METHOD OF DETERMINING NAVIGATION PARAMETERS FOR A CARRIER AND HYBRIDIZATION DEVICE
First Claim
1. A process for determination of navigation parameters of a carrier by a hybridisation device comprising a Kalman filter (3) working out a hybrid navigation solution from inertial measurements calculated by a virtual platform (2) and raw measurements of signals emitted by constellations of satellites delivered by a satellite-positioning system (GNSS), characterised in that it comprises the steps of:
- determination for each satellite of at least one (Ir, Ir′
) probability ratio between a hypothetical breakdown of a given type of the satellite and a hypothetical absence of breakdown of the satellite,declaration of a breakdown of given type on a satellite as a function of the (Ir, Ir′
) probability ratio associated with this breakdown and a threshold value,estimation of the impact of the declared breakdown on the hybrid navigation solution, andcorrection of the hybrid navigation solution as a function of the estimation of the impact of the declared breakdown.
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Accused Products
Abstract
Method of determining navigation parameters for a carrier by a hybridization device comprising a Kalman filter (3) formulating a hybrid navigation solution on the basis of inertial measurements calculated by a virtual platform (2) and of raw measurements of signals emitted by a constellation of satellites delivered by a satellite positioning system (GNSS), characterized in that it comprises, the steps of:—determination, for each satellite, of at least one likelihood ratio (Ir, Ir′) between a hypothesis regarding a fault of a given nature of the satellite and a hypothesis regarding an absence of fault of the satellite,—declaration, of a fault of a given nature on a satellite as a function of the likelihood ratio (Ir, Ir′) associated with this fault and of a threshold value,—estimation of the impact of the declared fault on the hybrid navigation solution, and □correction of the hybrid navigation solution as a function of the estimation of the impact of the declared fault.
24 Citations
14 Claims
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1. A process for determination of navigation parameters of a carrier by a hybridisation device comprising a Kalman filter (3) working out a hybrid navigation solution from inertial measurements calculated by a virtual platform (2) and raw measurements of signals emitted by constellations of satellites delivered by a satellite-positioning system (GNSS), characterised in that it comprises the steps of:
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determination for each satellite of at least one (Ir, Ir′
) probability ratio between a hypothetical breakdown of a given type of the satellite and a hypothetical absence of breakdown of the satellite,declaration of a breakdown of given type on a satellite as a function of the (Ir, Ir′
) probability ratio associated with this breakdown and a threshold value,estimation of the impact of the declared breakdown on the hybrid navigation solution, and correction of the hybrid navigation solution as a function of the estimation of the impact of the declared breakdown. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A hybridisation device comprising a virtual platform (2) capable of calculating inertial measurements, a Kalman filter (3) designed to devise a hybrid navigation solution from inertial measurements and raw measurements of signals emitted by constellations of satellites delivered by a satellite-positioning system (GNSS), characterised in that it comprises:
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a detection module (41) configured to determine for each satellite at least one (Ir, Ir′
) probability ratio between a hypothetical breakdown of a given type by ratio and hypothetical absence of breakdown of the satellite and to declare a breakdown of given type as a function of the (Ir, Ir′
) probability ratio associated with the breakdown of given type is of a threshold value,an accommodation module (5) configured to estimate the impact of the declared breakdown on the hybrid navigation solution devised by the Kalman filter, and to correct the hybrid navigation solution as a function of the estimation of the impact of the declared breakdown. - View Dependent Claims (14)
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Specification