SATELLITE NAVIGATION SYSTEM FAULT DETECTION BASED ON BIASED MEASUREMENTS
First Claim
1. A method for detecting a fault in a receiver for a satellite navigation system, the method comprising:
- calculating a plurality of measurement residuals corresponding to a position solution;
combining the plurality of measurement residuals to form a test statistic;
calculating a threshold corresponding to the test statistic, wherein calculating the threshold includes selecting the threshold to be a value from a non-central chi squared distribution of possible test statistics that corresponds to a desired probability of false alarm;
comparing the test statistic to the threshold; and
if the test statistic is larger than the threshold, performing at least one of;
outputting an alarm indicative of a fault in the position solution and discarding the position solution.
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Abstract
Example embodiments disclosed herein provide for a method for detecting a fault in a receiver for a satellite navigation system. The method includes calculating a plurality of measurement residuals corresponding to a position solution and combining the plurality of measurement residuals to form a test statistic. The method also includes calculating a threshold corresponding to the test statistic, wherein calculating the threshold includes selecting the threshold to be a value from a non-central chi squared distribution of possible test statistics that corresponds to a desired probability of false alarm. The test statistic is compared to the threshold and if the test statistic is larger than the threshold, performing at least one of: outputting an alarm indicative of a fault in the position solution and discarding the position solution.
5 Citations
20 Claims
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1. A method for detecting a fault in a receiver for a satellite navigation system, the method comprising:
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calculating a plurality of measurement residuals corresponding to a position solution; combining the plurality of measurement residuals to form a test statistic; calculating a threshold corresponding to the test statistic, wherein calculating the threshold includes selecting the threshold to be a value from a non-central chi squared distribution of possible test statistics that corresponds to a desired probability of false alarm; comparing the test statistic to the threshold; and if the test statistic is larger than the threshold, performing at least one of;
outputting an alarm indicative of a fault in the position solution and discarding the position solution. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. An apparatus for detecting a fault in a position solution for a satellite navigation system, the apparatus comprising:
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at least one processing device; an output device coupled to the at least one processing device; a receiver for a satellite navigation system coupled to the at least one processing device; and at least one memory device coupled to the at least one processing device, the at least one memory device having instructions thereon for execution by the at least one processing device, wherein the instructions, when executed by the at least one processing device, cause the at least one processing device to; calculate a plurality of measurement residuals corresponding to a position solution of the receiver; combine the plurality of measurement residuals to form a test statistic; calculate a threshold corresponding to the test statistic, wherein calculate the threshold includes select the threshold to be a value from a non-central chi squared distribution of possible test statistics that corresponds to a desired probability of false alarm; compare the test statistic to the threshold; and if the test statistic is larger than the threshold, perform at least one of;
output an alarm from the output device, the alarm indicative of a fault in the position solution and discard the position solution. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A processor-readable medium including instructions which, when executed by at least one processor, cause the at least one processor to:
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calculate a plurality of measurement residuals corresponding to a position solution of the receiver; combine the plurality of measurement residuals to form a test statistic; calculate a threshold corresponding to the test statistic, wherein calculate the threshold includes select the threshold to be a value from a non-central chi squared distribution of possible test statistics that corresponds to a desired probability of false alarm; compare the test statistic to the threshold; and if the test statistic is larger than the threshold, perform at least one of;
output an alarm from the output device, the alarm indicative of a fault in the position solution and discard the position solution. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification