WO1998045723A1 - Verfahren zur überprüfung der zuverlässigkeit von nominellen positionsbestimmungen - Google Patents
Verfahren zur überprüfung der zuverlässigkeit von nominellen positionsbestimmungen Download PDFInfo
- Publication number
- WO1998045723A1 WO1998045723A1 PCT/EP1998/002106 EP9802106W WO9845723A1 WO 1998045723 A1 WO1998045723 A1 WO 1998045723A1 EP 9802106 W EP9802106 W EP 9802106W WO 9845723 A1 WO9845723 A1 WO 9845723A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- measurement
- nominal
- inertial
- noise
- matrix
- Prior art date
Links
Classifications
-
- 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
- G01S19/20—Integrity monitoring, fault detection or fault isolation of space segment
-
- 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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
Definitions
- the invention relates to a method for checking the reliability of nominal position determinations, with a special application for the coupling of satellite and inertial navigation systems.
- a navigation system provides the position and the speed with reference to a predefined coordinate system as essential output variables.
- Inertial navigation systems deliver these sizes with a high update rate and are difficult to disrupt, since only internal sensors but no external system components are required.
- the disadvantage of these systems is the decrease in their accuracy over time.
- Nominal navigation systems, such as satellite navigation systems achieve excellent long-term accuracy, but they only have a low update rate and are very susceptible to faults, since they are based on the principle of measuring the transit time of the electromagnetic wave between the satellite and the receiver.
- error values are determined from the output variables of both systems, which are converted into so-called support variables using an optimal filter (usually a Cayman filter). These sizes are used for the continuous tracking of the inertial system.
- Statistical methods are used in satellite navigation for error detection, which can be divided into two classes: 1. methods based on individual measurements, 2. methods based on series of measurements.
- the vector j_ of dimension nx 1 contains the difference between the measured distance (pseudo-range) and the estimated distance based on the nominal state vector
- Xj S t the deviation of the four-dimensional state vector calculated from the current measurement (position or speed and offset of the time base) describes the nominal value
- G represents the linearized nx 4 measurement matrix
- the vector ⁇ with dimension nx 1 describes the measurement noise including any measurement errors.
- J_L_ G • x ' ⁇ , s
- This expected value is subtracted from the actual measurement vector, whereby the residual vector w is determined.
- the scalar test variable T is formed from this residual vector w by multiplication by its transposed vector:
- T: w ⁇ w
- test variable T obeys a chi-square distribution with the degree of freedom n - 4.
- the test variable T can thus be subjected to a chi-square hypothesis test, from which a statistical statement can be made about the expected inaccuracy of the state vector. If the numerical value of the inaccuracy exceeds a predetermined limit S, it is assumed that the measurement is faulty.
- the measurement matrix G. which contains the direction cosine between the receiver and the n satellites, is expanded by one line:
- ⁇ sat / -b indicates the ratio of the noise of the pseudo-range measurements to the noise of the barometric altimeter.
- the MMEA uses a bank of parallel Cayman filters. Each of these Cayman filters models all relevant parameters of the system to be monitored and an additional parameter that describes a hypothetical error.
- a Cayman filter is used for each satellite received, with a temporally linear falsification of the pseudo-range measurement being assumed as a possible error. After a sufficiently long observation period, a statistical statement can be made as to whether one of the observed satellites is actually defective.
- the invention is based on the object of specifying a method for checking the reliability of nominal position determinations, by means of which the output variables of a nominal system used to support an inertial system can be checked for consistency simply, inexpensively and quickly.
- the measurement redundancy of the measurement values available for error detection is increased with the aid of inertial systems.
- the dimension the measurement matrix G. of the nominal system is increased on the basis of these runtime measurements by including one or more inertial components.
- the method according to the invention offers in particular the advantage of comparing the satellite navigation solution with the inertial navigation solution. Since the inertial components can only change continuously, sudden errors in the satellite navigation system (for example caused by shadowing or reflection) can be detected immediately. Creeping errors can still be detected above a defined threshold.
- the increase in the dimension of the measurement matrix brings about a substantial increase in availability and a significant improvement in the statistical properties of the instance for error detection.
- the single figure shows a block diagram of a hybrid inertial / satellite navigation system.
- the hybrid inertial / satellite navigation system shown in FIG. 1 has a GNSS (Global Navigation Satellite System) 1, which is used to support an INS (inertial navigation system) 2.
- GNSS Global Navigation Satellite System
- INS inertial navigation system
- This support takes place via a Cayman filter 3, which calculates from the difference between the system output variables of the GNSS 1 and the system output variables of the INS 2, which is formed in an adder 4, the support variables necessary for supporting the INS 2 and supplies them to the INS 2.
- an integrity monitor 5 which, according to the invention, receives at least the system output variables position and speed both from the GNSS 1 and from the INS 2. On the basis of the method according to the invention described below, the integrity monitor 5 controls a switch 6 which, in the event of a fault, interrupts the support of the INS 2.
- the increase in the measurement redundancy of the available measurement values according to the invention is exemplified by means of the position solution of the INS 2 for the vertical component (here Zj n ) and a horizontal component (here x ln ).
- the measurement matrix results in:
- ⁇ S at / o in the ratio of the noise of the pseudo-range measurements to the noise of the horizontal x-component of the inertial system
- S t / ⁇ ⁇ zin the ratio of the noise of the pseudo-range measurements to the sound of Vertical component of the inertial system
- J z indicate the errors calculated by the least squares method.
