Systems and methods for compensating for the absence of a sensor measurement in a heading reference system
Methods and systems for compensating for the absence or loss of a sensor measurement in a heading reference system such as an aircraft attitude and heading reference system, integrated standby unit, or vehicle inertial system, provides an estimate of the lost sensor measurement by estimating the bank angle after a detected vehicle turn. The estimate of the bank angle may also be used to estimate the vehicle's speed. Additionally, when the lost sensor measurement is a temperature measurement, the described methods and systems offer an improvement over estimating air temperature using a standard (e.g., ISA) model. The methods and systems also allow for the refinement of computed estimates using filtering techniques, such as low-pass or Kalman filtering. The methods may be iteratively repeated for each detected turn in order to maintain an accurate estimate of the lost sensor measurement or other estimates, such as vehicle speed.
1. A method for compensating for a loss of a temperature sensor measurement in an attitude and heading reference system on a vehicle, the method comprising:
detecting a temperature sensor measurement loss from at least one temperature sensor mounted on the vehicle, wherein the temperature measurement is otherwise used to calculate the vehicle's true airspeed;
detecting a turn by the vehicle;
in response to detecting the turn, calculating a first vehicle bank angle using at least one gyroscope mounted on the vehicle;
estimating the vehicle's true air speed using the first vehicle bank angle and the at least one gyroscope mounted on the vehicle;
estimating a value for the lost temperature measurement for the at least one temperature sensor mounted on the vehicle using the vehicle's estimated true airspeed and at least one pressure sensor mounted on the vehicle;
estimating a second vehicle bank angle using the estimate of the lost temperature measurement and the at least one gyroscope mounted on the vehicle; and
compensating for a gyro-bias drift rate, where in compensating for the gyro-drift rate includes augmenting a sensor measurement model using the estimated second bank angle in an absence of a measurement from the at least one temperature sensor mounted on the vehicle.
2. A system for compensating for a loss of a sensor measurement in an attitude and heading reference system on a vehicle, the system comprising:
a memory;
at least one of a temperature sensor mounted on the vehicle, a static pressure sensor mounted on the vehicle, and a dynamic pressure sensor mounted on the vehicle, coupled to the memory;
a processor coupled to the at least one sensor and memory, the processor being configured to:
detect a sensor measurement loss for the at least one sensor mounted on the vehicle, wherein the sensor measurement is otherwise used to calculate the vehicle's true airspeed;
detect a turn by the vehicle;
in response to detecting the turn, calculate a first vehicle bank angle using at least one gyroscope mounted on the vehicle;
estimate the vehicle's true air speed using the first vehicle bank angle and the at least one gyroscope mounted on the vehicle;
estimate a value for the lost sensor measurement using the vehicle's estimated true airspeed and at least one of a properly operating pressure sensor or a properly operating temperature sensor mounted on the vehicle;
estimate a second vehicle bank angle using the vehicle's estimated true airspeed and the at least one gyroscope mounted on the vehicle or the estimate of the lost sensor measurement for the at least one sensor mounted on the vehicle; and
compensate for a gyro-bias drift rate, wherein compensating for the gyro-drift rate includes augmenting a sensor measurement model using the estimated second bank angle in an absence of a measurement from the at least one sensor mounted on the vehicle.
3. A method for compensating for an absence of a sensor measurement in a heading reference system on a vehicle, wherein the sensor measurement is otherwise used to calculate the vehicle's speed, the method comprising:
detecting a sensor measurement loss for at least one sensor mounted on the vehicle, wherein a sensor measurement from the at least one sensor is otherwise used to calculate the vehicle's speed;
detecting a turn by the vehicle;
in response to detecting the turn, calculating a first vehicle bank angle using at least one gyroscope mounted on the vehicle;
estimating the vehicle's speed using the first vehicle bank angle and the at least one gyroscope mounted on the vehicle; and
estimating a value for the sensor measurement using the vehicle's estimated speed and at least one of a properly operating pressure sensor or a properly operating temperature sensor mounted on the vehicle; and
compensating for the sensor measurement loss using the estimated value for the sensor measurement which is derived, at least in part, using the properly operating pressure sensor or the properly operating temperature sensor.
4. The method of claim 3 , wherein the sensor measurement is one of temperature, static pressure, or dynamic pressure.
5. The method of claim 3 , wherein the sensor measurement is a ratio of dynamic pressure to static pressure.
6. The method of claim 3 , wherein the first vehicle bank angle is calculated using a short timeframe integration of gyroscopic measurements that accounts for a bias-drift of gyroscopic measurements.
7. The method of claim 3 , wherein the vehicle's estimated speed is refined prior to estimating the value for the sensor measurement.
8. The method of claim 7 , wherein the vehicle's estimated speed is refined using a low-pass filter with a cut off frequency lower than a gyro-bias drift rate.
9. The method of claim 7 , wherein the vehicle's estimated speed is refined using a Kalman filter.
10. The method of claim 3 , wherein the estimate for the sensor measurement is refined using a low-pass filter with a cut off frequency lower than a gyro-bias drift rate.
11. The method of claim 3 , wherein the estimate for the sensor measurement is refined using a Kalman filter.
12. The method of claim 3 , further comprising:
estimating a second vehicle bank angle using the vehicle's estimated speed or the estimate of the sensor measurement value; and
augmenting a sensor measurement model to compensate for a gyro-bias drift rate using the estimated second bank angle.
13. A method for compensating for a loss of a temperature sensor measurement in an attitude and heading reference system on a vehicle, the method comprising:
detecting a temperature sensor measurement loss from at least one temperature sensor mounted on the vehicle, wherein the temperature measurement is otherwise used to calculate the vehicle's true airspeed;
detecting a turn by the vehicle;
in response to detecting the turn, calculating a first vehicle bank angle using at least one gyroscope mounted on the vehicle;
estimating a first static air temperature using the first vehicle bank angle and at least one pressure sensor mounted on the vehicle;
estimating a second static air temperature independently of the first vehicle bank angle;
computing an adjusted static air temperature using the first and second static air temperatures; and
compensating for a gyro-bias drift rate, wherein compensating for the gyro-drift rate includes augmenting a sensor measurement model using the adjusted static air temperature in an absence of a measurement from the at least one temperature sensor mounted on the vehicle.
14. The method of claim 13 , wherein computing the adjusted static air temperature further comprises:
calculating a temperature error estimate between the first and second static air temperatures; and
adding the temperature error estimate to a subsequently computed static air temperature to compute the adjusted static air temperature.
15. The method of claim 14 , wherein the second and subsequently computed static air temperatures are calculated using a standard model.
16. The method of claim 14 , wherein the temperature error estimate is decayed based upon a passage of time or change in the vehicle's position.
17. The method of claim 14 , wherein the temperature error estimate is refined using a low-pass filter with a cut off frequency lower than the gyro-bias drift rate.
18. The method of claim 14 , wherein the temperature error estimate is refined using a Kalman filter.
19. The method of claim 13 , wherein computing the adjusted static air temperature further comprises:
weighting the first static air temperature using a first weight value;
weighting the second static air temperature using a second weight value; and
adding the weighted first and weighted second static air temperatures to compute the adjusted static air temperature.
20. The method of claim 19 , wherein either the first or second weight value is decayed based upon a passage of time or a change in the vehicle's position.