Method, apparatus, system, and computer software program product for determining position integrity in a system having a global navigation satellite system (GNSS) component

• US 6,466,846 B2
• Filed: 02/21/2001
• Issued: 10/15/2002
• Est. Priority Date: 07/10/2000
• Status: Active Grant

• Current Assignee: Garmin AT, Inc. (Garmin Limited)
• Original Assignee: United Parcel Service Of America Incorporated (United Parcel Service Incorporated)
• Inventors: Maynard, James H.
• Primary Examiner(s): Arthur, Gertrude
• Application Number:
  US09/790,251
• Publication Number:
  US 20020116098A1
• Time in Patent Office: 601 Days
• Field of Search: 701/13, 701/207, 701/213, 701/214, 701/215, 342/357.06, 342/357.12, 342/357.15
• US Class Current: 701/13
• CPC Class Codes: G01S 19/20 Integrity monitoring, fault detection or fault isolation of space segment
• CPC Class Codes: G01S 5/0009 Transmission of position information to remote stations involving assistance data G01S5/0236

Abstract

A method is provided for determining position integrity in a system having a Global Navigation Satellite System (GNSS) component, such as, for example, a Global Positioning System (GPS) device. For successive alarm limits, with each alarm limit corresponding to a position integrity level, it is determined whether valid position integrity information is available. At the alarm limit at which valid position integrity information is first available, a corresponding position integrity level is determined. If no valid position integrity information is available for any of the alarm limits, a default position integrity level is then designated. An associated apparatus, system, and computer software program product are also provided.

Claims

1. A method for determining position integrity in a system having a Global Navigation Satellite System (GNSS) component, comprising:

selectively determining whether valid position integrity information is available for an alarm limit in a plurality of successive alarm limits, with each alarm limit corresponding to a position integrity level;

determining the position integrity level corresponding to the alarm limit at which valid position integrity information is first available; and

designating a default position integrity level if valid position integrity information is unavailable for any of the alarm limits.

2. A method according to claim 1 wherein the alarm limits are arranged in an increasing sequence from a lower alarm limit to an upper alarm limit and determining whether valid position integrity information is available further comprises first determining whether valid position integrity information is available for the lower alarm limit.

3. A method according to claim 1 further comprising designating a type code corresponding to at least one of the position integrity level corresponding to the alarm limit at which valid position integrity information is first available and the default position integrity level.

4. A method according to claim 1 wherein determining whether valid position integrity information is available further comprises determining whether valid position integrity information is available by executing a Receiver Autonomous Integrity Monitoring (RAIM) algorithm for the successive alarm limits.

5. A method according to claim 4 wherein executing a RAIM algorithm for the successive alarm limits further comprises executing a RAIM algorithm for successive Horizontal Alarm Limits (HALs).

6. A method according to claim 5 wherein determining the position integrity level corresponding to the alarm limit at which valid position integrity information is first available further comprises determining the Horizontal Protection Level (HPL) corresponding to the first HAL at which the executed RAIM algorithm indicates at least one of the availability of RAIM and the absence of a RAIM alarm.

7. A method according to claim 6 wherein designating a default position integrity level further comprises designating a default HPL if the executed RAIM algorithm is unable to indicate at least one of the availability of RAIM and the absence of a RAIM alarm for any of the HALs.

8. A method according to claim 7 further comprising determining a Horizontal Figure of Merit (HFOM) corresponding to at least one of the HPL corresponding to the first HAL at which the executed RAIM algorithm indicates at least one of the availability of RAIM and the absence of a RAIM alarm and the default HPL.

