公开(公告)号：US09000978B2

公开(公告)日：2015-04-07

申请号：US13383407

申请日：2010-07-09

申请人： Didler Riedinger ,  Sébastien Vourc'h ,  Ghaleb Hoblos

发明人： Didler Riedinger ,  Sébastien Vourc'h ,  Ghaleb Hoblos

IPC分类号： G01S19/20 ,  G01S19/47 ,  G01C21/16

CPC分类号： G01S19/20 ,  G01C21/165 ,  G01S19/47

摘要： A process for determination of navigation parameters of a carrier by a hybridisation device comprising a bank (3) of Kalman filters, each working out a hybrid navigation solution from inertial measurements calculated by a virtual platform (2) and raw measurements of signals emitted by a constellation of satellites supplied by a satellite-positioning system (GNSS), characterised in that it comprises the steps of: determination for each satellite of at least one probability ratio between a hypothetical breakdown of given type of the satellite and a hypothetical absence of breakdown of the satellite, declaration of a breakdown of given type on a satellite as a function of the probability ratio associated with this breakdown and of a threshold value, estimation of the impact of the breakdown declared on each hybrid navigation solution, and correction of hybrid navigation solutions as a function of the estimation of the impact of the breakdown declared.

摘要翻译： 一种用于通过包括卡尔曼滤波器组（3）的混合装置来确定载波的导航参数的过程，每个由卡尔曼滤波器组（3）根据由虚拟平台（2）计算的惯性测量结果和从由 由卫星定位系统（GNSS）提供的卫星星座，其特征在于，其包括以下步骤：确定每个卫星在给定类型的卫星的假想故障与假定的不存在故障之间的至少一个概率比 卫星，卫星上给定类型故障的声明，作为与该故障相关联的概率的函数和阈值的函数，估计每个混合导航解决方案中声明的故障的影响以及混合导航解决方案的校正 作为对所宣布的故障影响的估计的函数。

公开(公告)号：US20120013505A1

公开(公告)日：2012-01-19

申请号：US13257939

申请日：2010-03-24

申请人： Sébastien Vourc'h ,  Victor Mauger

发明人： Sébastien Vourc'h ,  Victor Mauger

IPC分类号： G01S19/20

CPC分类号： G01S19/47 ,  G01S19/20

摘要： 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.

摘要翻译： 根据第一种形式，本发明涉及一种用于监测由包括卡尔曼滤波器组（3）的杂交装置输出的位置信息的完整性的方法，每个滤波器根据由虚拟平台计算的惯性测量开发混合导航解决方案 （2）以及由全球导航卫星系统（GNSS）输出的由卫星星座发射的信号的原始测量，其特征在于该方法包括以下步骤：对于星座的每颗卫星计算交叉创新 的卫星，其反映了对应于来自卫星的原始测量值的观测值与通过卡尔曼滤波器开发的所述观测值的后验估计之间的偏差，并且不使用来自卫星的原始测量值; 进行交叉创新的统计测试，以确定卫星是否发生故障。

公开(公告)号：US09285482B2

公开(公告)日：2016-03-15

申请号：US13257939

申请日：2010-03-24

申请人： Sébastien Vourc'h ,  Victor Mauger

发明人： Sébastien Vourc'h ,  Victor Mauger

IPC分类号： G01S19/20 ,  G01S19/47

CPC分类号： G01S19/47 ,  G01S19/20

摘要： 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). The method includes, 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.

摘要翻译： 一种用于监测由包括卡尔曼滤波器组（3）的杂交装置输出的位置信息的完整性的方法，每个滤波器根据由虚拟平台（2）计算的惯性测量和从传送的信号的原始测量开发混合导航解 通过由全球导航卫星系统（GNSS）输出的卫星星座。 该方法包括，对于计算卫星的交叉创新的每个卫星的星座，其反映了对应于来自卫星的原始测量的观测值与通过卡尔曼开发的所述观测的后验估计之间的偏差 过滤器，不使用卫星的原始测量; 进行交叉创新的统计测试，以确定卫星是否发生故障。

公开(公告)号：US08781774B2

公开(公告)日：2014-07-15

申请号：US13140016

申请日：2009-12-16

申请人： Sébastien Vourc'h ,  Stanislas Szelewa ,  Thibault Lartigue

发明人： Sébastien Vourc'h ,  Stanislas Szelewa ,  Thibault Lartigue

IPC分类号： G01C17/38

CPC分类号： G01S19/47 ,  G01C21/165

摘要： The invention relates according to a first aspect to a hybridization device (1) comprising a virtual platform (2), a bank (3) of Kalman filters each estimating a correction vector (dX0-dXn) comprising a plurality of components, said device formulating a hybrid output (SH) corresponding to inertial measurements (PPVI) calculated by the virtual platform (2) and corrected by a stabilization vector (dC) exhibiting one and the same plurality of components, characterized in that it comprises a correction formulation module (4) configured so as to formulate each of the components (dC[state]) of the stabilization vector (dC) as a function of all the corresponding components (dX0[state]-dXn[state]) of the correction vectors (dX0-dXn).

