Integrity Monitoring, Fault Detection Or Fault Isolation Of Space Segment) Patents (Class 342/357.58)
  • Patent number: 10684375
    Abstract: Methods for reducing the resources needed to detect and identify faulty pseudorange measurements in a GNSS receiver are described. In a Receiver Autonomous Integrity Monitoring (RAIM) method, a position solution is calculated using a weighted least squares method on measurements from satellites of one or more GNSS constellations. A test statistic is calculated from residuals and a threshold is calculated based on a probability function. If the test statistic is greater than or equal to the threshold, a subset is selected from the set of pseudorange measurements using a metric indicative of possible measurement error. A measurement is selected from the subset using a metric indicative of signal strength or some other metric and discarded from the set of pseudorange measurements. If the number of measurements remaining in the set of pseudorange measurements is greater than five, the method loops back to the step of calculating a position solution.
    Type: Grant
    Filed: August 7, 2015
    Date of Patent: June 16, 2020
    Assignee: Samsung Electronics Co., Ltd
    Inventors: Makarand Phatak, Jong-Ki Lee
  • Patent number: 10670729
    Abstract: A system and method provides an Automotive Safety Integrity Level (ASIL) qualifier for Global Navigation Satellite System (GNSS) position and related values. Specifically, hardware platform diagnostics are executed on one or more platforms associated with a GNSS Position Sensor (GNSSPS) that calculates/obtains position and/or related values. Also, a Receiver Autonomous Integrity Monitoring (RAIM) algorithm is executed on the calculated/obtained position and/or related values. If the results both produce a “good” qualifier, the position and/or related values is assigned an ASIL qualifier of “good” and may be utilized by an ASIL rated system. If either of the qualifiers is a “bad” qualifier, the position and/or related values is assigned an ASIL qualifier of “bad” and cannot be utilized by the ASIL rated system. In addition, the inventive system and method may compute a probability associated with an integrity violation of the RAIM algorithm which may consider the probability of hardware failure.
    Type: Grant
    Filed: August 18, 2017
    Date of Patent: June 2, 2020
    Assignee: NovAtel Inc.
    Inventors: Lance de Groot, Zoltan Molnar
  • Patent number: 10495761
    Abstract: A global navigation satellite system (GNSS) receiver including a processing device configured to: group GNSS satellites in view of the GNSS receiver into subsets based on relative geometries of the GNSS satellites relative to the GNSS receiver, wherein a GNSS satellite of the GNSS satellites is included in at most one subset of the subsets, wherein each subset of the subsets includes at least one GNSS satellite of the GNSS satellites and less than all GNSS satellites of the GNSS satellites, and wherein at least one subset includes more than one GNSS satellite; calculate a plurality of navigation sub-solutions based on data received at the GNSS receiver from the GNSS satellites using at least one GNSS antenna, wherein each navigation sub-solution of the navigation sub-solutions is calculated with at least one different subset of the subsets excluded; and calculate a protection level based on the navigation sub-solutions.
    Type: Grant
    Filed: July 27, 2016
    Date of Patent: December 3, 2019
    Assignee: Honeywell International Inc.
    Inventors: Jakub Skalicky, Jussi Raasakka, Martin Orejas, Ondrej Kutik
  • Patent number: 10482369
    Abstract: Methods, systems, apparatus, and tangible non-transitory carrier media encoded with one or more computer programs that can determine the path or route most likely navigated by a mobile target are described. In accordance with particular embodiments, the most likely path or route is determined based on path-based scoring of position estimates obtained from different types of complementary locationing signal sources. Instead of fusing the position data derived from the different types of signal sources, these particular embodiments determine the most likely path navigated by the mobile target based on an independent aggregation of the position estimates derived from complementary signals of different source types.
    Type: Grant
    Filed: December 14, 2017
    Date of Patent: November 19, 2019
    Assignee: Trackonomy Systems, Inc.