9. An apparatus for determining position integrity information, and transmitting at least one of position accuracy information and position integrity information, in a system having a Global Navigation Satellite System (GNSS) component, comprising:

a transponder configured to transmit a type code indicative of at least one of position accuracy information and position integrity information;

a navigational device capable of executing a Receiver Autonomous Integrity Monitoring (RAIM) algorithm to determine whether valid position integrity information is available; and

a processing unit in communication with the transponder and the navigational device, the processing unit being configured to selectively provide successive alarm limits to the RAIM algorithm executed by the navigational device, the processing unit being further configured to determine a valid position integrity level corresponding to the alarm limit at which valid position integrity information is first available and to designate a default position integrity level if valid position integrity information is unavailable for any of the alarm limits, the processing unit thereafter being configured to direct to the transponder at least one of the valid position integrity level, the default position integrity level, and a position accuracy level corresponding to at least one of the valid position integrity level and the default position integrity level, from which the transponder thereafter determines the corresponding type code for transmission.

10. An apparatus according to claim 9 wherein the alarm limits are arranged in an increasing sequence from a lower alarm limit to an upper alarm limit and the processing unit is further configured to first provide the lower alarm limit to the RAIM algorithm executed by the navigational device.

11. An apparatus according to claim 9 further comprising an antenna in communication with the transponder for facilitating the transmission of the type code.

12. An apparatus according to claim 9 wherein the navigational device comprises a Global Positioning System (GPS) device.

13. An apparatus according to claim 12 wherein the navigational device comprises at least one of a supplemental navigation (DO-208) GPS receiver and a sole means of navigation (DO-229A) GPS receiver.

14. An apparatus according to claim 9 wherein the transponder comprises a Mode-S transponder.

15. An apparatus according to claim 9 wherein the processing unit is configured to selectively provide successive Horizontal Alarm Limits (HALs) to the RAIM algorithm executed by the navigational device.

16. An apparatus according to claim 15 wherein the processing unit is further configured to determine a Horizontal Protection Level (HPL) corresponding to the HAL at which the executed RAIM algorithm indicates at least one of the availability of RAIM and the absence of a RAIM alarm.

17. An apparatus according to claim 16 wherein the processing unit is further configured to designate a default HPL if the executed RAIM algorithm is unable to indicate at least one of the availability of RAIM and the absence of a RAIM alarm for any of the HALs.

18. An apparatus according to claim 17 wherein the processing unit is further configured to direct to the transponder at least one of the HPL, the default HPL, and a Horizontal Figure of Merit (HFOM) corresponding to at least one of the HPL and the default HPL, from which the transponder thereafter determines the corresponding type code, indicative of a Navigation Uncertainty Category for Position (NUC_P) value, for transmission.

19. A system capable of determining position integrity information, and transmitting at least one of position accuracy information and position integrity information, in an apparatus having a Global Navigation Satellite System (GNSS) component, comprising:

a computer device comprising;

a first processing portion for directing the execution of a Receiver Autonomous Integrity Monitoring (RAIM) algorithm to determine whether valid position integrity information is available;

a second processing portion for selectively providing successive alarm limits to the RAIM algorithm so as to determine a valid position integrity level corresponding to the alarm limit at which valid position integrity information is first available;

a third processing portion for designating a default position integrity level if no valid position integrity information is available for any of the alarm limits; and

a fourth processing portion for directing to a transponder at least one of the valid position integrity level, the default position integrity level, and a position accuracy level corresponding to at least one of the valid position integrity level and the default position integrity level, from which the transponder thereafter determines the corresponding type code for transmission.

20. A system according to claim 19 wherein the alarm limits are arranged in an increasing sequence from a lower alarm limit to an upper alarm limit and the second processing portion is further configured to first provide the lower alarm limit to the RAIM algorithm.

21. A system according to claim 19 wherein the transponder further comprises a Mode S transponder.

22. A system according to claim 19 further comprising an antenna in communication with the transponder for facilitating the transmission of the type code.

23. A system according to claim 19 further comprising a navigational device configured to execute a RAIM algorithm and being in communication with the computer device.

