Patent ID: 9341718
Filing Date: 2016-05-17
CPC Classification: G01C,G01S

Claim Text:
1. A method for providing integrity for a hybrid navigation system using a Kalman filter, the method comprising: receiving signals from a plurality of global navigation satellite system (GNSS) satellites at a vehicle; obtaining inertial measurements from one or more inertial sensors on the vehicle; determining a main navigation solution for one or more of roll, pitch, platform heading, and true heading for the vehicle using data from the signals from a plurality of GNSS satellites and the inertial measurements; determining a plurality of sub-solutions for the main navigation solution using solution separation; determining a separation between the main navigation solution and each of the sub-solutions; determining a separation variance between the main navigation solution and each of the sub-solutions; determining a threshold for detection of a satellite failure based on the separation variances and an allowable false alert rate; and determining a protection limit that bounds error in the main navigation solution based on the threshold and an allowable missed detection probability, wherein determining a protection limit comprises: