| 摘要 |
<p>According to a first form, the invention relates to a method for monitoring the integrity of position information outputted by a hybridization device that includes a bank (3) of Kalman filters, each filter developing a hybrid navigation solution from inertial measurements calculated by a virtual platform (2) and from raw measurements of signals transmitted by a satellite constellation which are outputted by a global navigation satellite system (GNSS), characterized in that the method consists of the steps, for each satellite of the constellation, of calculating a cross-innovation of the satellite that reflects the deviation between an observation, corresponding to a raw measurement from the satellite, and an a posteriori estimation of said observation that is developed through a Kalman filter and does not use the raw measurement from the satellite; carrying out a statistical test of the cross-innovation to ascertain whether or not the satellite is malfunctioning.</p> |
