Systems and methods for producing two independent dissimilar attitude solutions, two independent dissimilar inertial solutions or both from one improved navigation device
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G01C-021/00
G01C-021/16
G01C-023/00
G01S-019/53
출원번호
US-0560319
(2014-12-04)
등록번호
US-10094668
(2018-10-09)
발명자
/ 주소
Miller, Michael G.
Horner, Adam Ross
출원인 / 주소
Honeywell International Inc.
대리인 / 주소
Fogg & Powers LLC
인용정보
피인용 횟수 :
0인용 특허 :
16
초록▼
Systems and methods for producing two independent dissimilar attitude solutions, two independent dissimilar inertial solutions or both from one improved navigation device are disclosed. In one embodiment, an avionics system comprises: an inertial navigation device configured to produce a first set o
Systems and methods for producing two independent dissimilar attitude solutions, two independent dissimilar inertial solutions or both from one improved navigation device are disclosed. In one embodiment, an avionics system comprises: an inertial navigation device configured to produce a first set of attitude solutions; an attitude heading and reference unit configured to produce a primary set of attitude solutions and a secondary set of attitude solutions; and a display device configured to receive the first set of attitude solutions, the primary set of attitude solutions and the secondary set of attitude solutions, wherein if the first set of attitude solutions and the primary set of attitude solutions are yielding different results, then the display device is configured to determine whether the first set of attitude solutions or the primary set of attitude solutions is correct by determining differences between the attitude solutions and determining which difference is below a threshold.
대표청구항▼
1. An avionics system comprising: an inertial navigation device configured to produce a first set of attitude solutions;an attitude heading and reference unit comprising a primary inertial sensor assembly configured to produce primary inertial data and a secondary inertial sensor assembly configured
1. An avionics system comprising: an inertial navigation device configured to produce a first set of attitude solutions;an attitude heading and reference unit comprising a primary inertial sensor assembly configured to produce primary inertial data and a secondary inertial sensor assembly configured to produce secondary inertial data, wherein the attitude heading and reference unit is configured with a primary processing device to produce a primary set of attitude solutions from the primary inertial data using a primary set of algorithms, and configured with a secondary processing device to produce a secondary set of attitude solutions from the secondary inertial data using a second set of algorithms, wherein the primary processing device and the secondary processing device are both included within a single modular unit, wherein the primary set of algorithms is different than the second set of algorithms and the secondary processing device calculates a subset of attitude and inertial solutions that the primary processing device calculates; anda display device configured to receive the first set of attitude solutions, the primary set of attitude solutions and the secondary set of attitude solutions, wherein, in response to a determination that the difference between the first set of attitude solutions and the primary set of attitude solutions is greater than a threshold, the display device is configured to determine whether the first set of attitude solutions or the primary set of attitude solutions is correct by determining whether a difference between a first attitude solution from the first set of attitude solutions and a discriminator attitude solution obtained from the secondary set of attitude solutions is less than a threshold or whether the difference between the primary set of attitude solutions and the discriminator attitude solutions is less than a threshold, wherein the first attitude solution, the second attitude solution, and the discriminator attitude solution are each the same one of pitch, roll or heading measurements. 2. The avionics system of claim 1, wherein the attitude heading and reference unit comprises: a primary processing device communicatively coupled to the primary inertial sensor assembly, wherein the primary processing device is configured to receive the primary inertial data and calculate the primary set of attitude solutions from the primary inertial data; anda secondary processing device communicatively coupled to the secondary inertial sensor assembly, wherein the secondary processing device is configured to receive the secondary inertial data and calculate the secondary set of attitude solutions. 3. The avionics system of claim 2, wherein the improved attitude heading and reference unit further comprises: a primary input-output unit communicatively coupled to the primary processing device, wherein the primary input-output unit is configured to receive the primary set of attitude and inertial solutions from the primary processing device and output the primary set of attitude and inertial solutions to the display device; anda secondary input-output unit communicatively coupled to the secondary processing device, wherein the secondary input-output unit is configured to receive the secondary set of attitude solutions from the secondary processing device and output the secondary set of attitude solutions to the display device. 4. The avionics system of claim 2, wherein the primary processing device is a microprocessor and the secondary processing device is a field programmable gate array. 5. The avionics system of claim 2, wherein the primary processing device executes a primary set of algorithms to calculate the primary set of attitude solutions and the secondary processing device executes a second set of algorithms to calculate the secondary set of attitude solutions, wherein the primary set of algorithms is different than the second set of algorithms. 6. The avionics system of claim 2, wherein the primary inertial assembly includes three primary gyroscopes and three primary accelerometers and wherein the secondary inertial sensor includes three secondary gyroscopes and three secondary accelerometers, wherein the three primary gyroscopes are different than the three secondary gyroscopes and wherein the three primary accelerometers are different than the three secondary accelerometers. 7. The avionics system of claim 1, wherein the first set of attitude solutions, the primary set of attitude solutions and the secondary set of attitude solutions is at least one of the following: pitch, roll or heading. 8. The avionics system of claim 1, wherein the attitude heading and reference unit is configured to receive signals from a global navigation satellite receiver. 9. The avionics system of claim 1, wherein the display device displays an alert when the difference between the first set of attitude solutions and the primary set of attitude solutions is above a threshold. 