- the method according to the invention naturally also allows the inclusion of other inertial components or a scaling via system parameters other than the measurement noise.
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Security & Cryptography (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US09/402,851 US6271789B1 (en) | 1997-04-10 | 1998-04-09 | Method for checking the reliability of nominal position indications |
EP98922681A EP0974063B1 (de) | 1997-04-10 | 1998-04-09 | Verfahren zur überprüfung der zuverlässigkeit von nominellen positionsbestimmungen |
DE59807561T DE59807561D1 (de) | 1997-04-10 | 1998-04-09 | Verfahren zur überprüfung der zuverlässigkeit von nominellen positionsbestimmungen |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19714985.5 | 1997-04-10 | ||
DE19714985A DE19714985A1 (de) | 1997-04-10 | 1997-04-10 | Verfahren zur Überprüfung der Zuverlässigkeit von nominellen Positionsbestimmungen |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1998045723A1 true WO1998045723A1 (de) | 1998-10-15 |
Family
ID=7826119
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP1998/002106 WO1998045723A1 (de) | 1997-04-10 | 1998-04-09 | Verfahren zur überprüfung der zuverlässigkeit von nominellen positionsbestimmungen |
Country Status (5)
Country | Link |
---|---|
US (1) | US6271789B1 (de) |
EP (1) | EP0974063B1 (de) |
DE (2) | DE19714985A1 (de) |
WO (1) | WO1998045723A1 (de) |
ZA (1) | ZA983030B (de) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6442481B2 (en) * | 2000-07-28 | 2002-08-27 | Honeywell International Inc. | Second order complementary global positioning system/inertial navigation system blending filter |
US7328104B2 (en) * | 2006-05-17 | 2008-02-05 | Honeywell International Inc. | Systems and methods for improved inertial navigation |
US9031572B2 (en) * | 2010-12-22 | 2015-05-12 | Qualcomm Incorporated | Method and apparatus for estimating satellite positioning reliability |
EP4105690A1 (de) * | 2021-06-14 | 2022-12-21 | Honeywell International Inc. | Trennung der positions- und geschwindigkeitslösung beim trägheitsauslauf |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5543804A (en) * | 1994-09-13 | 1996-08-06 | Litton Systems, Inc. | Navagation apparatus with improved attitude determination |
US5583774A (en) * | 1994-06-16 | 1996-12-10 | Litton Systems, Inc. | Assured-integrity monitored-extrapolation navigation apparatus |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CA1321418C (en) * | 1988-10-05 | 1993-08-17 | Joseph C. Mcmillan | Primary land arctic navigation system |
US5606506A (en) * | 1993-04-05 | 1997-02-25 | Caterpillar Inc. | Method and apparatus for improving the accuracy of position estimates in a satellite based navigation system using velocity data from an inertial reference unit |
DE4403190C1 (de) * | 1994-02-02 | 1995-07-27 | Deutsche Forsch Luft Raumfahrt | Verfahren zum Bestimmen der Position eines Flugzeugs aus Beschleunigungsdaten eines Inertialsystems sowie aus Ausgabedaten eines Navigationssystems und Einrichtung zur Durchführung des Verfahrens |
US5646857A (en) * | 1995-03-31 | 1997-07-08 | Trimble Navigation Limited | Use of an altitude sensor to augment availability of GPS location fixes |
US5825326A (en) * | 1996-07-09 | 1998-10-20 | Interstate Electronics Corporation | Real-time high-accuracy determination of integer ambiguities in a kinematic GPS receiver |
-
1997
- 1997-04-10 DE DE19714985A patent/DE19714985A1/de not_active Ceased
-
1998
- 1998-04-09 WO PCT/EP1998/002106 patent/WO1998045723A1/de active IP Right Grant
- 1998-04-09 DE DE59807561T patent/DE59807561D1/de not_active Expired - Lifetime
- 1998-04-09 US US09/402,851 patent/US6271789B1/en not_active Expired - Lifetime
- 1998-04-09 ZA ZA9803030A patent/ZA983030B/xx unknown
- 1998-04-09 EP EP98922681A patent/EP0974063B1/de not_active Expired - Lifetime
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5583774A (en) * | 1994-06-16 | 1996-12-10 | Litton Systems, Inc. | Assured-integrity monitored-extrapolation navigation apparatus |
US5543804A (en) * | 1994-09-13 | 1996-08-06 | Litton Systems, Inc. | Navagation apparatus with improved attitude determination |
Non-Patent Citations (1)
Title |
---|
UPADHYAY T ET AL: "AUTONOMOUS GPS/INS NAVIGATION EXPERIMENT FOR SPACE TRANSFER VEHICLE", IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS, vol. 29, no. 3, 1 July 1993 (1993-07-01), pages 772 - 784, XP000398823 * |
Also Published As
Publication number | Publication date |
---|---|
US6271789B1 (en) | 2001-08-07 |
ZA983030B (en) | 2001-11-19 |
DE19714985A1 (de) | 1998-10-22 |
EP0974063A1 (de) | 2000-01-26 |
DE59807561D1 (de) | 2003-04-24 |
EP0974063B1 (de) | 2003-03-19 |
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