Method for fusing data from sensors using a consistency criterion
First Claim
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1. A method for fusing measurements of an aircraft flight parameter based on a first set of main measurements taken by a first set of main sensors and a plurality of second sets of secondary measurements taken by second sets of secondary sensors, the first set of main measurements exhibiting a greater degree of accuracy than the plurality of second sets of secondary measurements, the method comprising:
- at a processor configured to receive the first set of main measurements taken by the first set of main sensors and the plurality of second sets of secondary measurements taken by the second sets of secondary sensors;
calculating a discrepancy between each of the main measurements and the secondary measurements;
determining, by the discrepancy, a score of consistency of each of the main measurements with the secondary measurements;
performing, for each possible fault configuration of the main sensors, a first, conditional estimation of the aircraft flight parameter based on the main measurements taken by the main sensors which are not faulty;
determining, for each fault configuration, a weighting coefficient based on the score of consistency of the main measurements;
performing a second estimation of the aircraft flight parameter by weighting the first, conditional estimations relating to the fault configurations by the weighting coefficients corresponding to these fault configurations; and
outputting the second estimation of the aircraft flight parameter to one or more systems of the aircraft.
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Abstract
The disclosure relates to a data fusion method for fusing the measurements of a parameter, for example an aircraft flight parameter, that are taken by a plurality of sensors comprising a set of main sensors and sets of secondary sensors. The discrepancy between each main measurement and the secondary measurements is determined and a score of consistency with them is deduced therefrom. For each fault configuration of the main sensors, a first estimation, so-called conditional, of the parameter is performed and a weighting coefficient relating to this fault is calculated, taking account of the consistency scores of the main measurements. The parameter is thereafter estimated by performing a combination of the conditional measurements with the associated weighting coefficients.
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Citations
17 Claims
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1. A method for fusing measurements of an aircraft flight parameter based on a first set of main measurements taken by a first set of main sensors and a plurality of second sets of secondary measurements taken by second sets of secondary sensors, the first set of main measurements exhibiting a greater degree of accuracy than the plurality of second sets of secondary measurements, the method comprising:
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at a processor configured to receive the first set of main measurements taken by the first set of main sensors and the plurality of second sets of secondary measurements taken by the second sets of secondary sensors; calculating a discrepancy between each of the main measurements and the secondary measurements; determining, by the discrepancy, a score of consistency of each of the main measurements with the secondary measurements; performing, for each possible fault configuration of the main sensors, a first, conditional estimation of the aircraft flight parameter based on the main measurements taken by the main sensors which are not faulty; determining, for each fault configuration, a weighting coefficient based on the score of consistency of the main measurements; performing a second estimation of the aircraft flight parameter by weighting the first, conditional estimations relating to the fault configurations by the weighting coefficients corresponding to these fault configurations; and outputting the second estimation of the aircraft flight parameter to one or more systems of the aircraft. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A method for fusing measurements of an aircraft flight parameter based on a first set of main measurements taken by a first set of main sensors and a plurality of second sets of secondary measurements taken by second sets of secondary sensors, the first set of main measurements exhibiting a greater degree of accuracy than the plurality of second sets of secondary measurements, the method comprising:
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at a processor configured to receive the first set of main measurements taken by the first set of main sensors and the plurality of second sets of secondary measurements taken by the second sets of secondary sensors; calculating a discrepancy between each of the main measurements and the secondary measurements; determining, by the discrepancy, a score of consistency of each of the main measurements with fused secondary measurements obtained by fusing the secondary measurements of the plurality of second sets of secondary measurements; performing, for each possible fault configuration of the main sensors, a first, conditional estimation of the aircraft flight parameter based on the main measurements taken by the main sensors which are not faulty; determining, for each fault configuration, a weighting coefficient based on the score of consistency of the main measurements; performing a second estimation of the aircraft flight parameter by weighting the first, conditional estimations relating to the fault configurations by the weighting coefficients corresponding to these fault configurations; and outputting the second estimation of the aircraft flight parameter to one or more systems of the aircraft; wherein determining the score of consistency of each of the main measurements with the secondary measurements comprises; calculating, based on the discrepancy between the main measurement and each secondary measurement, masses respectively allocated to a first focal set corresponding to a first hypothesis of consistency of the main measurement with the secondary measurement, to a second focal set corresponding to a second hypothesis of absence of consistency of the main measurement with the secondary measurement and to a third hypothesis corresponding to an uncertainty of the consistency of the main measurement with the secondary measurement, estimating a belief that the main measurement is consistent with at least one of the secondary measurements based on the masses, estimating a plausibility that the main measurement is consistent with at least one of the secondary measurements based on the masses, and calculating the score of consistency by combining the belief and the plausibility by a combination function.
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17. A method for fusing measurements of an aircraft flight parameter based on a first set of main measurements taken by a first set of main sensors and a plurality of second sets of secondary measurements taken by second sets of secondary sensors, the first set of main measurements exhibiting a greater degree of accuracy than the plurality of second sets of secondary measurements, the method comprising:
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at a processor configured to receive the first set of main measurements taken by the first set of main sensors and the plurality of second sets of secondary measurements taken by the second sets of secondary sensors; calculating a discrepancy between each of the main measurements and the secondary measurements; determining, by the discrepancy, a score of consistency of each of the main measurements with the secondary measurements; performing, for each possible fault configuration of the main sensors, a first, conditional estimation of the aircraft flight parameter based on the main measurements taken by the main sensors which are not faulty; determining, for each fault configuration, a weighting coefficient based on the score of consistency of the main measurements; performing a second estimation of the aircraft flight parameter by weighting the first, conditional estimations relating to the fault configurations by the weighting coefficients corresponding to these fault configurations; and outputting the second estimation of the aircraft flight parameter to one or more systems of the aircraft; wherein determining the score of consistency of each of the main measurements with the secondary measurements comprises; calculating, based on the discrepancy between the main measurement and each fused secondary measurement, masses respectively allocated to a first focal set corresponding to a first hypothesis of consistency of the main measurement with the fused secondary measurement, to a second focal set corresponding to a second hypothesis of absence of consistency of the main measurement with the fused secondary measurement and to a third hypothesis corresponding to an uncertainty of the consistency of the main measurement with the fused secondary measurement, estimating a belief that the main measurement is consistent with at least one of the fused secondary measurements based on the masses, estimating a plausibility that the main measurement is consistent with at least one of the fused secondary measurements based on the masses, and calculating the consistency score by combining the belief and the plausibility by a combination function.
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Current AssigneeAirbus Operations (European Aeronautic Defence and Space Company EADS NV)
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Original AssigneeAirbus Operations (European Aeronautic Defence and Space Company EADS NV)
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InventorsFall, Emmanuel, Mailhes, Corinne, Tourneret, Jean-Yves, Brot, Patrice
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Primary Examiner(s)Tarcza, Thomas
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Assistant Examiner(s)Dunn, Alex C
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Application NumberUS14/553,125Publication NumberTime in Patent Office455 DaysField of Search701/3US Class Current1/1CPC Class CodesG01D 3/08 with provision for safeguar...G01P 13/025 indicating air data, i.e. f...G01P 21/025 for measuring speed of flui...G05D 1/00 Control of position, course...
