GNSS / INS full navigation state autonomous integrity monitoring method and system

By using an extended Kalman filter framework in the GNSS/INS integrated navigation system for fault detection and protection level calculation, the problem of insufficient full navigation status monitoring in the prior art is solved, and real-time autonomous integrity monitoring of position, velocity and attitude is realized, thereby improving the reliability and safety of the assessment.

CN122239093APending Publication Date: 2026-06-19WUHAN UNIV
View PDF 0 Cites 0 Cited by

Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
WUHAN UNIV
Filing Date
2026-04-28
Publication Date
2026-06-19

AI Technical Summary

Technical Problem

Existing technologies in GNSS/INS integrated navigation systems struggle to effectively monitor the integrity of the entire navigation status, including position, velocity, and attitude. In particular, the lack of effective assessment methods in complex scenarios leads to risks in safety-critical applications.

Method used

Under the GNSS/INS loosely combined extended Kalman filter framework, fault detection and elimination are performed by acquiring the innovation vector and its statistical characteristics, the protection level in the error state space is calculated, the protection level matrix is ​​constructed and spatial transformation is performed, so as to realize full navigation status monitoring and alarm for position, velocity and attitude.

Benefits of technology

It enables quantitative assessment and real-time alarm of the full navigation status of GNSS/INS integrated navigation system, including position, velocity, and attitude, improving the assessment reliability and error characterization capability in complex scenarios and ensuring the reliability of safety-critical applications.

✦ Generated by Eureka AI based on patent content.

Smart Images

  • Figure CN122239093A_ABST
    Figure CN122239093A_ABST
Patent Text Reader

Abstract

This invention provides a method and system for monitoring the autonomous integrity of GNSS / INS navigation states, comprising: fault detection and elimination based on innovation vectors and their statistical characteristics within a loosely integrated extended Kalman filter framework for GNSS / INS; obtaining integrity risk and false alarm rate indices, determining multiple fault hypotheses, and calculating the protection level in the error state space by solving a constrained optimization problem; constructing a protection level matrix, establishing a mapping relationship from the error state space to the carrier navigation state space, and solving for the protection levels of each state component of the carrier's position, velocity, and attitude; comparing the protection level of each state component with preset alarm limits, and sending alarm information to the user in real time if the safety requirements are not met. This invention achieves full navigation state integrity monitoring of position, velocity, and attitude, and can provide a more comprehensive and reliable autonomous integrity assessment for GNSS / INS integrated navigation systems in complex scenarios.
Need to check novelty before this filing date? Find Prior Art