{
  "$type": "site.standard.document",
  "description": "A method of advanced receiver autonomous integrity monitoring of a navigation system is discussed and two modifications facilitating its implementation in a hybrid navigation system are disclosed. In the first approach, relations describing the effect of unmodeled biases in pseudo-measurement on…",
  "path": "/patents/969322",
  "publishedAt": "2014-10-01T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G01C21/165",
    "HONEYWELL INT INC [US]"
  ],
  "textContent": "A method of advanced receiver autonomous integrity monitoring of a navigation system is discussed and two modifications facilitating its implementation in a hybrid navigation system are disclosed. In the first approach, relations describing the effect of unmodeled biases in pseudo-measurement on the Kalman filter state estimate are analytically derived and their incorporation into the integrity monitoring algorithm is described. The method comprises receiving a plurality of signals transmitted from spaced-based satellites, determining a position full-solution and sub-solutions, specifying a pseudorange bias, computing a transformation matrix for the full-solution and all sub-solutions using a Kalman filter, computing a bias effect on an error of filtered state vectors of all sub-solutions, and adding the effect to computed vertical and horizontal protection levels. In the second approach, a modification for computationally effective calculation of the protection levels of hybrid navigation systems based on both integrity and non-integrity assured pseudorange error descriptions is disclosed.",
  "title": "Selected aspects of advanced receiver autonomous integrity monitoring application to kalman filter based navigation filter"
}