Patents by Inventor Milos Sotak

Milos Sotak has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • Publication number: 20210356602
    Abstract: Systems and methods for calculating single delta range differences using synthetic clock steering are provided. In certain embodiments, a system includes a first GNSS receiver that provides first delta range measurements and first measurement times associated with a plurality of GNSS satellites. The system further includes a second GNSS receiver that provides second delta range measurements and second measurement times associated with the plurality of GNSS satellites. Additionally, the system includes a processing unit that executes instructions that cause the processing unit to synchronize the second delta range measurements with the first delta range measurements to create synchronized delta range measurements. The executable instructions also cause the processing unit to calculate a single difference of the first delta range measurements and the synchronized delta range measurements for at least one satellite in the plurality of GNSS satellites.
    Type: Application
    Filed: May 18, 2020
    Publication date: November 18, 2021
    Applicant: Honeywell International Inc.
    Inventors: Jussi Raasakka, Zdenek Kana, Milos Sotak
  • Publication number: 20210293970
    Abstract: Systems and methods for implementing single differences within a solution separation framework are provided. In certain embodiments, a method includes processing pseudorange measurements to determine a full navigation solution by applying a single difference between the pseudorange measurements. The method additionally includes performing innovation sequence monitoring. Also, the method includes processing a subset of the pseudorange measurements to determine a set of navigation sub-solutions by applying a single difference between the pseudorange measurements, wherein a result of the innovation sequence monitoring is applied to the set of navigation sub-solutions; and providing faults detection and computing protection levels of quantities of navigation information based on a full navigation solution estimate, navigation sub-solution estimates, dependence among the full navigation solution and the set of navigation sub-solutions, and probabilities of missed detection and false alert.
    Type: Application
    Filed: March 18, 2020
    Publication date: September 23, 2021
    Applicant: Honeywell International Inc.
    Inventors: Milos Sotak, Zdenek Kana, Radek Baranek
  • Publication number: 20210293975
    Abstract: Systems and methods for a single-difference based pre-filter of measurements for use in solution separation framework are provided. In certain embodiments, a navigation system includes at least one receiver configured to receive a plurality of signals transmitted from a plurality of transmitters. The navigation system further includes a processing unit operatively coupled to the navigation system, the processor configured to identify a plurality of measurements associated with the plurality of transmitters. Additionally, executable instructions cause the processing unit to calculate an auxiliary navigation solution based on a calculated single difference between the plurality of measurements; calculate one or more single difference residuals for the auxiliary navigation solution; perform statistical tests on the one or more single difference residuals; and to identify a set of measurements in the plurality of measurements for use in a solution separation method based on the statistical tests.
    Type: Application
    Filed: March 18, 2020
    Publication date: September 23, 2021
    Applicant: Honeywell International Inc.
    Inventors: Zdenek Kana, Milos Sotak, Tomas Vaispacher
  • Publication number: 20210025710
    Abstract: Using geo-mapping data and only at least one inertial sensor, a Bayesian estimator uses at least one element of an uncorrected inertial navigation vector, of a moveable object on a surface, to estimate inertial navigation error information including corresponding statistical information. The estimated inertial navigation error information is used to error correct the uncorrected inertial navigation vector. The Bayesian filter also predicts inertial navigation error information, including corresponding statistical information, for a future time instance when a next uncorrected inertial navigation vector will be obtained.
    Type: Application
    Filed: July 26, 2019
    Publication date: January 28, 2021
    Applicant: Honeywell International Inc.
    Inventors: Jindrich Dunik, Milos Sotak, Milos Vesely, Wesley J. Hawkinson, Kenneth Steven Morgan
  • Patent number: 10889302
    Abstract: A system and methods for monitoring the integrity of navigation measurement information are disclosed. One method includes receiving a plurality of navigation measurement values, computing a first set and second set of estimates of the navigation measurement values, comparing the first set to the second set, and if the second set is statistically consistent with the first set, computing a plurality of sub-sets of the second set of estimates, computing a sub-solution for each sub-set of the second set of estimates, and computing an integrity value for each sub-solution.