24. A system according to claim 23 wherein the navigational device comprises a Global Positioning System (GPS) device.

25. A system according to claim 24 where in the navigational device comprises at least one of a supplemental navigation (DO-208) GPS receiver and a sole means of navigation (DO-229A) GPS receiver.

26. A system according to claim 23 wherein the second processing portion of the computer device is configured to selectively provide successive Horizontal Alarm Limits (HALs) to the navigational device for execution of the RAIM algorithm.

27. A system according to claim 26 wherein the second processing portion is further configured to determine a Horizontal Protection Level (HPL) corresponding to the first HAL at which the executed RAIM algorithm indicates at least one of the availability of RAIM and the absence of a RAIM alarm.

28. A system according to claim 27 wherein the third processing portion is further configured to designate a default HPL if the executed RAIM algorithm is unable to indicate at least one of the availability of RAIM and the absence of a RAIM alarm for any of the HALs.

29. A system according to claim 28 wherein the fourth processing portion is further configured to direct to the transponder at least one of the HPL, the default HPL, and a Horizontal Figure of Merit (HFOM) corresponding to at least one of the HPL and the default HPL, from which the transponder thereafter determines the corresponding type code, indicative of a Navigation Uncertainty Category for Position (NUC_P) value, for transmission.

30. A computer software program product for determining position integrity information, and transmitting at least one of position accuracy information and position integrity information, in a system having a Global Navigation Satellite System (GNSS) component, comprising:

a first executable portion configured to direct the execution of a Receiver Autonomous Integrity Monitoring (RAIM) algorithm to determine whether valid position integrity information is available;

a second executable portion configured to selectively provide successive alarm limits to the RAIM algorithm so as to determine a valid position integrity level corresponding to the alarm limit in the sequence at which valid position integrity information is first available;

a third executable portion configured to designate a default position integrity level if no valid position integrity information is available for any of the alarm limits; and

a fourth executable portion configured to direct to a transponder at least one of the valid position integrity level, the default position integrity level, and a position accuracy level corresponding to at least one of the valid position integrity level and the default position integrity level, from which the transponder thereafter determines the corresponding type code for transmission.

31. A computer software program product according to claim 30 wherein the alarm limits are arranged in an increasing sequence from a lower alarm limit to an upper alarm limit and the second executable portion is further configured to first provide the lower alarm limit to the RAIM algorithm.

32. A computer software program product according to claim 30 wherein the transponder further comprises a Mode S transponder having an antenna in communication therewith and the computer software program product further comprises a fifth executable portion for directing the transponder to transmit the type code.

33. A computer software program product according to claim 30 wherein the first executable portion is communicable with a navigational device configured to execute a RAIM algorithm.

34. A computer software program product according to claim 33 wherein the navigational device comprises a Global Positioning System (GPS) device.

35. A computer software program product according to claim 34 wherein the navigational device comprises at least one of a supplemental navigation (DO208) GPS receiver and a sole means of navigation (DO-229A) GPS receiver.

36. A computer software program product according to claim 33 wherein the second executable portion is further configured to selectively provide successive Horizontal Alarm Limits (HALs) to the navigational device for execution of the RAIM algorithm.

37. A computer software program according to claim 36 wherein the second executable portion is further configured to determine a Horizontal Protection Level (HPL) corresponding to the first HAL at which the executed RAIM algorithm indicates at least one of the availability of RAIM and the absence of a RAIM alarm.

38. A computer software program according to claim 37 wherein the third executable portion is further configured to designate a default HPL if the executed RAIM algorithm is unable to indicate at least one of the availability of RAIM and the absence of a RAIM alarm for any of the HALs.

39. A computer software program according to claim 38 wherein the fourth executable portion is further configured to direct to the transponder at least one of the HPL, the default HPL, and a Horizontal Figure of Merit (HFOM) corresponding to at least one of the HPL and the default HPL, from which the transponder thereafter determines the corresponding type code, indicative of a Navigation Uncertainty Category for Position (NUC_P) value, for transmission.