    Inventor: Ajay Khoche
  • Patent number: 10473791
    Abstract: The present invention provides a ground-based augmentation system (GBAS) integrity performance evaluation method based on a pseudorange error distribution model, including: an airborne receiver terminal performing GBAS integrity performance evaluation by acquiring pseudorange error sample data, including the following method steps: a) grouping the pseudorange error sample data; b) building a distribution model having a Gaussian kernel and quadratic Gaussian polynomial tails for each group of pseudorange error samples; c) calculating a weighted sum of the distribution model of each group of pseudorange errors, to obtain an overall pseudorange error distribution model; d) projecting the pseudorange errors to position domain errors; e) calculating a probability that a position domain error is greater than an alarm limit, to obtain an integrity risk probability value; and f) evaluating GBAS integrity performance.
    Type: Grant
    Filed: June 4, 2019
    Date of Patent: November 12, 2019
    Assignee: BEIHANG UNIVERSITY
    Inventors: Zhipeng Wang, Yanbo Zhu, Ludan Song
  • Patent number: 10466362
    Abstract: The present disclosure provides an integrated navigation integrity monitoring system for unmanned aerial vehicles, comprising: an inertial measurement unit for providing a processor with zero offset values of different levels of inertial measurement units; a receiver for receiving signals from global satellite navigation and providing the processor with an integrity risk of a global satellite navigation system; and the processor for calculating a horizontal protection level of integrated navigation and a vertical protection level of integrated navigation, setting a horizontal alert limit and a vertical alert limit, comparing the horizontal protection level and the vertical protection level obtained by calculation with the corresponding horizontal alert limit and vertical alert limit respectively, and monitoring the integrity of the unmanned aerial vehicle. An inertial navigation system can be achieved without hardware redundancy, and the cost of integrated navigation integrity monitoring can be reduced.
    Type: Grant
    Filed: June 4, 2019
    Date of Patent: November 5, 2019
    Assignee: BEIHANG UNIVERSITY
    Inventors: Zhipeng Wang, Yanbo Zhu, Wei Liu
  • Patent number: 10459086
    Abstract: Embodiments of the invention provide that when performing a position fix a user who makes use of RTK or dGNSS correction data from a RTK/dGNSS service to obtain more accurate position fixes also receives from that same service data derived from the encrypted GNSS channels that authenticates whether the position fix determined by the mobile terminal based on the RTK/dGNSS data can be relied upon. By providing such an integrated service the mobile user terminal is able to obtain an authenticated, highly accurate positional fix which it can be certain can be relied upon.
    Type: Grant
    Filed: May 5, 2017
    Date of Patent: October 29, 2019
    Assignee: Ordnance Survey Limited
    Inventors: Paul Cruddace, Stephen Hancock
  • Patent number: 10386491
    Abstract: An efficient covariance matrix computation method is disclosed in connection with certain GNSS applications, including Advanced Receiver Autonomous Integrity Monitoring (ARAIM) and geometry screening. The system and method of the present application enable computation of multiple covariance matrices with substantially greater efficiency than previous approaches, including the rank-one update formula. For example, the system and method of the present application advantageously involves substantially fewer and simpler arithmetic operations than previous approaches. In addition, unlike the rank-one update formula, the system and method of the present application can be used to compute the subsolution in which all the satellites of a given constellation are removed.
    Type: Grant
    Filed: November 23, 2015
    Date of Patent: August 20, 2019
    Assignee: Honeywell International Inc.
    Inventors: Jakub Skalicky, Martin Orejas, Jussi Raasakka, Ondrej Kutik
  • Patent number: 10241211
    Abstract: A method, GNSS simulator, and non-transitory computer readable medium for providing a simulated global navigation satellite system (GNSS) signal. The method includes receiving, by a GNSS simulator, a precision timing signal and one or more items of ephemeris data from a GNSS receiver based on a decoded GNSS signal received by the GNSS receiver. The precision timing signal and the one or more items of GNSS ephemeris data are received in a digital format over a communication network. A simulated GNSS signal is generated, by the GNSS simulator, based on the received precision timing signal and one or more items of ephemeris data. The simulated GNSS signal is transmitted, by the GNSS simulator, over a coverage area. A GNSS system for providing a simulated GNSS signal is also disclosed.
