Method of determining navigation parameters for a carrier and hybridization device associated with Kalman filter bank
First Claim
1. A process for determination of navigation parameters of a carrier by a hybridisation device comprising a bank (3) of Kalman filters each working out a hybrid navigation solution from inertial measurements calculated by a platform (2) and raw measurements of signals emitted by a constellation of satellites supplied by a satellite-positioning system (GNSS), each satellite being potentially affected by a breakdown, each breakdown being defined by a type of breakdown,comprising the steps of:
- determination, for each satellite, of at least one (Ir, Ir′
) probability ratio which represents the probability that a breakdown of a given type affects said satellite, the probability ratio being computed based on data provided by the bank of Kalman filters,declaration of a breakdown of given type on a satellite by comparison of the probability ratio associated with the breakdown with a threshold value,estimation of the impact of the breakdown declared on each hybrid navigation solution, andcorrection of the hybrid navigation solutions as a function of the estimation of the impact of the breakdown declared.
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Accused Products
Abstract
A process for determination of navigation parameters of a carrier by a hybridisation device comprising a bank (3) of Kalman filters, each working out a hybrid navigation solution from inertial measurements calculated by a virtual platform (2) and raw measurements of signals emitted by a constellation of satellites supplied by a satellite-positioning system (GNSS), characterised in that it comprises the steps of:
- determination for each satellite of at least one probability ratio between a hypothetical breakdown of 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 probability ratio associated with this breakdown and of a threshold value,
- estimation of the impact of the breakdown declared on each hybrid navigation solution, and
- correction of hybrid navigation solutions as a function of the estimation of the impact of the breakdown declared.
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Citations
14 Claims
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1. A process for determination of navigation parameters of a carrier by a hybridisation device comprising a bank (3) of Kalman filters each working out a hybrid navigation solution from inertial measurements calculated by a platform (2) and raw measurements of signals emitted by a constellation of satellites supplied by a satellite-positioning system (GNSS), each satellite being potentially affected by a breakdown, each breakdown being defined by a type of breakdown,
comprising the steps of: -
determination, for each satellite, of at least one (Ir, Ir′
) probability ratio which represents the probability that a breakdown of a given type affects said satellite, the probability ratio being computed based on data provided by the bank of Kalman filters,declaration of a breakdown of given type on a satellite by comparison of the probability ratio associated with the breakdown with a threshold value, estimation of the impact of the breakdown declared on each hybrid navigation solution, and correction of the hybrid navigation solutions as a function of the estimation of the impact of the breakdown declared. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A hybridisation device comprising a 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), each satellite being potentially affected bv a breakdown each breakdown being defined by a type of breakdown, further comprising:
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a detection module (41) configured to determine for each satellite at least one (Ir, Ir′
) probability ratio which represents the probability that a breakdown of a given type affects said satellite, the probability ratio being computed based on data provided by the bank of Kalman filters, and declare a breakdown of given type on a satellite by comparison of the probability ratio associated with this breakdown with a threshold value, andan 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.
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Specification