of residuals. The method also predicts an error for the measurement of at least one navigation variable while the navigation system is in route. A determination is made as to whether the navigation system meets operational standards based on testing at least a portion of hardware, estimating an error for the measurement of at least one navigation variable, and predicting an error for the measurement of at least one navigation variable. Finally, one of a first state and a second state of the navigation system is output, the first state indicating that the navigation system does meet operational standards and the second state indicating that the navigation system does not meet operational standards.
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Citations
20 Claims
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1. A method of determining an operational state of a navigation system comprising:
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testing at least a portion of hardware in the navigation system; combining a measurement of at least one navigation variable from an inertial sensor with a measurement of another navigation variable; determining a plurality of residuals for the measurement of at least one navigation variable and the measurement of another navigation variable with a blending filter; estimating an error for the measurement of at least one navigation variable based on the plurality of residuals; predicting an error for the measurement of at least one navigation variable while the navigation system is en route; determining whether the navigation system meets operational standards based on testing at least a portion of hardware, estimating an error for the measurement of at least one navigation variable, and predicting an error for the measurement of at least one navigation variable; and outputting one of a first state and a second state of the navigation system, the first state indicating that the navigation system does meet operational standards and the second state indicating that the navigation system does not meet operational standards. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. An apparatus for determining the operational state of a navigation system comprising:
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a processor for executing software; an output device communicatively coupled to the processor; at least one inertial sensor communicatively coupled to the processor; a Global Positioning System (GPS) receiver coupled to the processor; a storage medium communicatively coupled to the processor from which the processor reads at least a portion of the software for execution thereby, wherein the software is configured to cause the processor to; test at least a portion of hardware that takes navigational measurements; receive a measurement of at least one navigation variable from the at least one inertial sensor; receive a measurement from the an aiding source; combine the measurement of at least one navigation variable with the measurement from the aiding source; determine a plurality of residuals for the measurement of at least one navigation variable with a blending filter; estimate an error for the measurement of at least one navigation variable based on the plurality of residuals; predicting an error for the measurement of at least one navigation variable while the navigation system is en route; determine whether the navigation system meets operational standards based on the test of at least a portion of hardware, the estimate of an error for the measurement of at least one navigation variable, and the prediction of an error for the measurement of at least one navigation variable; and output one of first state and a second state of the navigation system on the output device, the first state indicating that the system does meet operational standards and the second state indicating that the system does not meet operational standards. - View Dependent Claims (10, 11, 12, 13, 14)
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15. A program product comprising a processor-readable medium on which program instructions are embodied, wherein the program instructions are operable to:
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test at least a portion of hardware that takes navigational measurements; combine a measurement of at least one navigation variable from an inertial sensor with a measurement of another navigation variable; determine a plurality of residuals for the measurement of at least one navigation variable with a blending filter; estimate an error for the measurement of at least one navigation variable based on the plurality of residuals; predict an error for the measurement of at least one navigation variable while the navigation system is en route; determine whether the navigation system meets operational standards based on the test of at least a portion of hardware, the estimate of an error for the navigation variable, and the prediction of an error of at least one navigation variable; and output one of first state and a second state of the navigation system, the first state indicating that the navigation system does meet operational standards and the second state indicating that the navigation system does not meet operational standards. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification