Honeywell International Inc.

Honeywell G.m.b.h.

The Charles Stark Draper Laboratory, Inc.

Ademco Inc.

Blaise Grayson Morton

Michael Ray Elgersma

Vibhor L Bageshwar

Daniel P Johnson

Mason A Peck

Gunter Stein

Juha-Pekka J Laine

Robert Compton

Brian H Hamilton

Brian W Schipper

Simone B Bortolami

Brian K Underhill

Dennice F Gayme

Robert B Smith

Paul Samanant

Brian J Hamilton

Trevor Keith Stephens

A system and method for detecting multiple spoofed or faulty global navigation satellite signals are provided. The system comprises a single antenna configured to receive satellite signals from a plurality of global navigation satellites, the single antenna located on a vehicle; a receiver in the vehicle, the receiver coupled to the single antenna; and at least one processor in the vehicle, the processor in communication with the single antenna through the receiver. The processor is operative to determine a unit vector in a direction from the vehicle to a global navigation satellite in local coordinates, from the satellite signals; determine a plurality of signal blocks, wherein the signal blocks are a collection of subsets of the satellite signals and a covariance matrix for the satellite signals; and determine which satellite signals in the signal blocks are spoofed or faulty by comparing a geometry of the local coordinates with satellite coordinates.

Detection of multiple spoofed or faulty global navigation satellite signals

A method of determining three-dimensional attitude is provided. The method includes measuring a carrier phase of each satellite signal received at plurality of spaced antenna. A carrier phase difference between the measured carrier phase for each satellite signal from each satellite received at each antenna is determined. The integrity of the integer ambiguity resolution relating to the carrier phase difference is assured by applying a least-square-error solution using differential carrier phase measurements with applied integer ambiguities between at least two of the plurality of antennas and observing measurement residuals after the least-square-error solution is computed and applying an instantaneous test, an interval test and a solution separation function. Three-dimensional attitude is determined from the carrier phase differences upon completion of the integer ambiguity resolution and the assurance of integrity of the integer ambiguity resolution.

Three-dimensional attitude determination system with multi-faceted integrity solution

A multiple faulty global navigation satellite signal detecting system is provided. The system includes at least one pair of spaced antennas, at least one aiding source and processor. The at least one pair of spaced antennas are configured to receive satellite signals from a plurality of satellites. The at least one aiding source is used to generate aiding source position estimate signals. The processor is in communication with each antenna and the at least one aiding source. The processor is configured to determine signals blocks. The signal blocks being a collection of subsets of the determined difference signals and a covariance matrix for the difference signals. The processor further configured to generate a union of good signals from all the good blocks and a complementary set of bad signals.

Multiple faulty global navigation satellite system signal detecting system

An ensemble of motion sensors is tested under known conditions to automatically ascertain instrument biases, which are modeled as autoregressive-moving-average (ARMA) processes in order to construct a Kalman filter. The calibration includes motion profiles, temperature profiles and vibration profiles that are operationally significant, i.e., designed by means of covariance analysis or other means to maximize, or at least improve, the observability of the calibration model's structure and coefficients relevant to the prospective application of each sensor.

Fused sensor ensemble for navigation and calibration process therefor

A building control device for estimating temperature of a space incorporating environmental sensors, a memory, and a controller. The controller may receive detected environmental conditions, identify operational environmental states, obtain a probability distribution for each operational environmental state, determine temperature estimates and a probability estimate for each temperature estimate, identify an operational environmental state at which the set of environmental sensors are likely operating, select a temperature estimate for the operational environmental state at which the set environmental sensors are likely operating, and generate the selected temperature estimate.

Building control device having probability distribution based sensing

A control system of a spacecraft for controlling two or more sets of collinear control moment gyroscopes (CMGs) comprises an attitude control system. The attitude control system is configured to receive a command to adjust an orientation of the spacecraft, determine an offset for a momentum disk for each of the two or more sets of CMGs that maximizes torque, determine a momentum needed from the two or more sets of CMGs to adjust the orientation of the spacecraft, and calculate a total torque needed by taking the derivative of the momentum. The control system further comprises a momentum actuator control processor coupled to the attitude control system, the momentum actuator control processor configured to calculate a required gimbal movement for each of the CMGs in each of the two or more sets of collinear CMGs from total torque.

Method and system for controlling sets of collinear control moment gyroscopes with offset determination without attitude trajectory of spacecraft

A method for avoiding singularities in the movement of CMGs in an array of CMGs in a spacecraft includes a first step where a maneuver command to rotate a spacecraft orientation is received. Then, the torque needed to rotate the spacecraft's orientation is determined. Then, the torque is integrated to determine a momentum path. The momentum path is decomposed into a sequence of straight line segments. For each line segment, a unit vector along the straight line segments is determined. Then, it is determined if there is a continuous path connecting a start point and an end point of the line segment in a plane perpendicular to the unit vector. For each point along the path in the plane perpendicular to the unit vector, a set of gimbal angles is determined.

Method and system for determining a singularity free momentum path

A filter is disclosed for recursive state estimation of a process by matrix factorization. The filter preferably takes the general form of P&equals;XY, where P is a matrix of previous state and/or current observations, Y is a matrix of functions that are used to model the process, and X is a coefficient matrix relating the functions in matrix Y to the previous state and/or current observations of matrix P. Given the previous state and/or current observations, a value for matrix Y can be computed from which a current state estimate can be recovered.

Recursive state estimation by matrix factorization

The typical global positioning system (GPS) estimates the three-dimensional, global position of a radio receiver and associated vehicle, such as an aircraft, using the range measurements between the radio receiver and a set of earth-orbiting satellite transmitters. Estimating the position of the receiver from these range measurements generally entails using an iterative calculation process, which computes a series of position estimates, with each successive estimate converging with increasing accuracy toward the actual receiver position. This iterative approach, however, is not only time consuming, but sometimes fails to converge toward the actual receiver position. Though others have tried to solve these problems, their approaches either fail to consistently converge on a single solution or give multiple solutions. Accordingly, the inventors devised, among other things, new non-iterative methods, for using range measurements to estimate position. One exemplary position-estimation method entails receiving a set of two or more range measurements; defining an error function based on the set of range measurements, with the error function having only one local minimum; and then determining a position estimate based the one local minimum of the error function. This and other exemplary embodiments of the invention promise to reduce the time for computing position estimates.

System, method, and software for non-iterative position estimation using range measurements

A three-axis algebraic model is used to numerically compensate for magnetic errors in measured magnetic field values in an electronic compass for any orientation of the compass. This model is based on physical principles and uses a linear algebra approach that facilitates computation of the parameters needed for compensation. During a calibration procedure of the electronic compass, magnetic and gravity fields are measured in three axes at each of a variety of combinations of orientations and azimuths. This set of measured magnetic and gravity fields is used to calculate a matrix compensation coefficient and a vector compensation coefficient using a system of equations. These compensation coefficients are stored and then used during normal operations of the electronic compass to correct all subsequently measured magnetometer data to obtain corrected values for the Earth's magnetic field, from which the correct azimuth can be calculated.

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Wheeling, IL, United States of America

Blaise Grayson Morton