Hybrid system and device for calculating a position and for monitoring its integrity
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G01S-019/47
G01S-019/33
G01C-021/16
G01S-019/20
출원번호
US-0878605
(2010-09-09)
등록번호
US-9146322
(2015-09-29)
우선권정보
FR-09 04328 (2009-10-09)
발명자
/ 주소
Coatantiec, Jacques
출원인 / 주소
THALES
대리인 / 주소
Stroock & Stroock & Lavan LLP
인용정보
피인용 횟수 :
2인용 특허 :
3
초록▼
Hybrid system (1) comprising an elementary hybrid system (2) comprising an extended processing module CALC (100) determining a first protection radius of the hybrid system RHG1, associated with a position quantity G, using a first extended variance/covariance matrix MHYPE1 as a function of a predete
Hybrid system (1) comprising an elementary hybrid system (2) comprising an extended processing module CALC (100) determining a first protection radius of the hybrid system RHG1, associated with a position quantity G, using a first extended variance/covariance matrix MHYPE1 as a function of a predetermined first false alarm probability PFA1, of a predetermined non-integrity level PNI and of a predetermined first probability PP1 of occurrence of an undetected hardware failure of a satellite positioning receiver.
대표청구항▼
1. A hybrid system RHG1 comprising at least an elementary hybrid system, which comprises: a primary satellite positioning receiver delivering primary elementary raw measurements MBi1 using signals received by a primary satellite positioning receiver from first tracked visible satellites, the primary
1. A hybrid system RHG1 comprising at least an elementary hybrid system, which comprises: a primary satellite positioning receiver delivering primary elementary raw measurements MBi1 using signals received by a primary satellite positioning receiver from first tracked visible satellites, the primary elementary raw measurements MBi1 comprising primary positioning measurements for each of the first tracked visible satellites, wherein the primary positioning measurements for a given tracked visible satellite comprise pseudo-range and delta-range measurements of the tracked visible satellite,an elementary inertial navigation system delivering inertial measurements MI comprising position and speed points,a hybridization unit receiving the inertial measurements MI and, when the primary elementary raw measurements MBi1 are available, also receiving the primary elementary raw measurements MBi1, and producing (1) a first elementary hybrid solution PPVI1 comprising first elementary hybrid position measurements obtained by hybridizing the inertial measurements MI and the primary elementary raw measurements MBi1, when available, and (2) a primary variance/covariance matrix MHYP1 for the error made in the estimation of a vector of state VE, wherein the vector of state VE corresponds to the errors in the elementary hybrid system obtained by determining the difference between the first elementary hybrid position measurements in the first elementary hybrid solution PPVI1 and the primary elementary raw measurements MBi1, and wherein the primary variance/covariance matrix MHYP1 is calculated by a Kalman hybridization filter K1, characterized in that the said hybrid system RHG1 also comprises:a secondary satellite positioning receiver delivering secondary elementary raw measurements MBj2 using signals received by a secondary satellite positioning receiver from second tracked visible satellites, the secondary elementary raw measurements MBj1 comprising secondary positioning measurements for each of the second tracked visible satellites, wherein the secondary positioning measurements for a given second tracked visible satellite comprise pseudo-range and delta-range measurements of the tracked visible satellite,a first extended Kalman filter KE1 receiving the first elementary hybrid solution PPVI1, the primary variance/covariance matrix MHYP1 and, when the primary and secondary elementary raw measurements MBi1 and MBj2 are available, the primary and secondary elementary raw measurements MBi1 and MBj2 coming from satellites common to the first and second tracked visible satellites, the said extended filter KE1 having a first extended vector of state VEE1 comprising a part known as hybrid difference ΔX, representing the difference between the first elementary hybrid solution PPVI1 and a second elementary hybrid solution PPVI2, comprising second elementary hybrid position measurements obtained by hybridizing the inertial measurements MI and the secondary elementary raw measurements MBj2 coming from satellites common to the first and second tracked visible satellites, when available, the said first extended vector of state VEE1 also comprising an error part of the elementary hybrid system X1 representing the errors in the various components of the first elementary hybrid solution PPVI1 and being estimated by means of an error model representing the errors of an inertial navigation system, the said first extended Kalman filter KE1 delivering a first extended variance/covariance matrix MHYPE1 for the error of a first estimation EVEE1 of the first extended vector of state VEE1, andan extended processing module CALC receiving the first extended variance/covariance matrix MHYPE1, the said extended processing module CALC determining a first elementary protection radius for the hybrid system RHG1, associated with a one of said first elementary hybrid position measurements, using the first extended variance/covariance matrix MHYPE1 as a function of a first predetermined false alarm probability PFA1 representing a maximum probability of an alarm being triggered when no satellite positioning receiver has a fault, of a predetermined non-integrity level PNI representing a maximum probability of an error in one of said first elementary hybrid position measurements exceeding the protection radius without an alarm being triggered, and of a first predetermined probability PP1 corresponding to the probability of occurrence of an undetected hardware failure of a satellite positioning receiver. 