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SYSTEMS AND METHODS FOR ATTITUDE FAULT DETECTION BASED ON INTEGRATED GNSS-INERTIAL HYBRID FILTER RESIDUALS
SYSTEMS AND METHODS FOR ATTITUDE FAULT DETECTION BASED ON INTEGRATED GNSS-INERTIAL HYBRID FILTER RESIDUALS
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机译:基于集成GNSS-惯性混合滤波器残差的姿态故障检测系统和方法
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摘要
Systems and methods for attitude fault detection based on integrated GNSS/inertial hybrid filter residuals are provided. In one embodiment, a fault detection system for aircraft attitude measurement system comprises: a sensor monitor coupled to a first inertial measurement unit, the sensor monitor comprising: a navigation error model for the first inertial measurement unit, the model configured to model a plurality of error states including at least an attitude error state vector, an velocity error state vector, and a position error state vector determined from data generated by the first inertial measurement unit; and a propagator-estimator configured to propagate and update error states based on GNSS data; and a residual evaluator configured to input measurement error residual values generated by the propagator-estimator, wherein the residual evaluator outputs an alert signal when the measurement error residual values exceed a threshold.
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