{
  "$type": "site.standard.document",
  "description": "One embodiment is directed towards a method for providing integrity for a hybrid navigation system using a Kalman filter. The method includes determining a main navigation solution for one or more of roll, pitch, platform heading, or true heading for the vehicle using signals from a plurality of…",
  "path": "/patents/977443",
  "publishedAt": "2014-03-12T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G01C21/165",
    "HONEYWELL INT INC [US]"
  ],
  "textContent": "One embodiment is directed towards a method for providing integrity for a hybrid navigation system using a Kalman filter. The method includes determining a main navigation solution for one or more of roll, pitch, platform heading, or true heading for the vehicle using signals from a plurality of GNSS satellites and inertial measurements. Solution separation is used to determine a plurality of sub-solutions for the main navigation solution. The method also includes determining a separation between the main navigation solution and each of the sub-solutions, and a discriminator for each of the separations. If a discriminator is greater than the threshold the GNSS satellite at fault can be excluded. The method also includes determining a separation variance between the main navigation solution and each of the sub-solutions, a threshold for detection of a satellite failure based on the separation variances; and a protection limit that bounds error in the main navigation solution based on the threshold.",
  "title": "Method and system for providing integrity for hybrid attitude and true heading"
}