2. The hybrid system RHG1 according to claim 1, characterized in that the first elementary protection radius of the hybrid system RHG1 associated with one of said first elementary hybrid position measurements is calculated based on a first detection threshold SEΔG1 associated with said hybrid difference ΔX relating to the one of said first elementary hybrid position measurements corresponding to a value of the hybrid difference ΔX beyond which a failure of one of said primary or secondary satellite receiver is supposed to have occurred, the said first detection threshold SEΔG1 being obtained based on a part of the first extended variance/covariance matrix MHYPE1 associated with the hybrid difference ΔX relating to the one of said first elementary hybrid position measurements, for the first predetermined false alarm probability PFA1, the said first elementary protection radius of the hybrid system RHG1 also depending on a part of the first extended variance/covariance matrix MHYPE1 associated with the error part of the elementary hybrid system X1 relating to the one of said first elementary hybrid position measurements for a first level of risk PND1 chosen so as to be less than or equal to the ratio between the non-integrity level PNI and the probability PP1 of occurrence of an undetected hardware failure of a satellite positioning receiver. 3. The hybrid system RHG1 according to claim 1 or 2, characterized in that: the primary satellite positioning receiver and the secondary satellite positioning receiver, respectively, are units for modeling primary raw and secondary raw measurements, respectively, delivered by a primary and secondary satellite positioning receiver, respectively, operating using tracked visible satellites,the elementary inertial navigation system for delivering inertial measurements MI is a unit for modeling inertial measurements delivered by an inertial navigation system. 4. An extended hybrid system comprising the hybrid system RHG1 according to claim 1, characterized in that: the primary satellite positioning receiver and the secondary satellite positioning receiver respectively correspond to a primary GNSS1, and a secondary GNSS2 satellite positioning receivers operating using tracked visible satellites,the elementary inertial navigation system for delivering inertial measurements MI is an inertial navigation system CI. 5. The hybrid system RHG1 according to claim 4, characterized in that the first extended Kalman filter KE1 also receives a hybrid correction HYC, comprising a vector of state VE corresponding to the errors on the elementary hybrid system obtained by observing the difference between the elementary hybrid position measurements comprised in the first elementary hybrid solution PPVI1 and the primary raw measurements, and produces a first estimation EVEE1 of the first extended vector of state VEE1, the said extended processing module CALC performing a first test for detection of a hardware failure, affecting one of the satellite positioning receivers taken from either the primary receiver or the secondary receiver, by comparing the components of the first estimation EVEE1, relating to the hybrid difference ΔX obtained for one of said first elementary hybrid position measurements, with a first detection threshold SEΔG1 associated with the hybrid difference ΔX relating to the one of said first elementary hybrid position measurements, in that when at least one of the components of the first estimation EVEE1, of the first extended vector of state VEE1 relating to the difference ΔX obtained for one of said first elementary hybrid position measurements, is greater than the first detection threshold SEΔG1, the extended processing module CALC triggers an alarm on the presence of a failure of at least one satellite positioning receiver. 6. The hybrid system RHG1 according to claim 5, characterized in that when none of the components of the first estimation EVEE1 of the first extended vector of state VEE1 relating to the difference ΔX obtained for the one of said first elementary hybrid position measurements is greater than the first detection threshold SEΔG1, the non-integrity level PNI is equal to a predefined normal non-integrity level PNIN. 7. The hybrid system RHG1 according to claim 5, characterized in that when an alarm is triggered, a supply for the hybridization unit and for the extended Kalman filter KE1 by means of the primary and secondary raw measurements is stopped and in that the said non-integrity level PNI is equal to a coasting non-integrity level PNIS which is a non-integrity level greater than or equal to a predefined normal non-integrity level PNIN. 8. A hybrid system comprising the hybrid system RHG1 according to claim 4 and a hybrid system RHG2, RHG3, which comprises: a tertiary satellite positioning receiver GNSS3 producing tertiary raw measurements MBm3, using signals received by the tertiary satellite positioning receiver from third tracked visible satellites, the tertiary raw measurements MBm3 comprising tertiary positioning measurements for each of the third tracked visible satellites, wherein the tertiary positioning measurements for a given third tracked visible satellite comprise pseudo-range and delta-range measurements of the tracked visible satellite,a second KE2 extended Kalman filter receiving the same data as the first extended filter KE1 with the exception of the secondary raw measurements MBj2 which are replaced by the tertiary raw measurements MBm3 coming from satellites common to the first and third tracked visible satellites, and producing a second estimation EVEE2 of a second extended vector of state VEE2, and an associated second extended variance/covariance matrix MHYPE2,a third KE3 extended filter receiving the same data as the first extended filter KE1 with the exception of the primary raw measurements MBi1 which are replaced by the tertiary measurements MBm3 and producing a third estimation EVEE3 of a third extended vector of state VEE3, and an associated third extended variance/covariance matrix MHYPE3, the said extended processor CALC also calculating a second and a third protection radius for the hybrid system RHG2, RHG3 relating to a set of elementary hybrid position measurements, using the second MHYPE2 and respectively the third MHYPE3 extended variance/covariance matrices and also performing a second and a third test including comparing the components of the second EVEE2 and the third EVEE3 estimation, relating to the difference obtained for the set of elementary hybrid position measurements, with respectively a second SEΔG2 and a third SEΔG3 thresholds, results TE1, TE2, TE3 of the first, second and third tests being positive when the said components of the first EVEE1, respectively the second EVEE2, respectively the third EVEE3 estimations are respectively greater than the first SEΔG1, second SEΔG2 and third SEΔG3 thresholds, and in that when at least one of the results TE1, TE2, TE3, respectively from the first, second and third tests is positive, an alarm is raised signifying a defective receiver, the said extended processor CALC also identifying the defective receiver, from amongst the three receivers, based on the results TE1, TE2, TE3 and, where necessary, excluding the defective receiver. 9. An extended hybrid system comprising the hybrid system RHG1 according to claim 2, characterized in that: the primary satellite positioning receiver, and the secondary satellite positioning receiver respectively correspond to a primary GNSS1, and a secondary GNSS2 satellite positioning receivers operating using visible satellites,the elementary inertial navigation system for delivering inertial measurements MI is an inertial navigation system CI. 10. The hybrid system RHG1 according to claim 9, characterized in that the first extended Kalman filter KE1 also receives a hybrid correction HYC and produces a first estimation EVEE1 of the first extended vector of state VEE1, the said extended processing module CALC performing a first test for detection of a hardware failure, affecting one of the satellite positioning receivers taken from either the primary receiver or the secondary receiver, by comparing the components of the first estimation EVEE1, relating to the hybrid difference ΔX obtained for one of said first elementary hybrid position measurements, with a first detection threshold SEΔG1 associated with the hybrid difference ΔX relating to the one of said first elementary hybrid position measurements, in that when at least one of the components of the first estimation EVEE1, of the first extended vector of state VEE1 relating to the difference ΔX obtained for one of said first elementary hybrid position measurements, is greater than the first detection threshold SEΔG1, the extended processing module CALC triggers an alarm on the presence of a failure of at least one satellite positioning receiver. 11. The hybrid system RHG1 according to claim 10, characterized in that when none of the components of the first estimation EVEE1 of the first extended vector of state VEE1 relating to the difference ΔX obtained for the one of said first elementary hybrid position measurements is greater than the first detection threshold SEΔG1, the non-integrity level PNI is equal to a normal non-integrity level PNIN. 12. The hybrid system RHG1 according to claim 10, characterized in that when an alarm is triggered, a supply for the hybridization unit and for the extended Kalman filter KE1 by means of the primary and secondary raw measurements is stopped and in that the said non-integrity level PNI is equal to a coasting non-integrity level PNIS greater than or equal to the normal non-integrity level PNIN. 13. A hybrid system comprising the hybrid system RHG1 according to claim 9 and a hybrid system RHG2, RHG3, which comprises: a tertiary