    Type: Grant
    Filed: April 27, 2016
    Date of Patent: March 26, 2019
    Assignee: Spectracom Corporation
    Inventors: Lisa Perdue, David Sohn, Paul Myers
  • Patent number: 10197678
    Abstract: An H-ARAIM system of optimizing a horizontal protection level includes constellations, a ground reference station and an aircraft, the ground reference station is used for receiving the satellite coordinate data of the constellations, and processing the received satellite coordinate data into an input data for the calculation of the aircraft horizontal protection level. The aircraft is built-in with a receiver and a data processor, the receiver is used for receiving the input data sent by the ground reference station, and transmitting the input data to the data processor for the data processing as follows: when a difference between a positioning solution of a full visible satellite and a positioning solution of a fault subset is within a threshold of a fault subset monitor system statistical magnitude, the receiver begins to calculate the protection level, which is calculated for protecting the iterative update.
    Type: Grant
    Filed: July 17, 2018
    Date of Patent: February 5, 2019
    Assignee: BEIHANG UNIVERSITY
    Inventors: Zhipeng Wang, Yanbo Zhu, Jingtian Du, Yuan Liu
  • Patent number: 10018729
    Abstract: A method of advanced receiver autonomous integrity monitoring of a navigation system is discussed and two modifications facilitating its implementation in a hybrid navigation system are disclosed. In the first approach, relations describing the effect of unmodeled biases in pseudo-measurement on the Kalman filter state estimate are analytically derived and their incorporation into the integrity monitoring algorithm is described. The method comprises receiving a plurality of signals transmitted from space-based satellites, determining a position full-solution and sub-solutions, specifying a pseudorange bias, computing a transformation matrix for the full-solution and all sub-solutions using a Kalman filter, computing a bias effect on an error of filtered state vectors of all sub-solutions, and adding the effect to computed vertical and horizontal protection levels.
    Type: Grant
    Filed: January 13, 2017
    Date of Patent: July 10, 2018
    Assignee: Honeywell International Inc.
    Inventors: Jindrich Dunik, Martin Orejas, Zdenek Kana
  • Patent number: 9995575
    Abstract: Aspects of the disclosure relate to computing technologies. In particular, aspects of the disclosure relate to mobile computing device technologies, such as systems, methods, apparatuses, and computer-readable media for improving orientation data. In one embodiment, techniques are described for filtering data associated with a sensor coupled to a computing device, by receiving a signal from the sensor, detecting a change in a variability of a first signal parameter from a plurality of signal parameters from the signal, and adjusting, based at least in part on the detected change in the variability of the first signal parameter, at least one filter parameter of a filter used to filter a second signal parameter from the signal.
    Type: Grant
    Filed: July 25, 2016
    Date of Patent: June 12, 2018
    Assignee: QUALCOMM Incorporated
    Inventor: Victor Kulik
  • Patent number: 9945958
    Abstract: Hybrid systems capable of performing both civilian and military GPS functions with hardware-enforced separation of data boundaries are disclosed. A hybrid system may include a first position data processor configured to generate a first set of position data based on signals received from a satellite navigation system and signals received from a digital antenna. The hybrid system may also include a second position data processor configured to generate a second set of position data based on signals received from the satellite navigation system and signals received from the digital antenna. The hybrid system may further provide a communication interface established between the first position data processor and the second position data processor.
    Type: Grant
    Filed: August 28, 2014
    Date of Patent: April 17, 2018
    Assignee: Rockwell Collins, Inc.