摘要翻译： 本发明涉及根据第一方面的杂交装置（1），包括虚拟平台（2），卡尔曼滤波器组（3），每个估计包括多个分量的校正矢量（dX0-dXn），所述装置配制 对应于由虚拟平台（2）计算并由显示相同多个部件的稳定矢量（dC）校正的惯性测量（PPVI）的混合输出（SH），其特征在于，其包括校正配制模块（4） ）被配置为根据校正矢量（dX0-dXn）的所有相应分量（dX0 [state] -dXn [state]）的函数来形成稳定矢量（dC）的每个分量（dC [state]） ）。

公开(公告)号：US20110243194A1

公开(公告)日：2011-10-06

申请号：US13139720

申请日：2009-12-16

申请人： Sébastien Vourc'h ,  Victor Mauger

发明人： Sébastien Vourc'h ,  Victor Mauger

IPC分类号： H04B1/707

CPC分类号： G01S19/47 ,  G01C21/165

摘要： The invention relates according to a first aspect to a hybridization device (1) comprising a virtual platform (2) calculating inertial measurements (PPVI), a bank (3) of Kalman filters each formulating a hybrid navigation solution on the basis of the inertial measurements of the virtual platform (2) and of measurements of signals emitted by a constellation of satellites, which measurements are delivered by a satellite positioning system (GNSS), characterized in that it comprises, for each filter of the bank, a module for correcting the satellite measurements (4) delivering to the filter the measurements of the satellite positioning system (GNSS) which are used by the filter after correction with the aid of the hybrid navigation solution formulated by the filter.

摘要翻译： 本发明涉及根据第一方面的杂交装置（1），其包括计算惯性测量（PPVI）的虚拟平台（2），卡尔曼滤波器组（3），每个卡尔曼滤波器基于惯性测量结果制定混合导航解 的虚拟平台（2）以及由卫星星座发射的信号的测量，所述测量由卫星定位系统（GNSS）传送，其特征在于，对于所述存储体的每个滤波器，其包括用于校正所述卫星 卫星测量（4）在滤波器配置的混合导航解决方案的帮助下，向滤波器传送校正后的滤波器使用的卫星定位系统（GNSS）的测量结果。

公开(公告)号：US08625696B2

公开(公告)日：2014-01-07

申请号：US13139720

申请日：2009-12-16

申请人： Sébastien Vourc'h ,  Victor Mauger

发明人： Sébastien Vourc'h ,  Victor Mauger

IPC分类号： H04B7/02 ,  G06F19/00 ,  G06F7/70

CPC分类号： G01S19/47 ,  G01C21/165

摘要： The invention relates according to a first aspect to a hybridization device (1) comprising a virtual platform (2) calculating inertial measurements (PPVI), a bank (3) of Kalman filters each formulating a hybrid navigation solution on the basis of the inertial measurements of the virtual platform (2) and of measurements of signals emitted by a constellation of satellites, which measurements are delivered by a satellite positioning system (GNSS), characterized in that it comprises, for each filter of the bank, a module for correcting the satellite measurements (4) delivering to the filter the measurements of the satellite positioning system (GNSS) which are used by the filter after correction with the aid of the hybrid navigation solution formulated by the filter.

摘要翻译： 本发明涉及根据第一方面的杂交装置（1），其包括计算惯性测量（PPVI）的虚拟平台（2），卡尔曼滤波器组（3），每个卡尔曼滤波器基于惯性测量结果制定混合导航解 的虚拟平台（2）以及由卫星星座发射的信号的测量，所述测量由卫星定位系统（GNSS）传送，其特征在于，对于所述存储体的每个滤波器，其包括用于校正所述卫星 卫星测量（4）在滤波器配置的混合导航解决方案的帮助下，向滤波器传送校正后的滤波器使用的卫星定位系统（GNSS）的测量结果。

公开(公告)号：US20110320152A1

公开(公告)日：2011-12-29

申请号：US13140016

申请日：2009-12-16

申请人： Sébastien Vourc'h ,  Stanislas Szelewa ,  Thibault Lartigue

发明人： Sébastien Vourc'h ,  Stanislas Szelewa ,  Thibault Lartigue

IPC分类号： G01C25/00

CPC分类号： G01S19/47 ,  G01C21/165

摘要： The invention relates according to a first aspect to a hybridization device (1) comprising a virtual platform (2), a bank (3) of Kalman filters each estimating a correction vector (dXO-dXn) comprising a plurality of components, said device formulating a hybrid output (SH) corresponding to inertial measurements (PPVI) calculated by the virtual platform (2) and corrected by a stabilization vector (dC) exhibiting one and the same plurality of components, characterized in that it comprises a correction formulation module (4) configured so as to formulate each of the components (dC[state]) of the stabilization vector (dC) as a function of all the corresponding components (dXO[state]-dXn[state]) of the correction vectors (dXO-dXn).

摘要翻译： 本发明涉及根据第一方面的杂交装置（1），其包括虚拟平台（2），卡尔曼滤波器组（3），每个估计包括多个分量的校正矢量（dXO-dXn），所述装置配制 对应于由虚拟平台（2）计算并由显示相同多个部件的稳定矢量（dC）校正的惯性测量（PPVI）的混合输出（SH），其特征在于，其包括校正配制模块（4） ）配置为根据校正矢量（dXO-dXn）的所有相应分量（dXO [state] -dXn [state]）的函数来形成稳定矢量（dC）的每个分量（dC [state]） ）。