Multi-source distributed navigation system architecture

Patent metadata

Field	Value
Publication number	US-11150357-B2
Application number	US-201715494898-A
Country	US
Kind code	B2
Filing date	Apr 24, 2017
Priority date	Apr 24, 2017
Publication date	Oct 19, 2021
Grant date	Oct 19, 2021

Abstract

A distributed navigation system architecture includes a plurality of navigation platforms, each having a universal navigation processor configured to communicate with other universal navigation processors, one or more relative navigation systems configured to provide source information to the navigation platforms, an anchor navigation node disposed on one or more of the plurality of navigation platforms in order to form one or more anchor navigation platforms, the anchor navigation node, including an inertial navigation system, a clock, and one or more absolute navigation systems, configured to determine navigation information based on the inertial navigation system, the clock, the one or more absolute navigation systems and optionally the source information, the one or more anchor navigation platforms providing the navigation information to the other navigation platforms, and a navigation processor system in communication with each of the universal navigation processors in order to provide operating information updates to the universal navigation processors.

First claim

What is claimed is:

1. A distributed navigation system architecture comprising:
a plurality of navigation platforms, each navigation platform having a universal navigation processor configured to communicate with other universal navigation processors over distribution channels in a communication network;
one or more relative navigation systems, in communication with the universal navigation processors, configured to provide source information to the navigation platforms;
an anchor navigation node disposed on one or more of the plurality of navigation platforms configured to form one or more anchor navigation platforms, the anchor navigation node including an inertial navigation system, a clock, and one or more absolute navigation systems and configured to determine navigation information based on the inertial navigation system, the clock, the one or more absolute navigation systems and optionally the source information, the one or more anchor navigation platforms configured to provide the navigation information over the distribution channels to the other navigation platforms in the communication network; and
a navigation processor system in communication with each of the universal navigation processors in the communications network and configured to provide software updates or program code to the universal navigation processors,
wherein one or more of the universal navigation processors include a navigation filter configured to process the source information, and
wherein the navigation filter is a navigation filter system configured to apply at least one statistical model to determine and provide an estimate of the quality and an estimate of the integrity of the source information in order to determine the navigation information for the one or more navigation platforms.

2. The distributed navigation system architecture of claim 1 , wherein the navigation information includes position, velocity, altitude, errors in position, errors in velocity, errors in attitude, time, clock errors, propagation delays, GPS satellite errors, sensor errors, sensor characterization parameters or any combination thereof.

3. The distributed navigation system architecture of claim 1 , wherein the one or more absolute navigation systems include a global positioning system (GPS), a celestial object sighting system (COSS), a magnetic compass, an RF sensor system, or any combination thereof.

4. The distributed navigation system architecture of claim 1 , wherein the one or more relative navigation systems include a vision system having an image sensor.

5. The distributed navigation system architecture of claim 4 , wherein the relative navigation system is configured to compare data from the image sensor to images in a database map to identify a man-made landmark and/or a terrestrial landmark.

6. The distributed navigation system architecture of claim 1 , wherein the plurality of navigation platforms include moving and non-moving platforms.

7. The distributed navigation system architecture of claim 1 , wherein one or more of the plurality of navigation platforms is configured to form the one or more anchor navigation platforms after an initial anchor navigation platform is formed in the communication network.

8. The distributed navigation system architecture of claim 1 , wherein the navigation filter includes an extended Kalman filter, a particle filter, a nonlinear moment filter, a Hidden Markov Model, a Bayesian filter or any combination thereof.

9. The distributed navigation system architecture of claim 1 , wherein the navigation filter system includes:
a. a situation module configured to provide situation data;
b. an information module configured to determine the estimate of the quality and the estimate of the integrity of the source information, at a given time, based on the source information received from one or more data sources and based on the situation data received from the situation module;
c. an integrity monitor module configured to receive the estimate of the quality and the estimate of the integrity of the source information from the information module and to receive the source information from the one or more data sources, configured to determine the integrity and the quality of the source information based on the estimate of the quality and the estimate of the integrity of the source information from the information module, and configured to validate the source information based on (1) the integrity of the source information, and/or (2) the quality of the source information; and
d. a navigation state estimator configured to determine the navigation information of the one or more navigation platforms based on the source information that was validated and corresponding quality of the source information received from the integrity monitor module.

10. The distributed navigation system architecture of claim 9 , wherein the navigation state estimator includes an extended Kalman filter, a particle filter, a nonlinear moment filter, a Hidden Markov Model, a Bayesian filter or any combination thereof.

11. The distributed navigation system architecture of claim 9 , wherein the navigation state estimator is further configured to provide the navigation information for the plurality of navigation platforms to the integrity monitor module, and the integrity monitor module is configured to determine the integrity and/or the quality of the source information further based on the navigation information.

12. The distributed navigation system architecture of claim 9 , wherein the integrity monitor module is configured to ignore the source information when a difference between a value of the source information and an expected value of the source information differs by more than a threshold value.

13. The distributed navigation system architecture of claim 9 , wherein the situation module is configured to receive the situation data from databases with stored situation data previously known, from communication links with updated situation data that changes over time, from the one or more data sources, from detection systems that provide the situation data based on detected conditions, or any combination thereof.

14. The distributed navigation system architecture of claim 9 , wherein the situation data includes environment conditions, position information, velocity, attitude, temporal information, platform configuration, mission phase, data source location, system health, mission plan, threat data, condition of a threat, threat operating capabilities, threat location, temperature, cloud cover, visibility, barometric pressure, terrain, time of year, tides, radiation environment, population, city information, street information, building information, known transmitters, known vehicles, visible stars, location of satellites in the sky, or any combination thereof.

Assignees

• Charles Stark Draper Laboratory Inc

Inventors

• Laine Juha-Pekka J
• Lane Benjamin F
• Whitacre William W
• Dawson Robin Mark Adrian
• Kinast Joseph M
• Johnson Cort Nolan
• Blasche Gregory P
• Aucoin Michael A
• Jungemann Jeffrey D
• Lewis Peter A
• Smith Stephen P

Classifications

• G01C21/1656

  with passive imaging devices, e.g. cameras · CPC title

• G01C21/1654

  with electromagnetic compass · CPC title

• G01S19/08

  providing integrity information, e.g. health of satellites or quality of ephemeris data · CPC title

• G01S19/45

  by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement · CPC title

• G01S19/03

  Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers · CPC title