Skipping filter for inertially augmented landing system

• US 6,549,829 B1
• Filed: 10/31/2001
• Issued: 04/15/2003
• Est. Priority Date: 10/31/2001
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Krogh, Steven B., Murphy, Timothy, McIntyre, Melville D., Anderson, Leonard R.
• Primary Examiner(s): Black, Thomas G.
• Assistant Examiner(s): To, Tuan C
• Application Number:
  US10/001,077
• Publication Number:
  US 20030083792A1
• Time in Patent Office: 531 Days
• Field of Search: 701/16, 701/213, 701/214, 701/215, 701/216, 342/357, 342/13, 342/357.14, 342/357.06, 342/358, 340/972, 244/183-189, 244/194-195, 244/81
• US Class Current: 701/16
• CPC Class Codes: G01S 19/15 Aircraft landing systems
• CPC Class Codes: G01S 19/20 Integrity monitoring, fault detection or fault isolation of space segment
• CPC Class Codes: G01S 19/41 Differential correction, e.g. DGPS [differential GPS]
• CPC Class Codes: G01S 19/49 whereby the further system is an inertial position system, e.g. loosely-coupled
• CPC Class Codes: G01S 19/52 Determining velocity

Abstract

The present method and apparatus consists of storing past values of estimated IRU error and using these past values to update the coasting filter when switching from GPS to inertial mode. Through the storage of past IRU error estimates, it is possible to avoid misdirected guidance from an erroneous GPS signal. The MMR and ground station can require up to 6 seconds to identify a failed GLS signal.

Claims

1. In combination in an inertially augmented landing system:

a coasting filter comprising a GPSA inertial complementary filter; and

,

a skipping filter; and

,

said skipping filter comprising a complementary filter including two integrators for separating an inertial guidance signal from a GPS guidance signal thereby avoiding corruption for the delayed detection of a GLS signal loss.

2. A method for utilizing a skipping filter comprising the steps of:

storing past values of estimated IRU error; and

then

utilizing said stored past values of estimated IRU error to update a coasting filter comprising a GPS inertial complementary filter when switching from GPS to inertial mode.

3. In combination in an inertially augmented GPS landing system:

means for storing a running record of the GPS and inertial states of an aircraft, such record containing the GPS and inertial state data measured during the most recent 6 second window of time; and

means to estimate the inertial state errors in the event of a GPS signal failure, utilizing the data stored in the 6 seconds prior to detection of the failure.

4. The invention according to claim 3 wherein said running record is 6 seconds long.

5. A method for correcting the corruption of the inertial state error estimates caused by a faulty GPS signal comprising the steps of:

detecting a GPS signal failure, which can take up to 6 seconds from the instant of failure; and

, then,

rapidly replaying in non-real time the prior 6 seconds of inertial data through a coasting filter comprising a GPS-inertial complementary filter, but this time with the filter switched to the inertial-only mode skipping filter, so as to avoid the corruption of the inertial state error estimates; and

,

continuing the approach with uncorrupted inertial state error estimates yielding accurate subsequent guidance of the aircraft.

6. In combination in an inertially augmented landing system:

coasting filter comprising a GPS-inertial complementary filter; and

,

a skipping filter, said skipping filter being a non-real time implementation of the coasting filter switched to inertial-only mode and comprising two integrators for replaying the prior 6 seconds of inertial state data with uncorrupted inertial state error estimates.

7. A method for utilizing a skipping filter comprising the steps of:

storing past values of IRU inertial state data; and

, then,

utilizing said stored past values of IRU state data to update a coasting filter comprising a GPS inertial complementary filter when switching from blended GPS-inertial mode to inertial-only mode.

8. In combination in an inertially augmented GPS landing system:

means for storing a running record of the GPS and inertial states of an aircraft, such record containing the GPS and inertial state data measured during the most recent 6 second window of time; and

means to estimate the current error-free aircraft state in the event of a GPS signal failure, utilizing the data stored in the 6 seconds prior to detection of the failure.

9. The invention according to claim 8 wherein said running record is 6 seconds long.

10. A method for correcting the corruption of the inertial state error estimates caused by a faulty GPS signal comprising the steps of:

detecting a GPS signal failure, which can take up to 6 seconds from the instant of failure; and

, then,

rapidly replaying in non-real time the prior 6 seconds of inertial data through a coasting filter comprising a coasting filter, but this time with the filter switched to the inertial-only mode skipping filter, so as to avoid the corruption of the inertial state error estimates; and

,

continuing the approach with uncorrupted inertial state error estimates yielding accurate subsequent guidance of the aircraft.

11. In combination in an inertially augmented landing system:

a coasting filter comprising a coasting filter; and

,

a skipping filter, said skipping filter being a non-real time implementation of the coasting filter switched to inertial-only mode and comprising two integrators for replaying the prior 6 seconds of inertial state data with uncorrupted inertial state error estimates.

12. A method for utilizing a skipping filter comprising the steps of:

storing past values of IRU inertial state data; and

, then,

utilizing said stored past values of IRU state data to update a coasting filter comprising a GPS inertial complementary filter when switching from blended GPS-inertial mode to inertial-only mode.

13. A method for avoiding landing guidance signal corruption due to delay in GPS fault detection comprising the steps of:

providing a signal skipping filter; and

then,

utilizing said signal skipping filter to separate the inertial guidance signal from the GPS guidance signal thereby avoiding corruption caused by the delayed detection of the GLS signal loss.