Vehicle Navigation Filtering for GNSS and Displacement Fault Isolation
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Solution Overview
Problem
Existing navigation and positioning systems for vehicles, such as INS/VEH/GNSS hybridization, are not optimal in protecting against GNSS and VEH errors, particularly in scenarios like satellite failures, software or hardware faults, multi-path interference, and unmodeled vehicle behaviors, leading to compromised positioning integrity.
Innovation Solution
A navigation and positioning device with a closed-loop main Kalman filter and two distinct Kalman sub-filters that hybridize inertial measurement unit, GNSS positioning, and vehicle displacement data, incorporating an integrity verification module to detect and correct deviations, ensuring continuous positioning integrity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If INS/VEH/GNSS hybridization is used to improve positioning accuracy, then positioning precision is improved, but the system becomes vulnerable to GNSS and VEH errors such as satellite failures, software or hardware faults, multi-path interference, and unmodeled vehicle behaviors
Solution Approach 1:
The patent divides the navigation system into three independent Kalman sub-filters, each processing specific sensor combinations (INS/GNSS, INS/VEH, and INS only). This segmentation allows the system to isolate and protect against errors in individual sensor sources while maintaining overall positioning functionality through redundant filtering paths.
Solution Approach 2:
The patent implements beforehand cushioning by pre-configuring multiple Kalman sub-filters with different sensor combinations before errors occur. When GNSS or VEH errors are detected, the system can immediately switch to or rely on the INS-only sub-filter, which serves as a pre-prepared backup that guarantees continuous positioning integrity without requiring real-time reconfiguration.
2Reliability
If multiple Kalman sub-filters are implemented to detect and correct errors, then positioning integrity is improved, but device complexity increases
Solution Approach 1:
The patent applies universality by designing each Kalman sub-filter to serve multiple purposes: they all process the same inertial measurement unit data while combining it with different sensor sets (GNSS, VEH, or neither). This multi-functional design allows the system to maintain positioning integrity through error detection and correction while using a standardized filtering approach that reduces overall system complexity.
Solution Approach 2:
The patent uses copying by creating multiple Kalman sub-filters that replicate the same filtering algorithm structure but with different sensor input combinations. This copying approach allows for systematic error detection and correction without requiring entirely different processing methods, thereby managing complexity through structured repetition rather than innovative complexity.
Data Source
AI summary
A navigation and positioning device including at least an inertial measurement unit, a GNSS measurement receiver, a unit for modeling the displacement(s) of the vehicle, a main Kalman filter calculating navigation data corrections by data hybridization, and at the output of the main Kalman filter at least two distinct Kalman sub-filters including a first Kalman sub-filter calculating navigation data corrections by hybridization of data provided by the inertial measurement unit and by the receiver of GNSS satellite positioning measurements, and a second Kalman sub-filter calculating navigation data corrections by hybridization of data provided by the inertial measurement unit and by the unit for modeling displacement(s) of the vehicle.