BR112012015510A2 - método de detecção de falhas - Google Patents

método de detecção de falhas

Info

Publication number
BR112012015510A2
BR112012015510A2 BR112012015510A BR112012015510A BR112012015510A2 BR 112012015510 A2 BR112012015510 A2 BR 112012015510A2 BR 112012015510 A BR112012015510 A BR 112012015510A BR 112012015510 A BR112012015510 A BR 112012015510A BR 112012015510 A2 BR112012015510 A2 BR 112012015510A2
Authority
BR
Brazil
Prior art keywords
fault detection
assisted
marine vessel
state estimate
vessel state
Prior art date
Application number
BR112012015510A
Other languages
English (en)
Inventor
Richard Ian Stephens
Original Assignee
Converteam Technology Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Converteam Technology Ltd filed Critical Converteam Technology Ltd
Publication of BR112012015510A2 publication Critical patent/BR112012015510A2/pt

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
    • G01C21/188—Compensation of inertial measurements, e.g. for temperature effects for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F11/00—Error detection; Error correction; Monitoring

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Theoretical Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Quality & Reliability (AREA)
  • General Engineering & Computer Science (AREA)
  • Navigation (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

"método de detecção de falhas". um método de detecção de falhas utiliza medições inerciais fornecidas por uma unidade de medição inercial (imu) (2) para detectar falhas no equipamento de medição de posição (pme) (4). o método utiliza pelo menos uma medição inercial (a(t-n) ... a (t) para derivar pelo menos uma estimativa de estado de embarcação marinha não auxiliada (x (t-n) ... x (t)) em um bloco de função de solução não auxiliada (12). isto é então comparado com pelo menos uma medição de posição (p(t-n) ... p (t)) fornecida pelo pme (4) em um bloco de função de detecção de falhas (14) para dterminar se há uma falha no pme. uma medição inercial anterior (a (t-n +1)) e uma medição de posição anterior (p(t-n + 1)) são usadas para derivar uma estimativa de estado de embarcação marinha auxiliada (x' (t - n + 1 ) ) em um bloco de função de solução auxiliada (10). a estimativa de estado de embarcação marinha auxiliada (x' (t - n + 1) ) é usada como uma condição de início para o passo de derivar a pelo menos uma estimativa de estado de embarcação marinha não auxiliada (x ( t - n) ... x (t). os blocos de função de solução auxiliadas ou não auxiliadas (10,12) podem ser implementados como um filtro de kalman.
BR112012015510A 2009-12-21 2010-12-16 método de detecção de falhas BR112012015510A2 (pt)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP09015817A EP2336721A1 (en) 2009-12-21 2009-12-21 Fault detection methods
PCT/EP2010/007716 WO2011076365A1 (en) 2009-12-21 2010-12-16 Fault detection methods

Publications (1)

Publication Number Publication Date
BR112012015510A2 true BR112012015510A2 (pt) 2016-05-03

Family

ID=42122781

Family Applications (1)

Application Number Title Priority Date Filing Date
BR112012015510A BR112012015510A2 (pt) 2009-12-21 2010-12-16 método de detecção de falhas

Country Status (6)

Country Link
US (1) US20130185020A1 (pt)
EP (2) EP2336721A1 (pt)
CN (1) CN102792128A (pt)
BR (1) BR112012015510A2 (pt)
RU (1) RU2012122311A (pt)
WO (1) WO2011076365A1 (pt)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9423250B1 (en) * 2009-12-17 2016-08-23 The Boeing Company Position measurement correction using loop-closure and movement data
CN102937449B (zh) * 2012-10-19 2015-01-14 南京航空航天大学 惯性导航系统中跨音速段气压高度计和gps信息两步融合方法
US9656593B2 (en) * 2014-06-26 2017-05-23 The Boeing Company Flight vehicle autopilot
US10094668B2 (en) * 2014-10-09 2018-10-09 Honeywell International Inc. Systems and methods for producing two independent dissimilar attitude solutions, two independent dissimilar inertial solutions or both from one improved navigation device
US10635111B2 (en) * 2016-10-10 2020-04-28 Rowan Companies, Inc. Dynamic positioning of mobile offshore drilling unit
CN110555398B (zh) * 2019-08-22 2021-11-30 杭州电子科技大学 一种基于滤波最优平滑确定故障首达时刻的故障诊断方法
GB2592272A (en) * 2020-02-24 2021-08-25 Sonardyne Int Ltd Vessel station maintenance control system and method of maintaining station for a vessel
CN112666422A (zh) * 2020-11-25 2021-04-16 中国南方电网有限责任公司超高压输电公司 测量隐患定位方法
CN112833919B (zh) * 2021-03-25 2023-11-03 成都纵横自动化技术股份有限公司 一种多余度的惯性测量数据的管理方法及其系统

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5527003A (en) * 1994-07-27 1996-06-18 Litton Systems, Inc. Method for in-field updating of the gyro thermal calibration of an intertial navigation system
US5906655A (en) * 1997-04-02 1999-05-25 Caterpillar Inc. Method for monitoring integrity of an integrated GPS and INU system
US6234799B1 (en) * 1998-04-06 2001-05-22 American Gnc Corporation Real-time IMU simulator
US6516021B1 (en) * 1999-09-14 2003-02-04 The Aerospace Corporation Global positioning systems and inertial measuring unit ultratight coupling method
US6408245B1 (en) * 2000-08-03 2002-06-18 American Gnc Corporation Filtering mechanization method of integrating global positioning system receiver with inertial measurement unit
US6664923B1 (en) * 2002-09-24 2003-12-16 Novatel, Inc. Position and velocity Kalman filter for use with global navigation satelite system receivers
US20070032950A1 (en) * 2005-08-05 2007-02-08 Raven Industries, Inc. Modular high-precision navigation system
US7579984B2 (en) * 2005-11-23 2009-08-25 The Boeing Company Ultra-tightly coupled GPS and inertial navigation system for agile platforms
CN100462685C (zh) * 2006-11-03 2009-02-18 北京航空航天大学 一种sins/gps组合导航系统的自适应加权反馈校正滤波方法
JP4964047B2 (ja) * 2007-07-12 2012-06-27 アルパイン株式会社 位置検出装置及び位置検出方法
JP2009058242A (ja) * 2007-08-30 2009-03-19 Alpine Electronics Inc 車両位置・方位修正方法及び車両位置・方位修正装置

Also Published As

Publication number Publication date
US20130185020A1 (en) 2013-07-18
WO2011076365A1 (en) 2011-06-30
EP2336721A1 (en) 2011-06-22
CN102792128A (zh) 2012-11-21
RU2012122311A (ru) 2014-02-10
EP2516963A1 (en) 2012-10-31

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Legal Events

Date Code Title Description
B08F Application dismissed because of non-payment of annual fees [chapter 8.6 patent gazette]

Free format text: REFERENTE A 6A ANUIDADE.

B08K Patent lapsed as no evidence of payment of the annual fee has been furnished to inpi [chapter 8.11 patent gazette]