18811579. METHOD AND SYSTEM FOR MEASUREMENT REJECTION IN AIDED NAVIGATION (Honeywell International Inc.)
METHOD AND SYSTEM FOR MEASUREMENT REJECTION IN AIDED NAVIGATION
Organization Name
Inventor(s)
Zafer Vatansever of Falcon Heights MN US
Drew Alan Karnick of Blaine MN US
Emma Jane Grant of Minneapolis MN US
METHOD AND SYSTEM FOR MEASUREMENT REJECTION IN AIDED NAVIGATION
This abstract first appeared for US patent application 18811579 titled 'METHOD AND SYSTEM FOR MEASUREMENT REJECTION IN AIDED NAVIGATION
Original Abstract Submitted
A system comprises a processor onboard a vehicle, an onboard aiding source, and onboard inertial sensors. The processor includes a prediction module that propagates navigation error states, and a residual computation module that computes a measurement residual and measurement residual variance based on aiding measurements and navigation error states. A measurement monitoring module comprises a measurement monitor selection switch that selects between a normalized measurement residual monitor, and a Chi squared measurement monitor. When selected, the normalized measurement residual monitor performs a first aiding measurement validation process that determines whether a normalized measurement residual is less than a first user selected threshold. If yes, then the aiding measurement is valid. When selected, the Chi squared measurement monitor performs a second aiding measurement validation process that determines whether a measurement residual error squared is less than a second user selected threshold. If yes, then the aiding measurement is valid.
