A system for integrity monitoring comprises a processor onboard a vehicle, a terrain map database, vision sensors, and inertial sensors. Each vision sensor has an overlapping FOV with at least one other vision sensor. The processor performs integrity monitoring of kinematic states of the vehicle, and comprises a plurality of first level filter sets, each including multiple position PDF filters. A consistency monitor is coupled to each first level filter set. Second level filter sets, each including multiple position PDF filters and a navigation filter, are coupled to the consistency monitor, the map database, the vision sensors, and the inertial sensors. Consistency check modules are each coupled to a respective second level filter set. A third level fusion filter is coupled to each of the consistency check modules. An integrity monitor is coupled to the fusion filter and assures integrity of a final estimate of the vehicle kinematic state statistics.
INTEGRITY MONITORING OF VEHICLE KINEMATIC STATES USING MAP-BASED, VISION NAVIGATION SYSTEMS
INTEGRITÄTSÜBERWACHUNG VON FAHRZEUGKINEMATIKZUSTÄNDEN UNTER VERWENDUNG VON KARTENBASIERTEN VISUELLEN NAVIGATIONSSYSTEMEN
SURVEILLANCE DE L'INTÉGRITÉ DES ÉTATS CINÉMATIQUES D'UN VÉHICULE À L'AIDE DE SYSTÈMES DE NAVIGATION PAR VISION BASÉS SUR DES CARTES
2024-07-03
Patent
Electronic Resource
English
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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