    Inventors: Steven D. Aab, John J. Weger, Mahesh Surathu
  • Patent number: 9885788
    Abstract: Embodiments for satellite subset selection for use in monitoring the integrity of computed navigation solutions are disclosed. In one embodiment, a Global Navigation Satellite System (GNSS) receiver comprises: a processing device configured to: group a plurality of satellites in view of the GNSS receiver into a plurality of subsets, wherein a satellite of the plurality of satellites is included in at most one subset of the plurality of subsets, wherein each subset of the plurality of subsets includes at least one satellite of the plurality of satellites and less than all satellites of the plurality of satellites, and wherein at least one subset includes more than one satellite; calculate a plurality of navigation sub-solutions, wherein each navigation sub-solution of the plurality of navigation sub-solutions is calculated with at least one different subset of the plurality of subsets excluded; and calculate a protection level.
    Type: Grant
    Filed: March 16, 2015
    Date of Patent: February 6, 2018
    Assignee: Honeywell International Inc.
    Inventors: Jakub Skalicky, Martin Orejas, Jussi Raasakka
  • Patent number: 9784844
    Abstract: A method comprises receiving a plurality of signals from a plurality of space-based satellites, wherein the plurality of space-based satellites comprises at least one space-based satellite from each of a plurality of Navigation Satellite System (NSS) constellations. The method also comprises determining, in a first domain, a first plurality of sub-solutions based on a respective sub-set of the plurality of signals, each respective sub-set in the first domain chosen according to a characteristic defining the first domain; and determining, in a second domain, a second plurality of sub-solutions based on a respective sub-set of the plurality of signals, each respective sub-set in the second domain chosen according to a characteristic defining the second domain. The method further comprises determining if an error is present in the navigation system based on the first plurality of sub-solutions and on the second plurality of sub-solutions.
    Type: Grant
    Filed: November 27, 2013
    Date of Patent: October 10, 2017
    Assignee: Honeywell International Inc.
    Inventors: Zdenek Kana, Jindrich Dunik, Martin Orejas
  • Patent number: 9674672
    Abstract: A positioning management apparatus receives first reception information from a first mobile apparatus, the first reception information having been generated based on a received radio transmission from a transmitting apparatus, and receives second reception information from a second mobile apparatus, the second reception information having been generated based on a received radio transmission from a transmitting apparatus. The apparatus compares the first reception information with the second reception information, and, if the comparison indicates that both the first mobile apparatus and the second mobile apparatus received the radio transmission from the same transmitting apparatus, determines an association of the first mobile apparatus with the second mobile apparatus for use in positioning.
    Type: Grant
    Filed: December 22, 2015
    Date of Patent: June 6, 2017
    Assignee: INDOORATLAS OY
    Inventors: Janne Haverinen, Esa Rahtu
  • Patent number: 9658339
    Abstract: The invention relates to a method for integrity monitoring of a primary set of measurements obtained from navigation signals sent by satellites and provided to an integrity control device comprising a plurality of Kalman filters, the method comprising the steps definition, for each Kalman filter, of a secondary set of measurements contained in the primary set, calculation by each Kalman filter of a navigation solution from a respective secondary set of measurements, wherein definition of the secondary sets respects the following principles: each measurement contained in the primary set is present in at least one of the secondary sets, for each p-uplet of measurements of the primary set, p being a predetermined integer greater than 1, at least one of the secondary sets does not contain said p-uplet of measurements, for each secondary set, at least one of the p-uplets is excluded from said secondary set, the method further comprising the steps of: detection, for each navigation solution, of at most p faulty mea
    Type: Grant
    Filed: October 30, 2014
    Date of Patent: May 23, 2017
    Assignee: SAGEM DEFENSE SECURITE
    Inventor: Michel Destelle
  • Patent number: 9651669
    Abstract: The present invention relates to an apparatus and a method for identifying an anomalous satellite in a multi-reference station environment.
