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A navigation solution of a navigation system with a Terrain Navigation Module is determined by a procedure including determining a supported position solution and the relative covered path between two height measurements, ascertaining a quality of each active supported position from each active supp

A navigation solution of a navigation system with a Terrain Navigation Module is determined by a procedure including determining a supported position solution and the relative covered path between two height measurements, ascertaining a quality of each active supported position from each active supported position by way of a first quality function, and creating a search area and predetermined positions for each position inside the search area and each relatively stored covered path. The procedure further includes ascertaining a quality of each relatively stored terrain height measurement, and a quality of each reference height, and determining the quality of the position support by a function of all minimum probabilities of all used positions in the search area and supporting the navigation solution ascertained in the Strap Down Module by the navigation filter with the aid of the determined position support and the determined quality of the position support. A navigation system with a Strap Down Module and a navigation filter and a Terrain Navigation Module for determining the navigation solution are also described.

대표청구항 ▼

We claim: 1. A process for determining, as a navigation solution of a navigation system with a Terrain Navigation Module, an individual position of an aircraft or watercraft, comprising: determining a supported aircraft or watercraft position solution, and a relative covered path between two height

We claim: 1. A process for determining, as a navigation solution of a navigation system with a Terrain Navigation Module, an individual position of an aircraft or watercraft, comprising: determining a supported aircraft or watercraft position solution, and a relative covered path between two height measurements with navigation sensors, a Strap Down Module, and a navigation filter, ascertaining a quality of each active supported aircraft or watercraft position solution from each respective active supported aircraft or watercraft position using a first quality function, creating both a search area, based on predetermined criteria and each respective supported aircraft or watercraft position solution as well as predetermined aircraft or watercraft positions inside the search area, storing an active terrain height measurement and the relative covered path between the active terrain height measurement and a last stored terrain height measurement in order to ascertain a quality of each respective covered path and a quality of each respective stored terrain height measurement, determining a relative position for each respective predetermined aircraft or watercraft position inside the search area and each respective stored covered path, determining a quality transformed via a reference map of each respective stored covered path by way of a second quality function under use of each stored covered path, ascertaining a quality of each respective stored terrain height measurement by way of a third quality function under use of a corresponding stored terrain height measurement, ascertaining a quality of each reference height for each relative position from predetermined parameters and corresponding reference heights by way of a fourth quality function, determining a distribution function of error measurement for each relative position from a function of the quality of each active supported position solution, the quality transformed via the reference map of each respective stored covered path, the quality of each respective stored terrain height measurement, and the quality of each reference height, ascertaining a distribution function of a total error for each predetermined aircraft or watercraft position inside the search area as a function of the distribution function of the error measurement, ascertaining minimum probabilities of all used aircraft or watercraft positions in the search area by way of a function of the distribution function of the total error as a probability with which each aircraft or watercraft position in the search area exhibits a minimal total error, determining a quality of a position support, to be supplied to and used in said navigation filter, as a function of all minimum probabilities, protecting the navigation solution ascertained in the Strap Down Module via the navigation filter with aid of an actual position support, to be supplied to and used, together with said quality of position support, in said navigation filter and the determined quality of the position support by closing recursion to stabilize navigation over an extended term, and outputting the navigation solution as the individual position of the aircraft or watercraft. 2. The process according to claim 1, wherein ascertaining the quality of each active supported aircraft or watercraft position solution is obtained from a respective active supported aircraft or watercraft position by way of a first quality function and a first distribution function. 3. The process according to claim 2, wherein the first quality function uses a Gauss distribution function with a first variance. 4. The process according to claim 1, wherein, upon creating the search area, a central area around a protected aircraft or watercraft position solution is used. 5. The process according to claim 1, wherein, upon creating the search area, varying search area dimensions are used based on imprecision of each supported aircraft or watercraft position solution. 6. The process according to claim 1, wherein, upon creating the search area, aircraft or watercraft positions which are arranged equidistant to a predefined raster are used. 7. The process according to claim 1, wherein, upon storage, the active terrain height measurement is ascertained from an active height measurement and the active supported aircraft or watercraft position solution. 8. The process according to claim 1, wherein, by storing the active terrain height measurement and the relative covered path, a given number of terrain height measurements and relative covered paths is stored. 9. The process according to claim 1, wherein, upon determining the quality transformed via the reference map of the respective stored covered path, a second distribution function is used. 10. The process according to claim 9, wherein, upon determining the quality transformed by the reference map, a Gauss distribution function with a second variance is used. 11. The process according to claim 1, wherein, upon determining the quality of each respective stored terrain height measurement, a third distribution function is used. 12. The process according to claim 11, wherein, upon determining the quality, a Gauss distribution function with a third variance is used. 13. The process according to claim 1, wherein, upon ascertaining the quality of a reference height, a fourth distribution function is used. 14. The process according to claim 13, wherein, upon ascertaining the quality, a Gauss distribution function is used with a fourth variance. 15. The process according to claim 1, wherein ascertaining the distribution function of the total error for each respective predetermined aircraft or watercraft position inside the search area is carried out over convolution of the individual distribution functions of error measurement. 16. The process according to claim 1, wherein determining the quality of the position support as a function of all minimum probabilities results from a discrete distribution function which is defined through the minimum probabilities. 17. The process according to claim 1, wherein determining the quality of the position support results via a covariance matrix, which is calculated from the minimum probabilities and the actual position support. 18. The process according to claim 1, wherein protecting the navigation solution ascertained comprises determining the position support via calculation of error measurement for each respective relative aircraft or watercraft position, determining a total error for each aircraft or watercraft position in the search area, and searching for the minimal total error by all total error in the search area. 19. A navigation system for which a navigation solution is determined by the process of claim 1.