    Type: Grant
    Filed: June 27, 2018
    Date of Patent: January 12, 2021
    Assignee: Honeywell International Inc.
    Inventors: Zdenek Kana, Jindrich Dunik, Vibhor L Bageshwar, Milos Sotak
  • Publication number: 20200409820
    Abstract: A method to assure integrity of integrated certified and non-certified sensors or systems comprises calculating a certified main solution filter within a first software thread in a certified partition; calculating certified sub-solution filters, and sub-sub-solution filters within the first software thread; calculating a non-certified main solution filter within a second software thread in a non-certified partition; if applicable, reusing the certified main solution filter as a non-certified sub-solution filter, and reusing the certified sub-solution filters, as non-certified sub-sub-solution filters; calculating non-certified sub-solution filters, and sub-sub-solution filters, within the second software thread; based on the certified filters, determining protection limits of the certified partition, and/or providing execution of fault detection and exclusion; based on the non-certified filters, determining protection limits of the non-certified partition, and/or providing execution of fault detection and exc
    Type: Application
    Filed: June 26, 2019
    Publication date: December 31, 2020
    Applicant: Honeywell International Inc.
    Inventors: Zdenek Kana, Mark A. Ahlbrecht, Milos Sotak
  • Patent number: 10760911
    Abstract: An integrity monitoring method for navigation systems with heterogeneous measurements is provided. Measurements from a plurality of different type navigation aiding sources are categorized by an information domain, an aiding class and an aiding section. The information domain is a category of at least one of estimated states and measurements that represent a same physical category. The aiding class is a category that uses a same physical method to acquire measurements. The aiding section is a category of measurements from the same aiding source. The measurements are organized into a plurality of measurement clusters based at least in part on measurement fault modes to be detected, measurement fault modes to be excluded, available computer resources and required performance. An integrity monitoring algorithm is applied to the measurement clusters to determine an integrity solution for all defined integrity monitoring classes.
    Type: Grant
    Filed: March 29, 2017
    Date of Patent: September 1, 2020
    Assignee: Honeywell International Inc.
    Inventors: Zdenek Kana, Jindrich Dunik, Milos Sotak, Radek Baranek
  • Publication number: 20200001886
    Abstract: A system and methods for monitoring the integrity of navigation measurement information are disclosed. One method includes receiving a plurality of navigation measurement values, computing a first set and second set of estimates of the navigation measurement values, comparing the first set to the second set, and if the second set is statistically consistent with the first set, computing a plurality of sub-sets of the second set of estimates, computing a sub-solution for each sub-set of the second set of estimates, and computing an integrity value for each sub-solution.
    Type: Application
    Filed: June 27, 2018
    Publication date: January 2, 2020
    Applicant: Honeywell International Inc.
    Inventors: Zdenek Kana, Jindrich Dunik, Vibhor L. Bageshwar, Milos Sotak
  • Patent number: 10473466
    Abstract: A method is provided. The method comprises: initializing a point mass filter; initializing the one or more Bayesian filters; obtaining measurement data associated with a horizontal position on a surface; obtaining measurement data of a horizontal position and a velocity; obtaining geo-mapping data; estimating, with the point mass filter, the horizontal position on the surface based upon the geo-mapping data and the measurement data; estimating, with the one or more Bayesian filters, remaining state parameters based upon an output of the point mass filter and the measurement data; predicting, with the point mass filter, an a priori horizontal position, on a surface for a future time when the next measurement data will be obtained; and predicting, with the one or more Bayesian filters, an a priori remaining state parameters for a future time when the next measurement data will be obtained.
    Type: Grant
    Filed: December 9, 2016
    Date of Patent: November 12, 2019
    Assignee: Honeywell International Inc.
