Patent ID: 11662472

Abstract:
Systems and methods for integrity monitoring of odometry measurements within a navigation system are provided herein. In certain embodiments, a system includes imaging sensors that generate image frames from optical inputs. The system also includes a GNSS receiver that provides pseudorange measurements; and computational devices that receive the image frames and the pseudorange measurements. Further, the computational devices compute odometry information from image frames acquired at different times; and calculate a full solution for the system based on the pseudorange measurements and the odometry information. Additionally, the computational devices calculate sub-solutions for the system based on subsets of the pseudorange measurements and the odometry information, wherein one of the sub-solutions is not based on the odometry information. Moreover, the computational device determines the integrity of the pseudorange measurements, the odometry information, and a position estimated by the navigation system based on a comparison of the full and sub-solutions.