10. An attitude heading and reference unit comprising: a primary inertial sensor assembly and a secondary processing device both included within a single modular unit;a primary inertial sensor assembly configured to produce primary inertial data;the primary processing device communicatively coupled to the primary inertial sensor assembly, wherein the primary processing device is configured to receive the primary inertial data and calculate a primary set of attitude solutions from the primary inertial data using a primary set of algorithms;a secondary inertial sensor assembly configured to produce secondary inertial data;the secondary processing device communicatively coupled to the secondary inertial sensor assembly, wherein the secondary processing device is configured to receive the secondary inertial data and calculate a secondary set of attitude solutions using a second set of algorithms, wherein the primary set of algorithms is different than the second set of algorithms and the secondary processing device calculates a subset of attitude and inertial solutions that the primary processing device calculates; andwherein, in response to a determination that the difference between a first set of attitude solutions and the primary set of attitude solutions is greater than a threshold, a display device is configured to: determine when a first attitude solution from the primary set of attitude solutions is different than a second attitude solution by a first threshold, wherein the second attitude solution is produced by an inertial reference unit other than the attitude heading and reference unit;obtain an attitude solution from the secondary processing device to use as a discriminator attitude solution, wherein the first attitude solution, the second attitude solution, and the discriminator attitude solution are each the same one of pitch, roll or heading measurements;wherein the display device is further configured such that: if the difference between the first attitude solution and the second attitude solution is greater than the first threshold, then the display device will determine whether the primary set of attitude solutions is correct by determining whether the difference between the first attitude solution and discriminator attitude solution is less than a second threshold or whether the difference between the second attitude solution and the discriminator attitude solution is less than the second threshold. 11. The attitude heading and reference unit of claim 10, further comprising: a primary input-output unit communicatively coupled to the primary processing device, wherein the primary input-output unit is configured to receive the primary set of attitude and inertial solutions from the primary processing device and output the primary set of attitude and inertial solutions to the display device; anda secondary input-output unit communicatively coupled to the secondary processing device, wherein the secondary input-output unit is configured to receive the secondary set of attitude solutions from the secondary processing device and output the secondary set of attitude solutions to the display device. 12. The attitude heading and reference unit of claim 10, wherein the primary processing device is a microprocessor and the secondary processing device is a field programmable gate array. 13. The attitude heading and reference unit of claim 10, wherein the primary processing device executes a primary set of algorithms to calculate the primary set of attitude solutions and the second processing device executes a second set of algorithms to calculate the secondary set of attitude solutions, wherein the primary set of algorithms is different than the second set of algorithms. 14. The attitude heading and reference unit of claim 10, wherein the first set of attitude solutions, the primary set of attitude solutions and the secondary set of attitude solutions is at least one of the following: pitch, roll or heading. 15. The attitude heading and reference unit of claim 10, wherein the attitude heading and reference unit is configured to receive signals from a global navigation satellite receiver. 16. The attitude heading and reference unit of claim 10, wherein the primary inertial assembly includes three primary gyroscopes and three primary accelerometers and wherein the secondary inertial sensor includes three secondary gyroscopes and three secondary accelerometers, wherein the three primary gyroscopes are different than the three secondary gyroscopes and wherein the three primary accelerometers are different than the three secondary accelerometers. 17. The attitude heading and reference unit of claim 10, wherein the display device displays an alert when the difference between the first set of attitude solutions and the primary set of attitude solutions is above a threshold. 18. A method for determining which of two dissimilar attitude solutions is correct comprising: calculating a first set of attitude solutions using an inertial navigation device;calculating a primary set of attitude solutions using an attitude heading and reference unit, wherein calculating the primary set of attitude solutions is done using a primary set of algorithms;calculating a secondary set of attitude solutions using the attitude heading and reference unit, wherein calculating the secondary set of attitude solutions is done using a second set of algorithms, wherein the primary set of attitude solutions is calculated by a primary processing device and the a secondary set of attitude solutions is calculated by a secondary processing device, wherein the primary set of algorithms is different than the second set of algorithms, wherein the primary inertial sensor assembly and the secondary processing device are both included within a single modular unit, wherein the secondary processing device calculates a subset of attitude and inertial solutions that the primary processing device calculates, and wherein the inertial navigation device is a separate device from the attitude heading and reference unit; anddetermining whether the first set of attitude solutions or the primary attitude solution is correct by determining whether the difference between a first attitude solution from the first set of attitude solutions and a discriminator attitude solution from the secondary set of attitude solutions is less than a threshold or whether the difference between the primary set of attitude solutions and the discriminator attitude solutions is less than a threshold, in response to a determination that the difference between the first set of attitude solutions and the primary attitude solutions is greater than a threshold;wherein the first attitude solution, the second attitude solution, and the discriminator attitude solution are each the same one of pitch, roll or heading measurements. 19. The method of claim 18, further comprising generating an alert signal when the difference between the first set of attitude solutions and the primary set of attitude solutions is above a threshold. 20. The method of claim 18, wherein the first set of attitude solutions, the primary set of attitude solutions and the secondary set of attitude solutions is at least one of the following: pitch, roll or heading.
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