Granted Patent B2

US 12,481,070 · App. 18/068,242 · Granted Nov 25, 2025

Inventors: Guoqing Wang (Beijing, CN); Karl Abraham Keyzer (Minneapolis, MN); Xiaoqiang Chen (Beijing, CN); Danhua Liang (Beijing, CN); Mei Zhang (Tianjin, CN)

Assignee: Honeywell International Inc.

G01S19/21G08G5/34

Abstract

Claims (68)

1 . A method, comprising:

receiving at least one characteristic of at least one source radiating signals in at least one geographical region in which a vehicle is traversing, wherein the at least one characteristic includes an azimuth parameter of the at least one source and is received in response to a determination that the radiating signals from the at least one source interfere with operation of at least one global navigation satellite systems (GNSS) receiver associated with the vehicle, and wherein the azimuth parameter is identified based on a change of a heading of the vehicle; and

sending, in response to the received at least one characteristic of the at least one source, a message to one or more systems on the vehicle, the message including evacuation guidance parameters for evacuating the at least one geographical region due to the interference of the at least one GNSS receiver from the at least one source during a period of time in which the vehicle is inside the at least one geographical region.

2 . The method of claim 1 , wherein the at least one characteristic includes the azimuth parameter corresponding to the at least one source, a type of interference to the at least one GNSS receiver, a pseudorandom noise (PRN) number, and a time of interference to the at least one GNSS receiver.

3 . The method of claim 1 , further comprising:

acquiring at least one navigation parameter of the vehicle, wherein the at least one navigation parameter includes the change of the heading of the vehicle;

determining, based on the change of the heading of the vehicle, the azimuth parameter of the at least one source; and

determining, based on the azimuth parameter of the at least one source, a location and/or movement of the at least one source,

wherein the evacuation guidance parameters include the azimuth parameter, the location, and/or the movement of the at least one source in the at least one geographical region.

4 . The method of claim 1 , further comprising:

receiving at least one azimuth ambiguity that corresponds to the at least one source;

determining at least one updated azimuth ambiguity corresponding to the at least one source based on the change of the heading of the vehicle; and

generating a first modified travel path based on the received at least one azimuth ambiguity that avoids a position associated with the at least one updated azimuth ambiguity while the vehicle is traversing in the at least one geographical region.

5 . The method of claim 1 , further comprising:

receiving at least one source azimuth based on at least one azimuth ambiguity, the at least one source azimuth corresponding to the at least one source; and

generating a second modified travel path based on the at least one source azimuth that avoids a position associated with the at least one source azimuth while the vehicle is traversing in the at least one geographical region.

6 . The method of claim 1 , further comprising:

determining a movement of the at least one source based on at least one azimuth parameter of the at least one source, wherein the at least one azimuth parameter includes an azimuth ambiguity or a source azimuth of the at least one source; and

generating a third modified travel path based on the movement of the at least one source that avoids a change in position associated with the movement of the at least one source while the vehicle is traversing in the at least one geographical region.

7 . The method of claim 1 , further comprising:

determining a set of azimuth ambiguities including at least one first azimuth ambiguity and at least one second azimuth ambiguity corresponding to the at least one source;

determining a first set of carrier phase difference shifts including at least one first carrier phase difference shift corresponding to the at least one first azimuth ambiguity and at least one second carrier phase difference shift corresponding to the at least one second azimuth ambiguity based on the change of the heading of the vehicle;

measuring a second carrier phase difference shift in response to the change of the heading of the vehicle; and

determining an updated source azimuth ambiguity of the at least one source based on a correlation between the first set of carrier phase difference shifts and the measured second carrier phase difference shift.

8 . The method of claim 1 , comprising:

determining a set of azimuth ambiguities including at least one first azimuth ambiguity and at least one second azimuth ambiguity corresponding to the at least one source;

determining that the first azimuth ambiguity changes relative to an absolute reference axis corresponding to the change of the heading of the vehicle;

excluding the first azimuth ambiguity; and

determining the source azimuth based on the second azimuth ambiguity.

9 . The method of claim 1 , further comprising determining a source location of the at least one source, wherein determining the source location of the at least one source comprises:

determining that a first azimuth ambiguity intersects with a shifted azimuth ambiguity associated with the change of the heading of the vehicle; and

determining the source location of the at least one source based on the intersection between the first azimuth ambiguity and the first shifted azimuth ambiguity.

10 . A program product comprising a non-transitory processor-readable medium on which program instructions, configured to be executed by at least one processor, are embodied, wherein when executed by the at least one processor, the program instructions cause the at least one processor to:

receive at least one characteristic of at least one source radiating signals in at least one geographical region in which a vehicle is traversing in, wherein the at least one characteristic includes an azimuth parameter of the at least one source and is received in response to a determination that the radiating signals from the at least one source interfere with operation of at least one global navigation satellite systems (GNSS) receiver associated with the vehicle, and wherein the azimuth parameter is identified based on a change of a heading of the vehicle; and

send, in response to the received at least one characteristic of the at least one source, a message to one or more systems on the vehicle, the message including evacuation guidance parameters for evacuating the at least one geographical region due to the interference of the at least one GNSS receiver from the at least one source during a period of time in which the vehicle is inside the at least one geographical region.

11 . The program product of claim 10 , wherein the at least one characteristic includes the azimuth parameter corresponding to the at least one source, a type of interference to the at least one GNSS receiver, a pseudorandom noise (PRN) number, and a time of interference to the at least one GNSS receiver.