    Inventors: Jindrich Dunik, Milos Sotak, Milos Vesely, Wesley J. Hawkinson
  • Patent number: 10444269
    Abstract: A system is provided. The system comprises: a processing system comprising a memory coupled to a processor; wherein the processing system is configured to be coupled to at least one sensor; wherein the memory comprises a grid adaptation system, a system model, measurement data, and an estimation system; wherein the measurement data comprises data measured by the at least one sensor; wherein the estimation system is configured to provide probability density functions (PDFs) for a predictive estimate and a filtered estimate of a state in a form of a point-mass density; and wherein the grid adaption system is configured to adapt grid parameters of a predictive estimate and a filtered estimate.
    Type: Grant
    Filed: May 26, 2017
    Date of Patent: October 15, 2019
    Assignee: Honeywell International Inc.
    Inventors: Milos Sotak, Milos Vesely, Jindrich Dunik
  • Patent number: 10422872
    Abstract: Methods for radar altimeter integrity monitoring are provided.
    Type: Grant
    Filed: June 1, 2016
    Date of Patent: September 24, 2019
    Assignee: Honeywell International Inc.
    Inventors: Jindrich Dunik, Milos Sotak, Zdenek Kana, David C. Vacanti, Michal Dobes
  • Publication number: 20180340965
    Abstract: A system is provided. The system comprises: a processing system comprising a memory coupled to a processor; wherein the processing system is configured to be coupled to at least one sensor; wherein the memory comprises a grid adaptation system, a system model, measurement data, and an estimation system; wherein the measurement data comprises data measured by the at least one sensor; wherein the estimation system is configured to provide probability density functions (PDFs) for a predictive estimate and a filtered estimate of a state in a form of a point-mass density; and wherein the grid adaption system is configured to adapt grid parameters of a predictive estimate and a filtered estimate.
    Type: Application
    Filed: May 26, 2017
    Publication date: November 29, 2018
    Inventors: Milos Sotak, Milos Vesely, Jindrich Dunik
  • Publication number: 20180283871
    Abstract: An integrity monitoring method for navigation systems with heterogeneous measurements is provided. Measurements from a plurality of different type navigation aiding sources are categorized by an information domain, an aiding class and an aiding section. The information domain is a category of at least one of estimated states and measurements that represent a same physical category. The aiding class is a category that uses a same physical method to acquire measurements. The aiding section is a category of measurements from the same aiding source. The measurements are organized into a plurality of measurement clusters based at least in part on measurement fault modes to be detected, measurement fault modes to be excluded, available computer resources and required performance. An integrity monitoring algorithm is applied to the measurement clusters to determine an integrity solution for all defined integrity monitoring classes.
    Type: Application
    Filed: March 29, 2017
    Publication date: October 4, 2018
    Inventors: Zdenek Kana, Jindrich Dunik, Milos Sotak, Radek Baranek
  • Patent number: 10048074
    Abstract: An attitude and heading reference system (AHRS) for a vehicle comprises an IMU that generates inertial measurements, a heading source that generates heading measurements, an attitude filter in communication with the IMU, and a heading filter in communication with the heading source. The attitude filter receives inertial measurements from the IMU; computes an attitude estimation comprising attitude estimates and covariances for the attitude estimates; and outputs the attitude estimation. The heading filter receives the heading measurements, when available, from the heading source; receives the attitude estimation, comprising the attitude estimates and the covariances for the attitude estimates; computes a heading estimation comprising a heading mean estimate and a heading variance; and outputs the heading estimation.
    Type: Grant
    Filed: March 16, 2017
    Date of Patent: August 14, 2018
    Assignee: Honeywell International Inc.
    Inventors: Pavol Malinak, Zdenek Kana, Milos Sotak, Radek Baranek
  • Publication number: 20180205366
    Abstract: A method is provided. The method comprises: initializing at least one non-linear filter configured to provide at least one predictive measurement estimate probability density function; obtaining measurement data; determining if the measurement data is consistent; and if the measurement data is consistent, then estimating at least one state parameter with the at least one non-linear filter using the measurement data.
