System for navigation redundancy

• US 7,058,505 B1
• Filed: 06/27/2005
• Issued: 06/06/2006
• Est. Priority Date: 06/28/2004
• Status: Active Grant

• Current Assignee: Northrop Grumman Systems Corporation (Northrop Grumman Corporation)
• Original Assignee: Northrop Grumman Corporation
• Inventors: Tazartes, Daniel A., Volk, Charles H., Strachan, Victor F., Milelli, Rosario J.
• Primary Examiner(s): Camby, Richard M.
• Application Number:
  US11/167,720
• Publication Number:
  US 20060106511A1
• Time in Patent Office: 344 Days
• Field of Search: 701/36, 701/200, 701/213, 701/214, 701/215, 701/216, 701/220, 701/301, 34235706-35712, 348/118
• US Class Current: 701/200
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01S 19/48 by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
• CPC Class Codes: G08G 1/0968 Systems involving transmission of navigation instructions to the vehicle

Abstract

An exemplary system that provides for navigation redundancy includes first and second navigation components adapted to determine first and second navigation parameters, respectively. A network component determines a relationship between the first and second navigation components, wherein the relationship describes a navigation solution for the second navigation component in terms of the first navigation component. A health monitor determines a health indicator for the second navigation component. The second navigation component determines a navigation solution for the second navigation parameters when the health indicator indicates a healthy condition. The network component determines a navigation solution for the second navigation parameters based on the relationship that describes behavior of the second navigation component in terms of the first navigation component when the health indicator indicates an unhealthy condition.

Claims

1. An apparatus, comprising:

a first one or more navigation components of a plurality of navigation components;

a second one or more navigation components of the plurality of navigation components;

a navigation network component that employs one or more estimation means to develop one or more relationships for the plurality of navigation components, wherein each of the one or more relationships describes a navigation solution for a navigation component of the plurality of navigation components in terms of one or more of the plurality of navigation components; and

a health monitor component that determines one or more health indicators for the plurality of navigation components;

wherein the navigation network component determines one or more navigation solutions for the first one or more navigation components;

wherein the navigation network component determines one or more navigation solutions for the second one or more navigation components through employment of one or more of the one or more relationships and the one or more navigation solutions for the first one or more navigation components, wherein the one or more of the one or more relationships comprise one or more relationships that describe behavior of each of the second one or more navigation components in terms of one or more of the first one or more navigation components and one or more of the second navigation components.

2. The apparatus of claim 1 wherein the estimation consists of a neural network.

3. The apparatus of claim 1 wherein the estimation consists of Kalman filter.

4. The apparatus of claim 1 wherein the first one or more navigation components comprise one or more health indicators indicating a healthy condition for the first one or more navigation components.

5. The apparatus of claim 4 wherein the second one or more of the plurality of navigation components comprise one or more health indicators indicating an unhealthy condition for the second one or more of the plurality of navigation components.

6. An apparatus, comprising:

a first and second navigation component each adapted to determine first and second navigation parameters, respectively;

a network component adapted to determine relationships between the first and second navigation components, wherein the relationship describes a navigation solution for the second navigation component in terms of the first navigation component; and

a health monitor component that determines a health indicator for at least the second navigation component;

wherein the second navigation component determines a navigation solution for the second navigation parameters when the health indicator is equal to or greater than a first threshold indicating a health condition;

wherein the network component determines a navigation solution for the second navigation parameters based on the relationship that describes behavior of the second navigation component in terms of the first navigation component when the health indicator is less than the first threshold indicating an unhealthy condition.

7. The apparatus of claim 6 wherein the thresholds used by the health indicator corresponding to healthy and unhealthy conditions are different.

8. The apparatus of claim 6 further comprising a plurality of navigation components in addition to the first and second navigation components where each of the plurality of navigation components is adapted to determine respective navigation parameters;

the network component adapted to determine relationships among the navigation components, wherein the relationship describes a navigation solution for each of the navigation components in terms of one or more other navigation components; and

the health monitor component that determines a health indicator for said plurality of navigation components;

wherein each navigation component determines a navigation solution for its respective navigation parameters when the corresponding health indicator indicates a healthy condition;

wherein the network component determines a navigation solution for certain navigation parameters associated with a certain navigation component based on the relationship that describes behavior of the certain navigation component in terms of a different navigation component when the health indicator of the certain navigation component indicates an unhealthy condition.

9. The apparatus of claim 6 further comprising a lever arm component that determines a lever arm solution for the second navigation component in terms of the first navigation component, wherein the network component determines a navigation solution for the second navigation parameters based on the lever arm solution that describes behavior of the second navigation component in terms of the first navigation component when the health indicator indicates an unhealthy condition.

