US 12,241,985 B2
Method and system to process and assure integrity of radar measurements and mitigate GNSS jamming and spoofing events
Vibhor L. Bageshwar, Rosemount, MN (US); Zdenek Kana, Dubnany (CZ); Milos Sotak, Košice-Šaca (SK); Tomas Vaispacher, Brno (CZ); and Vit Stencel, Brno (CZ)
Assigned to Honeywell International s.r.o., Chodov (CZ)
Filed by Honeywell International s.r.o., Praha-Chodov (CZ)
Filed on Jul. 26, 2022, as Appl. No. 17/874,104.
Prior Publication US 2024/0053485 A1, Feb. 15, 2024
Int. Cl. G01S 19/20 (2010.01); G01S 13/86 (2006.01); G01S 19/26 (2010.01); G08G 5/00 (2006.01)
CPC G01S 19/20 (2013.01) [G01S 13/86 (2013.01); G01S 19/26 (2013.01); G08G 5/0069 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
computing a main filter navigation solution for a vehicle, based on a set of radar measurements from in view radar ground features (set A), and on a set of global navigation satellite system (GNSS) measurements from in view GNSS satellites (set C), wherein the set of radar measurements are received by a radar sensor onboard the vehicle and the set of GNSS measurements are received by a GNSS receiver onboard the vehicle, wherein the radar sensor and the GNSS receiver are selectively coupled to an onboard navigation filter that operatively communicates with an onboard integrity checks module;
computing a radar navigation solution based on set A, and one or more subsets of set A, using solution separation;
identifying the radar measurements in set A that provide a consistent radar position of the vehicle (set B), based on the radar navigation solution;
computing a branch radar only navigation solution based on the radar measurements in set B;
computing a GNSS navigation solution based on set C, and one or more subsets of set C, using solution separation;
identifying the GNSS measurements in set C that provide a consistent GNSS position of the vehicle (set D), based on the GNSS navigation solution;
computing a branch GNSS only navigation solution based on the GNSS measurements in set D; and
verifying whether the branch GNSS only navigation solution is consistent with the branch radar only navigation solution;
wherein if the branch GNSS only navigation solution is consistent with the branch radar only navigation solution, then outputting the main filter navigation solution.