    Type: Application
    Filed: January 18, 2017
    Publication date: July 19, 2018
    Inventors: Milos Vesely, Milos Sotak, Jindrich Dunik
  • Publication number: 20180165591
    Abstract: A method is provided. The method comprises: initializing a point mass filter; initializing the one or more Bayesian filters; obtaining measurement data associated with a horizontal position on a surface; obtaining measurement data of a horizontal position and a velocity; obtaining geo-mapping data; estimating, with the point mass filter, the horizontal position on the surface based upon the geo-mapping data and the measurement data; estimating, with the one or more Bayesian filters, remaining state parameters based upon an output of the point mass filter and the measurement data; predicting, with the point mass filter, an a priori horizontal position, on a surface for a future time when the next measurement data will be obtained; and predicting, with the one or more Bayesian filters, an a priori remaining state parameters for a future time when the next measurement data will be obtained.
    Type: Application
    Filed: December 9, 2016
    Publication date: June 14, 2018
    Inventors: Jindrich Dunik, Milos Sotak, Milos Vesely, Wesley J. Hawkinson
  • Patent number: 9939532
    Abstract: One embodiment is directed towards a method for determining a heading for a hybrid navigation system with magnetometer aiding. The method includes receiving signals from a plurality of GNSS satellites, obtaining three-dimensional inertial measurements from one or more inertial sensors, and obtaining three-dimensional magnetic measurements from one or more magnetometers. Magnetic bias states are estimated for the three-dimensional magnetic measurements with a magnetic calibration filter using the three-dimensional inertial measurements, data from the signals from the plurality of GNSS satellites, and the three-dimensional magnetic measurements. An artificial heading is calculated based on the magnetic bias states. A main navigation solution can be estimated with a main navigation filter using the three-dimensional inertial measurements, data from the signals from a plurality of GNSS satellites, and the artificial heading.
    Type: Grant
    Filed: January 9, 2015
    Date of Patent: April 10, 2018
    Assignee: Honeywell International Inc.
    Inventors: Zdenek Kana, Jindrich Dunik, Milos Sotak
  • Publication number: 20170350973
    Abstract: Methods for radar altimeter integrity monitoring are provided.
    Type: Application
    Filed: June 1, 2016
    Publication date: December 7, 2017
    Inventors: Jindrich Dunik, Milos Sotak, Zdenek Kana, David C. Vacanti, Michal Dobes
  • Patent number: 9709405
    Abstract: An attitude and heading reference system (AHRS) for a vehicle is provided along with methods for mitigating vehicle acceleration effects in the AHRS. The AHRS comprises an inertial measurement unit configured to generate inertial measurements from at least one accelerometer and at least one gyroscope, a heading source configured to generate heading measurements, and an adaptive statistical filter configured to mitigate the impact of vehicle acceleration effects on attitude and heading.
    Type: Grant
    Filed: November 23, 2015
    Date of Patent: July 18, 2017
    Assignee: Honeywell International Inc.
    Inventors: Milos Sotak, Pavol Malinak, Zdenek Kana, Jindrich Dunik
  • Publication number: 20170146347
    Abstract: An attitude and heading reference system (AHRS) for a vehicle is provided along with methods for mitigating vehicle acceleration effects in the AHRS. The AHRS comprises an inertial measurement unit configured to generate inertial measurements from at least one accelerometer and at least one gyroscope, a heading source configured to generate heading measurements, and an adaptive statistical filter configured to mitigate the impact of vehicle acceleration effects on attitude and heading.
    Type: Application
    Filed: November 23, 2015
    Publication date: May 25, 2017
    Inventors: Milos Sotak, Pavol Malinak, Zdenek Kana, Jindrich Dunik