satellite positioning receiver GNSS3 producing tertiary raw measurements MBm3 using signals received by the tertiary satellite positioning receiver from third tracked visible satellites, the tertiary raw measurements MBm3 comprising tertiary positioning measurements for each of the third tracked visible satellites, wherein the tertiary positioning measurements for a given third tracked visible satellite comprise pseudo-range and delta-range measurements of the tracked visible satellite,a second KE2 extended Kalman filter receiving the same data as the first extended filter KE1 with the exception of the secondary raw measurements MBj2 which are replaced by the tertiary raw measurements MBm3 coming from satellites common to the first and third tracked visible satellites, and producing a second estimation EVEE2 of a second extended vector of state VEE2, and an associated second extended variance/covariance matrix MHYPE2,a third KE3 extended filter receiving the same data as the first extended filter KE1 with the exception of the primary raw measurements MBi1 which are replaced by the tertiary measurements MBm3 and producing a third estimation EVEE3 of a third extended vector of state VEE3, and an associated third extended variance/covariance matrix MHYPE3, the said extended processor CALC also calculating a second and a third protection radius for the hybrid system RHG2, RHG3 relating to a set of elementary hybrid position measurements, using the second MHYPE2 and respectively the third MHYPE3 extended variance/covariance matrices and also performing a second and a third test including comparing the components of the second EVEE2 and the third EVEE3 estimation, relating to the difference obtained for the set of elementary hybrid position measurements, with respectively a second SEΔG2 and a third SEΔG3 thresholds, results TE1, TE2, TE3 of the first, second and third tests being positive when the said components of the first EVEE1, respectively the second EVEE2, respectively the third EVEE3 estimations are respectively greater than the first SEΔG1, second SEΔG2 and third SEΔG3 thresholds, and in that when at least one of the results TE1, TE2, TE3, respectively from the first, second and third tests is positive, an alarm is raised signifying a defective receiver, the said extended processor CALC also identifying the defective receiver, from amongst the three receivers, based on the results TE1, TE2, TE3 and, where necessary, excluding the defective receiver. 14. The hybrid system as in any of claim 4-8 or 9-13, characterized in that the satellite positioning receivers are included in one or more radiofrequency multi-channel receivers MMR. 15. The hybrid system as in any of claim 4-8 or 9-13, characterized in that the inertial navigation system is a reference inertial and aerodynamic navigation system. 16. The hybrid system according to claim 15 characterized in that the satellite positioning receivers are included in one or more radiofrequency multi-channel receivers MMR. 17. A device comprising a number M greater than 1 of elementary hybrid systems Sik(1k) according to claim 1, 2, 8 or 13, each supplying an elementary protection radius REGk associated with a set of elementary hybrid position measurements, a hybrid protection radius RHGk associated with the said set of elementary hybrid position measurements together with a variance/covariance matrix of an elementary solution MHYP1k associated with the error made on a first elementary hybrid solution PPVI1k, the said device also comprising a consolidation module CONS determining a global hybrid solution SGLOB, the said consolidation module CONS determining an inertial protection radius RIMUG, which is the lowest value taken from amongst the individual inertial protection radii RIMUGk calculated for each inertial navigation system CIk, the first elementary hybrid solution PPVI1k which is different from the global solution SGLOB, each individual inertial protection radius RIMUGk depending on: statistics SGk for the difference between the global solution and the first elementary solution PPVI1k, for the quantity,the first variance/covariance matrix for the elementary solution MHYP1k,a second acceptable false alarm frequency PFA2 and on a second level of risk PND2 chosen so as to be less than or equal to the ratio between the non-integrity level PNI and a determined probability PP2 of occurrence of a failure in an inertial navigation system. 18. The device according to claim 17, characterized in that the statistics SGk for the difference between the global solution and the first elementary solution PPVI1k, for the set of elementary hybrid position measurements, is equal to the sum of the errors in the variance-covariance matrices of each of the first elementary hybrid solutions. 19. The device according to claim 17, characterized in that the consolidation module CONS also determines a global protection radius RGLOBG associated with a set of the elementary hybrid position measurements composing the global hybrid solution SGLOB, the said protection radius RGLOBG being the highest value taken from amongst: the elementary protection radii REGk,the hybrid protection radii RHGk orthe inertial protection radius RIMUG.
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