    Type: Grant
    Filed: August 9, 2013
    Date of Patent: May 16, 2017
    Assignee: KOREA INSTITUTE OF OCEAN SCIENCE AND TECHNOLOGY
    Inventors: Deuk Jae Cho, Mi Young Shin
  • Patent number: 9599719
    Abstract: Disclosed herein is a system for detecting manipulation of a GNSS signal and mitigating against such manipulation. A GNSS receiver receives GNSS signals from a plurality of GNSS satellites, and calculates event times for each GNSS satellite. The GNSS receiver then compares a next event time for a particular GNSS satellite with an expected next event time for the particular GNSS satellite. If the difference between the expected next event time and the next event times exceeds a predetermined threshold, then the GNSS receiver indicates that signal integrity may be compromised.
    Type: Grant
    Filed: October 14, 2013
    Date of Patent: March 21, 2017
    Assignee: Schweitzer Engineering Laboratories, Inc.
    Inventors: Shankar V. Achanta, David E. Whitehead, Francis J. Cooper
  • Patent number: 9547086
    Abstract: A method of advanced receiver autonomous integrity monitoring of a navigation system is discussed and two modifications facilitating its implementation in a hybrid navigation system are disclosed. In the first approach, relations describing the effect of unmodeled biases in pseudo-measurement on the Kalman filter state estimate are analytically derived and their incorporation into the integrity monitoring algorithm is described. The method comprises receiving a plurality of signals transmitted from space-based satellites, determining a position full-solution and sub-solutions, specifying a pseudorange bias, computing a transformation matrix for the full-solution and all sub-solutions using a Kalman filter, computing a bias effect on an error of filtered state vectors of all sub-solutions, and adding the effect to computed vertical and horizontal protection levels.
    Type: Grant
    Filed: March 26, 2013
    Date of Patent: January 17, 2017
    Assignee: Honeywell International Inc.
    Inventors: Jindrich Dunik, Martin Orejas, Zdenek Kana
  • Patent number: 9520860
    Abstract: Systems and methods for detecting the failure of a precision time source using an independent time source are disclosed. Additionally, detecting the failure of a GNSS based precision time source based on a calculated location of a GNSS receiver is disclosed. Moreover, the system may be further configured to distribute a time derived from the precision time source as a precision time reference to time dependent devices. In the event of a failure of the precision time source, the system may be configured to distribute a time derived from a second precision time source as the precision time signal during a holdover period.
    Type: Grant
    Filed: October 18, 2013
    Date of Patent: December 13, 2016
    Assignee: Schweitzer Engineering Laboratories, Inc.
    Inventors: David E. Whitehead, Shankar V. Achanta, Henry Loehner
  • Patent number: 9429654
    Abstract: A method for determining the integrity risk at an alert limit of a position solution determined with a satellite navigation system involves calculating a first integrity risk at the alert limit assuming that one satellite j of the satellites is faulty. A first position solution is determined with the signals from all of the satellites and a second position solution is determined with the signals from all of the satellites except for the signal received from the satellite j. A difference between the first and the second position solution is identified and subtracted from the alert limit to create a reduced alert limit. A second integrity risk at the reduced alert limit is calculated with the signals received from all satellites except the signal received from the satellite j. The integrity risk at the alert limit is determined using the minimum of the first and second integrity risks.
    Type: Grant
    Filed: April 10, 2013
    Date of Patent: August 30, 2016
    Assignee: Astrium GmbH
    Inventor: Hans Trautenberg
  • Patent number: 9294875
    Abstract: Disclosed is a method for determining the position of a terminal. The method for determining the position of a terminal belonging to an overlay network environment comprises: a step in which the terminal transmits a position determination request to a positioning server; and a step in which the terminal receives, from the positioning server, position determination support information comprising a virtual cell ID allocated to transmission points surrounding the terminal. Therefore, using this method for determining the position of a terminal enables highly accurate position determination even in an overlay network environment in which a plurality of transmission points are configured so as to have the same cell ID.
