Abstract: A system and method for magnetic navigation are provided. The system comprises a navigation system for a vehicle, at least one processor operatively coupled with the navigation system, and a magnetic navigation module operatively coupled with the processor. The magnetic navigation module including instructions, executable by the processor, to perform a method comprising selecting latitude, longitude, and altitude ranges for the vehicle that is expected to travel in a region of interest; obtaining one or more magnetic anomaly maps for the region of interest; choosing a base Earth-centered, Earth-fixed (ECEF) plane and coordinates for the one or more magnetic anomaly maps; constructing an integration mesh on the base ECEF plane; and performing a Strakhov iteration process on the integration mesh to compute values of magnetic anomalies on a base source. The method then computes an estimated magnetic anomaly at a given point in space using alternative computation approaches.

Abstract: A method of determining three-dimensional attitude is provided. The method includes measuring a carrier phase of each satellite signal received at plurality of spaced antenna. A carrier phase difference between the measured carrier phase for each satellite signal from each satellite received at each antenna is determined. The integrity of the integer ambiguity resolution relating to the carrier phase difference is assured by applying a least-square-error solution using differential carrier phase measurements with applied integer ambiguities between at least two of the plurality of antennas and observing measurement residuals after the least-square-error solution is computed and applying an instantaneous test, an interval test and a solution separation function. Three-dimensional attitude is determined from the carrier phase differences upon completion of the integer ambiguity resolution and the assurance of integrity of the integer ambiguity resolution.

Abstract: A system and method for detecting multiple spoofed or faulty global navigation satellite signals are provided. The system comprises a single antenna configured to receive satellite signals from a plurality of global navigation satellites, the single antenna located on a vehicle; a receiver in the vehicle, the receiver coupled to the single antenna; and at least one processor in the vehicle, the processor in communication with the single antenna through the receiver. The processor is operative to determine a unit vector in a direction from the vehicle to a global navigation satellite in local coordinates, from the satellite signals; determine a plurality of signal blocks, wherein the signal blocks are a collection of subsets of the satellite signals and a covariance matrix for the satellite signals; and determine which satellite signals in the signal blocks are spoofed or faulty by comparing a geometry of the local coordinates with satellite coordinates.

Abstract: A multiple faulty global navigation satellite signal detecting system is provided. The system includes at least one pair of spaced antennas, at least one aiding source and processor. The at least one pair of spaced antennas are configured to receive satellite signals from a plurality of satellites. The at least one aiding source is used to generate aiding source position estimate signals. The processor is in communication with each antenna and the at least one aiding source. The processor is configured to determine signals blocks. The signal blocks being a collection of subsets of the determined difference signals and a covariance matrix for the difference signals. The processor further configured to generate a union of good signals from all the good blocks and a complementary set of bad signals.

Abstract: A method of determining three-dimensional attitude is provided. The method includes measuring a carrier phase of each satellite signal received at plurality of spaced antenna. A carrier phase difference between the measured carrier phase for each satellite signal from each satellite received at each antenna is determined. The integrity of the integer ambiguity resolution relating to the carrier phase difference is assured by applying a least-square-error solution using differential carrier phase measurements with applied integer ambiguities between at least two of the plurality of antennas and observing measurement residuals after the least-square-error solution is computed and applying an instantaneous test, an interval test and a solution separation function. Three-dimensional attitude is determined from the carrier phase differences upon completion of the integer ambiguity resolution and the assurance of integrity of the integer ambiguity resolution.

Abstract: A multiple faulty global navigation satellite signal detecting system is provided. The system includes at least one pair of spaced antennas, at least one aiding source and processor. The at least one pair of spaced antennas are configured to receive satellite signals from a plurality of satellites. The at least one aiding source is used to generate aiding source position estimate signals. The processor is in communication with each antenna and the at least one aiding source. The processor is configured to determine signals blocks. The signal blocks being a collection of subsets of the determined difference signals and a covariance matrix for the difference signals. The processor further configured to generate a union of good signals from all the good blocks and a complementary set of bad signals.

Abstract: An ensemble of motion sensors is tested under known conditions to automatically ascertain instrument biases, which are modeled as autoregressive-moving-average (ARMA) processes in order to construct a Kalman filter. The calibration includes motion profiles, temperature profiles and vibration profiles that are operationally significant, i.e., designed by means of covariance analysis or other means to maximize, or at least improve, the observability of the calibration model's structure and coefficients relevant to the prospective application of each sensor.

Abstract: An ensemble of motion sensors is tested under known conditions to automatically ascertain instrument biases, which are modeled as autoregressive-moving-average (ARMA) processes in order to construct a Kalman filter. The calibration includes motion profiles, temperature profiles and vibration profiles that are operationally significant, i.e., designed by means of covariance analysis or other means to maximize, or at least improve, the observability of the calibration model's structure and coefficients relevant to the prospective application of each sensor.

Abstract: A control system of a spacecraft for controlling two or more sets of collinear control moment gyroscopes (CMGs) comprises an attitude control system. The attitude control system is configured to receive a command to adjust an orientation of the spacecraft, determine an offset for a momentum disk for each of the two or more sets of CMGs that maximizes torque, determine a momentum needed from the two or more sets of CMGs to adjust the orientation of the spacecraft, and calculate a total torque needed by taking the derivative of the momentum. The control system further comprises a momentum actuator control processor coupled to the attitude control system, the momentum actuator control processor configured to calculate a required gimbal movement for each of the CMGs in each of the two or more sets of collinear CMGs from total torque.

Abstract: The present invention discloses a distributed control method and system for routing message flows on a network. Each node locally computes a routing table and cooperatively exchanges control information to achieve network stability, robustness and acyclic flows. This distributed control method introduces potential functions for each class of messages to each target nodes, defined on the network nodes for determining the routes of message flows. The difference of potentials for messages of a class between a pair of neighbor nodes represents the direction and the quantity of the message flow that should be sent between the pair of neighbor nodes. Each node performs the disclosed method by, first, delivering exogenous input information for each message class to the target nodes of the messages, secondly, computing potential values for all message classes, and finally, each node computing a routing table based on the potential differences to those of its neighbor nodes and/or weights on its neighbor links.

Abstract: A control method and system is defined for routing messages from source nodes to destination nodes of a network. An outer-loop control subsystem computes a desired steady-state routing solution in response to an estimated input data rate and an estimated output data rate. An inner-loop control subsystem reduces the deviations of estimated queuing lengths from expected queuing lengths at each node by adjustment of the routing solution.