Inertial navigation system using hybrid navigation via integrated loose coupling

摘要

An inertial navigation system using loose coupling hybridization of inertial measurements by utilizing measurements supplied by a satellite-positioning receiver which utilizes signals sent by a plurality of satellites distributed across at least two separate satellite subsets and calculates at least two navigation solutions, each navigation solution being calculated by means of signals sent by the satellites of one of the subsets. The inertial navigation system includes a hybridization module using each of the at least two calculated navigation solutions. A satellite failure detector is configured to compare the hybrid navigation solutions and where applicable detect incoherence between said hybrid navigation solutions. The hybridization module is configured to stop execution of hybridization following detection of incoherence between the hybrid navigation solutions when the origin of the incoherence cannot be determined.

主权项

1. An inertial navigation system comprising sensors providing inertial measurements, said inertial navigation system configured to provide hybrid navigation solutions by executing loose coupling hybridization of inertial measurements originating from the sensors by utilizing measurements supplied by a satellite-positioning receiver which utilizes signals sent by a plurality of satellites distributed across at least two separate satellite of the separate satellite subsets and calculates at least two navigation solutions, each navigation solution being calculated by means of signals sent by the satellites of one of the subsets,
the inertial navigation system comprising a hybridization module using each of said at least two navigation solutions calculated by the satellite-positioning receiver to calculate hybrid navigation solutions, wherein the inertial navigation system comprises a satellite failure detector configured to compare said hybrid navigation solutions and configured to detect incoherence between said hybrid navigation solutions, said incoherence being synonymous with a satellite failure belonging to one of the separate satellite subsets, and wherein the hybridization module is also configured to stop execution of hybridization following detection of incoherence between said hybrid navigation solutions, wherein the inertial navigation system provides said hybrid navigation solutions if no incoherence is detected between said hybrid navigation solutions and stop hybridization following detection of incoherence between said hybrid navigation solutions.