METHOD TO HANDLE SINGLE FAILURE GPS FAULTS IN HIGH INTEGRITY RELATIVE POSITIONING SYSTEMS
First Claim
Patent Images
1. A method for processing single failure GPS receiver faults, the method comprising:
- receiving, at a processor, at least two sets of GPS reference measurements and at least one set of remote user GPS measurements;
determining, at the processor, a GPS relative positioning solution (H0 solution) based on the at least two sets of GPS reference measurements and the at least one set of remote user GPS measurements;
excluding a particular set of the at least two sets of GPS reference measurements from the GPS relative positioning solution (H0 solution) to obtain an excluded GPS measurement data set, at the processor;
excluding a different set of the at least two sets of GPS reference measurements from the GPS relative positioning solution (H0 solution) to obtain at least one other excluded GPS reference measurement data set, at the processor;
calculating, at the processor, a H1 protection level based on a priori probability of a single failure GPS receiver fault;
calculating, at the processor, at least one other H1 protection level based on a priori probability of a single failure GPS receiver fault and the bias between the excluded solution and the H0 solution;
identifying a maximum of the H1 protection level and the at least one other H1 protection level to determine a final H1 protection level, at the processor and the bias between the excluded solution and the H0 solution;
determining one or more overall protection levels based on the final H1 protection level, at the processor; and
verifying an integrity requirement based on the overall protection levels, at the processor.
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Abstract
A method and system to handle single failure GPS faults in high integrity relative positioning systems is provided. The system is configured to receive a number of reference measurements in carrier-phase real time kinetic positioning systems and identify if a single fault exists. The system identifies the type of fault and mitigates the effects of the single fault to provide a positioning system with a high integrity that is suitable for applications involving risk to human lives.
29 Citations
37 Claims
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1. A method for processing single failure GPS receiver faults, the method comprising:
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receiving, at a processor, at least two sets of GPS reference measurements and at least one set of remote user GPS measurements; determining, at the processor, a GPS relative positioning solution (H0 solution) based on the at least two sets of GPS reference measurements and the at least one set of remote user GPS measurements; excluding a particular set of the at least two sets of GPS reference measurements from the GPS relative positioning solution (H0 solution) to obtain an excluded GPS measurement data set, at the processor; excluding a different set of the at least two sets of GPS reference measurements from the GPS relative positioning solution (H0 solution) to obtain at least one other excluded GPS reference measurement data set, at the processor; calculating, at the processor, a H1 protection level based on a priori probability of a single failure GPS receiver fault; calculating, at the processor, at least one other H1 protection level based on a priori probability of a single failure GPS receiver fault and the bias between the excluded solution and the H0 solution; identifying a maximum of the H1 protection level and the at least one other H1 protection level to determine a final H1 protection level, at the processor and the bias between the excluded solution and the H0 solution; determining one or more overall protection levels based on the final H1 protection level, at the processor; and verifying an integrity requirement based on the overall protection levels, at the processor. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method for processing single failure GPS faults, the method comprising:
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determining an H1 integrity risk at a processor; determining an overall integrity allocation at the processor; calculating an unbiased relative positioning solution (H0 solution) at the processor; calculating a biased relative positioning solution (H1) under a single failure GPS fault at the processor; determining position-domain absolute differences (H1 bias) between the H1 solution and the H0 solution, at the processor; calculating a H1 protection level based on a priori probability for a single failure GPS faults, at the processor; calculating a final H1 protection level by adding the H1 bias to the H1 protection level, at the processor; calculating, at the processor, an overall protection levels based on the final H1 protection level; and verifying, at the processor, an integrity requirement based on the one or more overall protection levels. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18, 19)
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20. A system for processing single failure GPS receiver faults comprising:
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at least one processor; and at least one module executing on the at least one processor to; receive at least two sets of GPS reference measurements and at least one set of remote user GPS measurements; determine a GPS relative positioning solution (H0 solution) based on the at least two sets of GPS reference measurements and the at least one set of remote user GPS measurements; exclude a particular set of the at least two sets of GPS reference measurements from the GPS relative positioning solution (H0 solution) to obtain an excluded data set; exclude a different set of the at least two sets of GPS reference measurements from the GPS relative positioning solution (H0 solution) to obtain at least one other excluded set of GPS reference measurements; calculate a H1 protection level based on a priori probability of a single failure GPS receiver fault; calculate at least one other H1 protection level based on a priori probability of a single failure GPS receiver fault; identify a maximum of the H1 protection level and the at least one other H1 protection level to determine a final H1 protection level; determine one or more overall protection levels based on the final H1 protection level; and verify an integrity requirement based on the overall protection levels. - View Dependent Claims (21, 22, 23, 24, 25, 26, 27)
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28. A system for processing single failure GPS receiver faults comprising:
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at least one processor; and at least one module executing on the at least one processor to; determine an H1 integrity risk; determine an overall integrity allocation; calculate an unbiased relative positioning solution (H0 solution); calculate a biased relative positioning solution (H1) under a single failure GPS fault; determine position-domain absolute differences (H1 bias) between the H1 solution and the H0 solution; calculate a H1 protection level based on a priori probability for a single failure GPS faults; calculate a final H1 protection level by adding the H1 bias to the H1 protection level; calculate an overall protection levels based on the final H1 protection level; and verify an integrity requirement based on the one or more overall protection levels. - View Dependent Claims (29, 30, 31, 32, 33, 34, 35, 36, 37)
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Specification