    Type: Grant
    Filed: September 28, 2012
    Date of Patent: March 22, 2016
    Assignee: ELECTRONICS AND TELECOMMUNICATIONS RESEARCH INSTITUTE
    Inventors: Jae Young Ahn, Jae Heung Kim, Young Jo Ko
  • Patent number: 9146320
    Abstract: The present invention relates to a method for detecting and excluding at least one pseudo-range measured between a satellite and a receiver for receiving signals transmitted by different satellites of a radio-positioning constellation when said pseudo-range is faulty, characterized in that said method includes the steps of: (a) determining an estimation of the position of the receiver from the pseudo-ranges measured by the receiver, (b) estimating, from the thus-estimated position, biases in the measured pseudo-ranges; (c) processing the thus-obtained biases in order to derive a value representative of the probability of a fault for each pseudo-range; (d) preselecting, on the basis of the resulting values, a given number of pseudo-ranges which are most likely to be faulty; (e) determining, for each combination of pseudo-ranges from among the thus-preselected pseudo-ranges, a value of a test variable representative of the likelihood the combination is faulty; (f) selecting, on the basis of the values of the th
    Type: Grant
    Filed: July 15, 2011
    Date of Patent: September 29, 2015
    Assignees: SEGEM DEFENSE SECURITE, UNIVERSITE DE BORDEAUX 1, INSTITUT POLYTECHNIQUE DE BORDEAUX
    Inventors: Mohamed Najim, Audrey Giremus, Frédéric Faurie
  • Patent number: 9069073
    Abstract: Methods and integrated circuits for performing receiver autonomous integrity monitoring (RAIM) in global navigation satellite system (GNSS) receivers are disclosed. In an embodiment, a first information comprising current position related information is accessed. A second information comprising predicted position related information is accessed based on previously received information. A solution is computed based on the first information and the second information and a presence of outlier information is determined in at least one of the first information and the second information based on the solution.
    Type: Grant
    Filed: December 19, 2011
    Date of Patent: June 30, 2015
    Assignee: TEXAS INSTRUMENTS INCORPORATED
    Inventors: Sthanunathan Ramakrishnan, Sandeep Rao
  • Publication number: 20150145724
    Abstract: A method comprises receiving a plurality of signals from a plurality of space-based satellites, wherein the plurality of space-based satellites comprises at least one space-based satellite from each of a plurality of Navigation Satellite System (NSS) constellations. The method also comprises determining, in a first domain, a first plurality of sub-solutions based on a respective sub-set of the plurality of signals, each respective sub-set in the first domain chosen according to a characteristic defining the first domain; and determining, in a second domain, a second plurality of sub-solutions based on a respective sub-set of the plurality of signals, each respective sub-set in the second domain chosen according to a characteristic defining the second domain. The method further comprises determining if an error is present in the navigation system based on the first plurality of sub-solutions and on the second plurality of sub-solutions.
    Type: Application
    Filed: November 27, 2013
    Publication date: May 28, 2015
    Applicant: Honeywell International Inc.
    Inventors: Zdenek Kana, Jindrich Dunik, Martin Orejas
  • Patent number: 9000978
    Abstract: A process for determination of navigation parameters of a carrier by a hybridisation device comprising a bank (3) of Kalman filters, each working out a hybrid navigation solution from inertial measurements calculated by a virtual platform (2) and raw measurements of signals emitted by a constellation of satellites supplied by a satellite-positioning system (GNSS), characterised in that it comprises the steps of: determination for each satellite of at least one probability ratio between a hypothetical breakdown of given type of the satellite and a hypothetical absence of breakdown of the satellite, declaration of a breakdown of given type on a satellite as a function of the probability ratio associated with this breakdown and of a threshold value, estimation of the impact of the breakdown declared on each hybrid navigation solution, and correction of hybrid navigation solutions as a function of the estimation of the impact of the breakdown declared.
