Honeywell International Inc.

Ruth Dagmar Kreichauf

Michael Ray Elgersma

Vibhor L Bageshwar

Zdenek Kana

Terry Dean Stark

Kenneth Steven Morgan

Keith L Curtner

John R Morrison

Douglas R Carlson

Reed R May

Jason Wiebesick

Travis Edward Christle

Erik Lindquist

Stephen Artie Rooks

Benjamin Meier

An inertial coasting monitoring system comprises aiding sensors onboard a vehicle, including a GNSS receiver and at least one non-GNSS aiding sensor, and an inertial measurement unit (IMU) that produces inertial measurements for the vehicle. A navigation system is coupled to the aiding sensors and the IMU. The navigation system comprises a main navigation filter and an inertial navigation system (INS). The navigation filter receives aiding data from the aiding sensors including GNSS aided data, and the INS receives inertial data from the IMU. An onboard inertial coasting monitor communicates with the navigation system, and receives inertial data from the IMU and aiding data from at least one non-GNSS aiding sensor. The inertial coasting monitor comprises inertial coast sub-filters and communicates with the navigation filter. The inertial coasting monitor performs a position detection process and/or a velocity detection process to detect if there is a fault in the aiding data.

Inertial coasting position and velocity solution separation

A system comprises a GNSS receiver that receives a GNSS signal and produces GNSS measurements; a plurality of inertial sensors that produce inertial data; and a navigation system comprising a Kalman filter and an inertial navigation unit. The Kalman filter receives the GNSS measurements and calculates pseudo-range residuals, delta-range residuals, pseudo-range chi square values, delta-range chi square values, accelerometer bias estimates, and gyroscope bias estimates. A spoof detection system communicates with the Kalman filter and comprises a set of detection monitors that determine an integrity of the GNSS measurements. The detection monitors detect if the pseudo-range residuals, the delta-range residuals, the pseudo-range chi-square values, the delta-range chi-square values, the accelerometer bias estimates, or the gyroscope bias estimates, go beyond a fail threshold indicating that the GNSS signal is abnormal. When one or more of the detection monitors indicates that the GNSS signal is abnormal, a spoof event alert is outputted.

Systems and methods using kalman filter monitors to detect spoofed GNSS signals

Systems and methods for operating a navigation system and detecting GNSS spoofing using a chip-scale atomic clock are provided herein.

Systems and methods using chip-scale atomic clock to detect spoofed GNSS

A ring laser gyroscope comprises a block defining a hermetically sealed cavity for a ring laser formed when a lasing medium disposed within the cavity is excited. A cathode and an anode are attached to the block at two fill positions comprised within the cavity, and exposed to the lasing medium such that the lasing medium is ionized when a high voltage pulse is supplied across cathode and anode. At least two RF electrodes are attached to the block, positioned on opposing sides to generate a capacitive discharge for the purpose of keeping the lasing medium excited. The gyro comprises a matching circuit to tune the frequency of a radio frequency (RF) signal generated by a RF power source before the RF signal is sent to the electrodes. The matching circuit is coupled to the RF electrodes via respective lead wires, and comprises an element matching network.

Radio frequency ring laser gyroscope including a multiple electrode system and an impedance matching circuit

A method of magnetic sensor calibration for aircraft comprises obtaining attitude data, heading angle data, position data, and date information; inputting the position data and date into an earth magnetic field (EMF) model and into an EMF model correction map; inputting the attitude and heading angle data into a NOLL to body frame transformation module; outputting an EMF model vector from the EMF model; outputting an EMF correction vector from the EMF model correction map; compensating the EMF model vector with the EMF correction vector to produce a corrected EMF model vector; inputting the corrected EMF model vector into the transformation module; inputting magnetic field measurements data into a calibration processing unit; inputting true earth magnetic field data from the transformation module into the processing unit; computing compensation coefficients in the processing unit based on the magnetic field measurements and the true earth magnetic field; and storing the compensation coefficients.

Magnetic sensor calibration for aircraft

The invention relates to the field of gun-launched guidance systems and to a navigation system based on inertial sensors mounted in a spinning projectile using at least one rotation sensing device with input components perpendicular to the spinning body's longitudinal axis, and an appertaining method for upfinding. The phase of the sinusoidal angular rate as detected by a phase-locked loop or correlator is used to determine the local vertical orientation. This invention may be used to align the inertial navigation system in spinning projectiles in ballistic trajectories, which can include artillery shells, satellites or underwater torpedoes.

Apparatus and appertaining method for upfinding in spinning projectiles using a phase-lock-loop or correlator mechanism

A probabilistic map generator for indicating the probability of a chemical, biological or other agent in a structure or building. The building is mapped in to floors and several levels of cubes in each floor. The probability of an agent's presence is indicated for each cube. Sensors are placed in various locations on each floor of the building. Inputs from the sensors go to a data processor. The probabilities of an agent's presence may be calculated by the data processor in conjunction with a Kalman filter. The probabilities may be displayed in a diagram of cubes, each having a certain shading indicating a probability of the agent's presence for the respective cube.

Probabilistic map for a building

Systems and methods for monitoring buildings to detect harmful chemical or biological agents. Self-propelled harmful agent detectors are provided that can propel themselves using motors and self-contained power sources. On-board harmful agent sensors can detect the presence of harmful agents and transmit information for reception by a receiving unit. Some sensors can identify the type of agent and transmit the agent type. Some detectors can measure the intensity or concentration of the harmful agent presence and transmit that intensity. Some systems include locating devices for determining positions of the roaming detectors, as well as mapping software to map the location of the individual moving detectors. Systems may include software for plotting the relative concentrations of agents detected to locate the origination of the source within the building. The moving detectors can have motors coupled to wheels, tracks, capstans, pulleys and winches to move the devices along floors, air ducts, and suspended or hanging wires.

Chemical or biological attack detection and mitigation system

A room in a building serving as a safe haven for human inhabitants against harmful agent attack such as chemical or biological weapon attack. The room provides an environment sealed from air-carried harmful agents wherein the sealing can be accomplished by blocking air ducts and air leakage around doors. The room can be specially built, retrofitted, or rapidly adapted to serve as a safe haven. The room can include an oxygen source such as an oxygen generator. One oxygen generator utilizes a chemical process to generate gaseous oxygen. The room preferably includes a carbon dioxide scrubber. The invention includes kits and methods for rapidly converting a room to a safe haven.

Growing community of inventors

River Falls, WI, United States of America

Ruth Dagmar Kreichauf