Systems and methods for determining inertial navigation system faults
First Claim
1. An inertial navigation system (INS), comprising:
- a primary inertial navigation system (INS) unit configured to receive first accelerometer measurements from a first accelerometer and first angular velocity measurements from a first gyroscope,the primary INS unit further configured to receive global navigation satellite system (GNSS) signals from a GNSS sensor and to determine a first set of kinematic state vectors based on the first accelerometer measurements, the first angular velocity measurements, and the GNSS signals;
a secondary INS unit configured to receive the first accelerometer measurements and the first angular velocity measurements and to determine a second set of kinematic state vectors of the vehicle based on the first accelerometer measurements and the first angular velocity measurements; and
a health management system configured to compare the first set of kinematic state vectors and the second set of kinematic state vectors to determine faults associated with at least one of the first accelerometer or the first gyroscope based on the comparison.
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Abstract
An inertial navigation system (INS) includes a primary inertial navigation system (INS) unit configured to receive accelerometer measurements from an accelerometer and angular velocity measurements from a gyroscope. The primary INS unit is further configured to receive global navigation satellite system (GNSS) signals from a GNSS sensor and to determine a first set of kinematic state vectors based on the accelerometer measurements, the angular velocity measurements, and the GNSS signals. The INS further includes a secondary INS unit configured to receive the accelerometer measurements and the angular velocity measurements and to determine a second set of kinematic state vectors of the vehicle based on the accelerometer measurements and the angular velocity measurements. A health management system is configured to compare the first set of kinematic state vectors and the second set of kinematic state vectors to determine faults associated with the accelerometer or the gyroscope based on the comparison.
70 Citations
20 Claims
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1. An inertial navigation system (INS), comprising:
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a primary inertial navigation system (INS) unit configured to receive first accelerometer measurements from a first accelerometer and first angular velocity measurements from a first gyroscope, the primary INS unit further configured to receive global navigation satellite system (GNSS) signals from a GNSS sensor and to determine a first set of kinematic state vectors based on the first accelerometer measurements, the first angular velocity measurements, and the GNSS signals; a secondary INS unit configured to receive the first accelerometer measurements and the first angular velocity measurements and to determine a second set of kinematic state vectors of the vehicle based on the first accelerometer measurements and the first angular velocity measurements; and a health management system configured to compare the first set of kinematic state vectors and the second set of kinematic state vectors to determine faults associated with at least one of the first accelerometer or the first gyroscope based on the comparison. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 17, 18, 19, 20)
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12. A vehicle system, comprising:
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an inertial measurement unit (IMU) comprising a first accelerometer configured to generate first acceleration measurements and a first gyroscope configured to generate first angular velocity measurements; a global navigation satellite system (GNSS) configured to generate GNSS signals; a primary inertial navigation system (INS) unit configured to receive the first accelerometer measurements, the first angular velocity measurements, and the GNSS signals, the primary INS unit further configured to determine a first set of kinematic state vectors based on the first accelerometer measurements, the first angular velocity measurements, and the GNSS signals; a secondary INS unit configured to receive the first accelerometer measurements and the first angular velocity measurements and to determine a second set of kinematic state vectors of the vehicle based on the first accelerometer measurements and the first angular velocity measurements, wherein the secondary INS unit is configured to determine the second set of kinematic state vectors independently of the GNSS signals; and a health management system coupled to the primary INS unit and the secondary INS unit and configured to compare the first set of kinematic state vectors and the second set of kinematic state vectors to determine faults associated with at least one of the first accelerometer or the first gyroscope based on the comparison, wherein the primary INS unit includes primary accelerometer and gyroscope measurement models for determining the first set of kinematic state vectors and the secondary INS unit includes secondary accelerometer and gyroscope measurement models for determining the second set of kinematic state vectors, wherein the primary accelerometer and gyroscope measurement models and the secondary accelerometer and gyroscope measurement models are the same, and wherein the health management system is further configured to determine faults associated with the primary accelerometer and gyroscope measurement models or the secondary accelerometer and gyroscope measurement models. - View Dependent Claims (13, 14, 15)
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16. A vehicle system, comprising:
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a first inertial measurement unit (IMU) comprising a first accelerometer configured to generate first acceleration measurements and a first gyroscope configured to generate first angular velocity measurements; a global navigation satellite system (GNSS) configured to generate GNSS signals; a primary inertial navigation system (INS) unit configured to receive the first accelerometer measurements, the first angular velocity measurements, and the GNSS signals, the primary INS unit further configured to determine a first set of kinematic state vectors based on the first accelerometer measurements, the first angular velocity measurements, and the GNSS measurements, the primary INS unit including a first Kalman filter configured to receive the GNSS signals and to determine a first set of health indicators associated with the first set of kinematic state vectors and an input filter configured to produce a second set of health indicators associated with the first set of kinematic state vectors; a secondary INS unit configured to receive the first accelerometer measurements and the first angular velocity measurements and to determine a second set of kinematic state vectors of the vehicle based on the first accelerometer measurements and the first angular velocity measurements and independently of the GNSS signals; and a health management system coupled to the primary INS unit and the secondary INS unit and configured to compare the first set of kinematic state vectors and the second set of kinematic state vectors to generate a third set of health indicators, the health management system further configured to determine faults associated with at least one of the first accelerometer or the first gyroscope based on at least one of the first set of health indicators, the second set of health indicators, or the third set of health indicators.
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Specification