    Type: Grant
    Filed: July 9, 2010
    Date of Patent: April 7, 2015
    Assignee: Sagem Defense Securite
    Inventors: Didler Riedinger, Sébastien Vourc'h, Ghaleb Hoblos
  • Patent number: 8976064
    Abstract: A navigation system includes first receiver receiving satellite signals, second receiver receiving differential correction data from ground receivers, and processing device coupled to receivers.
    Type: Grant
    Filed: September 6, 2012
    Date of Patent: March 10, 2015
    Assignee: Honeywell International Inc.
    Inventor: Mats Anders Brenner
  • Patent number: 8971797
    Abstract: The subject matter disclosed herein relates to a system and method for acquiring signal received from satellite vehicles (SVs) in a satellite navigation system. In one example, although claimed subject matter is not so limited, information processed in acquiring a signal from a first SV may be used in acquiring a signal from a second SV.
    Type: Grant
    Filed: August 1, 2007
    Date of Patent: March 3, 2015
    Assignee: QUALCOMM Incorporated
    Inventors: Leonid Sheynblat, Ardalan Heshmati, Arnold Jason Gum
  • Patent number: 8963773
    Abstract: A method and apparatus for maintaining integrity of long-term-orbit information used by a Global-Navigation-Satellite-System or other positioning receiver is described. The method comprises obtaining a predicted pseudorange from a first set of long-term-orbit information possessed by a positioning receiver; obtaining, at the positioning receiver from at least one satellite, a measured pseudorange; determining validity of the predicted pseudorange as a function of the predicted pseudorange and the measured pseudorange; and excluding from the long-term-orbit information at least a portion thereof when the validity of the predicted pseudorange is deemed invalid. Optionally, the method may comprise updating or otherwise supplementing the long-term-orbit information with other orbit information if the validity of the predicted pseudorange is deemed invalid.
    Type: Grant
    Filed: June 21, 2013
    Date of Patent: February 24, 2015
    Assignee: Global Locate, Inc.
    Inventors: Frank Van Diggelen, Matthew Riben
  • Publication number: 20150048973
    Abstract: Disclosed is a system and method for detecting false Global Navigation Satellite System (GNSS) satellite signals. False GNSS satellite signals can be used malevolently to take control of a body such as a vehicle or ship that is using GNSS satellite signals for navigation. In some embodiments a GNSS attitude system is used to detect the false GNSS satellite signals. The GNSS attitude system measures the code or carrier phase of the GNSS satellite signals at two or more antennas to detect the false GNSS satellite signals. In some embodiments the attitude system computes first measured and second estimated carrier phase differences in order to detect the false GNSS satellite signals. The attitude system may compute the attitude of a baseline vector between the two antennas. Once false GNSS satellite signals are detected, the method can include preventing the attitude determining system from outputting position or location data.
    Type: Application
    Filed: October 23, 2013
    Publication date: February 19, 2015
    Applicant: HEMISPHERE GNSS INC.
    Inventor: Michael L. Whitehead
  • Patent number: 8922427
    Abstract: A system and method for detecting global positioning system (GPS) spoofing attacks includes collecting GPS readings along with inertial navigational system (INS) readings as a ground truth, and sequentially testing the GPS readings and INS readings through the use of a sequential probability ratio testing (SPRT) process.
    Type: Grant
    Filed: June 29, 2011
    Date of Patent: December 30, 2014
    Assignee: BAE Systems Information and Electronic Systems Integration Inc.
    Inventors: Sintayehu Dehnie, Reza Ghanadan
  • Publication number: 20140354474
    Abstract: The disclosed method for determining atmospheric time delays involves receiving at least two signals, where the signals each have a different carrier frequency. The method further involves amplifying each of the signals with a respective amplifier for each of the signals to produce amplified signals. Also, the method involves digitizing each of the amplified signals with a respective analog to digital converter (ADC) for each of the amplified signals to produce digital signals. In addition, the method involves correlating each of the digital signals with a code using a respective correlator for each of the digital signals to determine the time group delay differential between the signals. Further, the method involves calculating, with at least one processor, the time group delay coefficient of the signals by using the time group delay differential. The time group delay coefficient is used to correct for the atmospheric time delays in the signals.
