Honeywell International Inc.
INTEGRITY OF RANGE MEASUREMENTS

Abstract:

A method of assuring integrity of range measurements and position solutions comprises obtaining range measurement statistics between nodes in a network, performing a snapshot integrity test for the range measurement statistics, and performing a sequential integrity test using the range measurement statistics. The snapshot integrity test comprises using Gram matrices along with a current configuration of the nodes; performing a singular value consistency check using the Gram matrices against a user selected threshold; and detecting/excluding range measurement statistics with instantaneous errors that cause the singular value to exceed the threshold. The sequential integrity test comprises formulating main node and sub-node sets using solution separation; implementing filters for the main node and sub-node sets; performing a consistency check using discriminators and decision thresholds; detecting/excluding range measurement statistics with both instantaneous and time-correlated errors; and computing a protection level for relative positions computed from the main node and sub-node sets.