12 . The program product of claim 10 , wherein the program instructions cause the at least one processor to:

acquire at least one navigation parameter of the vehicle, wherein the at least one navigation parameter includes the change of the heading of the vehicle;

determine, based on the change of the heading of the vehicle, an azimuth parameter of the at least one source; and

determine, based on the azimuth parameter of the at least one source, a location and/or movement of the at least one source,

wherein the message includes the azimuth parameter, the location, and/or the movement of the at least one source in the at least one geographical region.

13 . The program product of claim 10 , wherein the evacuation guidance parameters include at least one azimuth ambiguity corresponding to the at least one source, the azimuth parameter corresponding to the at least one source, a location and/or movement associated with the at least one source, wherein the program instructions further cause the at least one processor to generate a modified travel path based on at least one of: the at least one azimuth ambiguity, the azimuth parameter of the at least one source, the location, or the movement associated with the at least one source.

14 . The program product of claim 10 , wherein the at least one geographical region is defined by an interference range of the at least one source.

15 . The program product of claim 10 , wherein to send a message to one or more systems on the vehicle comprises to send the message from a central processing system located remotely from the vehicle to a communications system onboard the vehicle.

16 . A system, comprising:

at least one global navigation satellite system (GNSS) receiver mounted on a vehicle and configured to receive GNSS signals; and

a vehicle processing system coupled to the vehicle and comprising at least one processor coupled to the at least one GNSS receiver, wherein the vehicle processing system is configured to determine interfering GNSS signals from the GNSS signals;

wherein the at least one processor is configured to:

determine, from the interfering GNSS signals, at least one characteristic of at least one source radiating signals in at least one geographical region in which the vehicle is traversing wherein the at least one characteristic includes an azimuth parameter of the at least one source and wherein the azimuth parameter is identified based on a change of a heading of the vehicle; and

acquire, in response to the determined at least one characteristic of the at least one source, evacuation guidance parameters for evacuating the at least one geographical region due to the interference of the at least one GNSS receiver from the at least one source during a period of time in which the vehicle is inside the at least one geographical region.

17 . The system of claim 16 , further comprising a communications system coupled to the vehicle processing system, wherein the communications system is configured to:

receive the at least one characteristic of the at least one source;

send a request message to a central processing system located remotely from the vehicle including the at least one characteristic;

receive a response message from the central processing system including the evacuation guidance parameters, wherein the evacuation guidance parameters include at least one of: at least one azimuth ambiguity corresponding to the at least one source, the azimuth parameter of the at least one source, a source location, and/or movement of the at least one source in the at least one geographical region; and

provide the evacuation guidance parameters to the vehicle processing system;

wherein the vehicle processing system comprises a guidance system configured to execute evasive maneuvers based on the evacuation guidance parameters.

18 . The system of claim 16 , wherein the vehicle processing system comprises a guidance system configured to determine the evacuation guidance parameters from the at least one characteristic, wherein to determine the evacuation guidance parameters comprises:

acquire at least one navigation parameter of the vehicle, wherein the at least one navigation parameter includes the change of the heading of the vehicle;

determine, based on the change of the heading of the vehicle, the azimuth parameter of the at least one source; and

determine, based on the azimuth parameter of the at least one source, a location and/or movement of the at least one source;

wherein the guidance system is configured to execute evasive maneuvers based on the azimuth parameter, the location, and/or the movement of the at least one source in the at least one geographical region.

19 . The system of claim 16 , wherein the vehicle processing system comprises a flight management system and a flight control system coupled to the flight management system, wherein the flight management system is configured to generate a modified travel path based on the evacuation guidance parameters, wherein the evacuation guidance parameters include at least one of: at least one azimuth ambiguity corresponding to the at least one source, the azimuth parameter of the at least one source, and/or a movement of the at least one source in the at least one geographical region;

wherein the flight management system is configured to, at least one of:

receive at least one azimuth ambiguity that corresponds to the at least one source; and generate a first modified travel path based on the received at least one azimuth ambiguity that avoids a position associated with the at least one azimuth ambiguity while the vehicle is traversing in the at least one geographical region;

receive the azimuth parameter of to the at least one source; and generate a second modified travel path based on the azimuth parameter that avoids a position associated with the azimuth parameter of the at least one source while the vehicle is traversing in the at least one geographical region; and/or

receive a movement of the at least one source based on the at least one azimuth parameter of the at least one source, wherein the at least one azimuth parameter includes an azimuth ambiguity or the azimuth of the at least one source; and generate a third modified travel path based on the movement of the at least one source that avoids a change in position associated with the movement of the at least one source while the vehicle is traversing in the at least one geographical region,

wherein the flight control system is configured to execute at least one of the first modified travel path, second modified travel path, or third modified travel path, wherein the flight control system is configured to generate a heading change based on the first modified travel path, second modified travel path, or third modified travel path, wherein the flight management system is configured to determine at least one updated azimuth ambiguity of the at least one source from the generated heading change.

20 . The system of claim 16 , wherein the vehicle processing system comprises a guidance system, and further comprising at least one onboard system coupled to the guidance system, wherein the guidance system is configured to adjust operational modes of the at least one onboard system based on the at least one characteristic of the at least one source.

Assignments (1)

Continuity (1)

References Cited (79)