10. The apparatus of claim 9 wherein the lever arm component obtains physical parameters of the second navigation component and determines the lever arm solution for the second navigation component in terms of the first navigation component based on the physical parameters.

11. The apparatus of claim 9 wherein the lever arm component determines a dynamic lever arm solution for the second navigation component in terms of the first navigation component.

12. A method implemented by a computing system for computing navigation information comprising the steps of:

determining first and second navigation parameters that correspond to first and second navigation components, respectively;

determining relationships between the first and second navigation components, wherein the relationship describes a navigation solution for the second navigation component in terms of the first navigation component; and

determining a health indicator for at least the second navigation component;

wherein a navigation solution for the second navigation parameters is determined by the second navigation component when the health indicator is equal to or greater than a first threshold indicating a healthy condition;

wherein a navigation solution for the second navigation parameters is determined by the network component based on the relationship that describes behavior of the second navigation component in terms of the first navigation component when the health indicator is less than the first threshold indicating an unhealthy condition.

13. The method of claim 12 further comprising the steps of:

determining a plurality of respective navigation parameters for corresponding navigation components in addition to the first and second navigation components;

determining relationships among the plurality of navigation components, wherein each relationship describes a navigation solution for each of the navigation components in terms of one or more other navigation components; and

determining a health indicator for said plurality of navigation components;

wherein a navigation solution is determined for a navigation component based on its respective navigation parameters when the corresponding health indicator indicates a healthy condition;

wherein a navigation solution is determined for a certain navigation component, having a corresponding health indicator indicating an unhealthy condition, based on the relationship that describes behavior of the certain navigation component in terms of a different navigation component where the health indicator of the different navigation component indicates a healthy condition.

14. The method of claim 12 further comprising the step of determining a lever arm solution for the second navigation component in terms of the first navigation component, wherein the network component determines a navigation solution for the second navigation parameters based on the lever arm solution that describes behavior of the second navigation component in terms of the first navigation component when the health indicator indicates an unhealthy condition.

15. The method of claim 14 wherein the step of determining a lever arm solution includes obtaining physical parameters of the second navigation component and determining the lever arm solution for the second navigation component in terms of the first navigation component based on the physical parameters.

16. The method of claim 14 wherein the step of determining a lever arm solution includes determining a dynamic lever arm solution for the second navigation component in terms of the first navigation component.

17. The method of claim 12 further determining a plurality of lever arm solutions for additional navigation components, said lever arm solutions being estimated dynamically between navigation components when their respective health indicators indicate a healthy condition.

18. An article, comprising:

one or more computer-readable signal-bearing media; and

means in the one or more media for determining first and second navigation parameters that correspond to first and second navigation components, respectively;

means in the one or more media for determining relationships between the first and second navigation components, wherein the relationship describes a navigation solution for the second navigation component in terms of the first navigation component; and

means in the one or more media for determining a health indicator for at least the second navigation component;

wherein a navigation solution for the second navigation parameters is determined when the health indicator for the second navigation component indicates a healthy condition;

wherein a navigation solution for the second navigation parameters is determined based on the relationship that describes behavior of the second navigation component in terms of the first navigation component when the health indicator indicates an unhealthy condition.

19. The article of claim 18 further comprising:

means in the one or more media for determining a plurality of respective navigation parameters for corresponding navigation components in addition to the first and second navigation components;

means in the one or more media for determining relationships among the plurality of navigation components, wherein each relationship describes a navigation solution for each of the navigation components in terms of another navigation component; and

means in the one or more media for determining a health indicator for said plurality of navigation components;

wherein a navigation solution is determined for a navigation component based on its respective navigation parameters when the corresponding health indicator is equal to or greater than a first threshold indicating a healthy condition;

wherein a navigation solution is determined for a certain navigation component, having a corresponding health indicator that is less than the first threshold indicating an unhealthy condition, based on the relationship that describes behavior of the certain navigation component in terms of a different navigation component where the health indicator of the different navigation component indicates a healthy condition.

20. The article of claim 18 further comprising means in the one or more media for determining a lever arm solution for the second navigation component in terms of the first navigation component, wherein the navigation solution for the second navigation parameters is based on the lever arm solution that describes behavior of the second navigation component in terms of the first navigation component when the health indicator indicates an unhealthy condition.

21. The article of claim 20 wherein means in the one or more media for determining a lever arm solution includes means in the one or more media for obtaining physical parameters of the second navigation component and determining the lever arm solution for the second navigation component in terms of the first navigation component based on the physical parameters.

22. The article of claim 20 wherein means in the one or more media for determining a lever arm solution includes means in the one or more media for determining a dynamic lever arm solution for the second navigation component in terms of the first navigation component.