Abstract: Methods and systems to process and assure integrity of DME and/or VOR measurements, detect the effects of GNSS jamming and/or spoofing events, identify GNSS measurements affected by the GNSS jamming and/or spoofing events, and assure the integrity of the GNSS measurements unaffected by jamming and/or spoofing events in a vehicle navigation system are disclosed. The methods are implemented to integrate inertial measurements, GNSS measurements, and DME/VOR measurements for the vehicle, and apply solution separation techniques to all of the measurements. The solution separation techniques use a main filter for hybridization of the inertial measurements, the GNSS measurements, and the DME/VOR measurements, with additional sub-solution filters and sub-sub-solution filters that use combinations of these measurements. This provides common processing of the GNSS and DME/VOR sensors in a single hybridization and solution separation framework.

Abstract: A method for detecting failure of multiple satellite signals comprises receiving satellite signals in a GNSS receiver; processing the satellite signals in a Kalman filter to produce a navigation solution and sub-solutions; and performing at least one of a residual monitoring process, or a state corrections monitoring process. In the residual monitoring process, for each sub-solution, expected and actual residuals are computed and compared to determine whether the actual residuals are greater than a threshold; multiple erroneous measurements are detected when at least one actual residual is greater than the threshold for each sub-solution.

Abstract: Methods and systems to process and assure integrity of DME and/or VOR measurements, detect the effects of GNSS jamming and/or spoofing events, identify GNSS measurements affected by the GNSS jamming and/or spoofing events, and assure the integrity of the GNSS measurements unaffected by jamming and/or spoofing events in a vehicle navigation system are disclosed. The methods are implemented to integrate inertial measurements, GNSS measurements, and DME/VOR measurements for the vehicle, and apply solution separation techniques to all of the measurements. The solution separation techniques use a main filter for hybridization of the inertial measurements, the GNSS measurements, and the DME/VOR measurements, with additional sub-solution filters and sub-sub-solution filters that use combinations of these measurements. This provides common processing of the GNSS and DME/VOR sensors in a single hybridization and solution separation framework.