Method and system for rejecting measurement in aided navigation

By adopting a combined measurement verification method in a hybrid navigation system, the effectiveness of auxiliary measurements is verified by using a normalized measurement residual monitor and a chi-square measurement monitor, the problem of degradation of navigation accuracy caused by GNSS signal inaccuracy is solved, and higher navigation accuracy and more reliable navigation performance are achieved.

CN119665939APending Publication Date: 2025-03-21HONEYWELL INTERNATIONAL INC
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Patent Information

Application Number
CN202411261939.3
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Priority Date
2024-08-21
Filing Date
2024-09-10
Publication Date
2025-03-21

AI Technical Summary

Technical Problem

In hybrid navigation systems, the inaccuracy of GNSS signals leads to the wrong use of auxiliary measurements in the navigation system's sensor fusion algorithm, especially in environments such as urban canyons, affecting navigation accuracy.

Method used

Using a combined measurement verification method, including a normalized measurement residual monitor and a chi-square measurement monitor, selecting a suitable monitor to verify the effectiveness of the auxiliary measurements through the switching arrangement of measurement residual variance, thereby rejecting inaccurate GNSS measurements.

Benefits of technology

Improves the accuracy of the navigation system, allows for the use of lower-cost GNSS receivers, and provides more reliable navigation performance in environments of lost or unstable GNSS signal.

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Abstract

A system includes a processor onboard a vehicle, an onboard auxiliary source, and an onboard inertial sensor. The processor comprises: a prediction module for propagating a navigation error state; and a residual calculation module for calculating a measurement residual and a measurement residual variance based on the auxiliary measurement and the navigation error state. The measurement monitoring module includes a measurement monitor selection switching portion for selecting between a normalized measurement residual monitor and a chi-square measurement monitor. When the normalized measurement residual monitor is selected, it performs a first auxiliary measurement verification process to determine whether the normalized measurement residual is less than a first threshold selected by the user. If so, the auxiliary measurement is valid. When the chi-square measurement monitor is selected, it performs a second auxiliary measurement verification process to determine whether the square of the measurement residual error is less than a second threshold selected by the user. If so, the auxiliary measurement is valid.
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