    Type: Application
    Filed: May 29, 2013
    Publication date: December 4, 2014
    Applicant: THE BOEING COMPANY
    Inventor: Cornel Prunean
  • Patent number: 8902105
    Abstract: The present invention relates to a method and an apparatus for determining an integrity indicating parameter (e.g. an integrity risk IR or a protection level PL) indicating the integrity of positioning information determined from positioning information signals disseminated from a plurality of space vehicles SAT1, SAT2, SAT3 of a global positioning system. An input parameter (e.g. an alert limit AL or an integrity risk IR) is provided, a plurality of integrity information parameters (?SISA, ?SISMA or equivalent, ?X, kX) are received, and the integrity indicating parameter (IR; PL) is determined on the basis of the input parameter (AL; IR) and on the basis of a first relation between the integrity indicating parameter (IR; PL) and the input parameter (AL; IR) and the plurality of integrity information parameters (?SISA, ?SISMA or equivalent, ?X, kX).
    Type: Grant
    Filed: November 14, 2011
    Date of Patent: December 2, 2014
    Assignee: European Space Agency
    Inventor: Francisco Amarillo Fernandez
  • Patent number: 8878720
    Abstract: To detect an abnormal value in a satellite positioning system with high precision even when the observation environment changes or there is the time series correlation between data. An abnormal value index calculation unit 11 calculates an abnormal value index at each time of time-series data such as a pseudo distance between each artificial satellite and a receiver in the satellite positioning system or the like. A dynamic model forming unit 12 dynamically forms a model from the abnormal value index in a predetermined period and calculates a change point index from the time-series abnormal value index based on the dynamic model. The change point index is an index for determining whether the time-series is a one-shot outlier from a dynamic model or the dynamic model itself of input data changes when the time-series value which suddenly increases and decreases exists.
    Type: Grant
    Filed: February 25, 2011
    Date of Patent: November 4, 2014
    Assignee: NEC Corporation
    Inventors: Takeshi Ono, Kazushi Suzuki, Takayuki Kaneso, Takayuki Nakata, Kenji Aoki
  • Publication number: 20140313077
    Abstract: A method for detecting anomalies on satellite navigation signals consists in extracting the code error values delivered at the output of the N code discriminators, and comparing the extracted code error values with a same first threshold value corresponding to an acceptable maximum code error value and assigning a confidence index to each navigation signal received on each reception channel i, the confidence index depending on the result of the comparison carried out on the code error values.
    Type: Application
    Filed: December 13, 2013
    Publication date: October 23, 2014
    Inventors: Damien KUBRAK, Damien SERANT
  • Publication number: 20140292574
    Abstract: A method of advanced receiver autonomous integrity monitoring of a navigation system is discussed and two modifications facilitating its implementation in a hybrid navigation system are disclosed. In the first approach, relations describing the effect of unmodeled biases in pseudo-measurement on the Kalman filter state estimate are analytically derived and their incorporation into the integrity monitoring algorithm is described. The method comprises receiving a plurality of signals transmitted from spaced-based satellites, determining a position full-solution and sub-solutions, specifying a pseudorange bias, computing a transformation matrix for the full-solution and all sub-solutions using a Kalman filter, computing a bias effect on an error of filtered state vectors of all sub-solutions, and adding the effect to computed vertical and horizontal protection levels.
    Type: Application
    Filed: March 26, 2013
    Publication date: October 2, 2014
    Applicant: Honeywell International Inc.
    Inventors: Jindrich Dunik, Martin Orejas, Zdenek Kana
  • Publication number: 20140266880
    Abstract: A satellite-based positioning system (SPS) signal processing technique re-samples a received series of PRN sequences from an SPS satellite to align them with a nominal sampling rate for a corresponding series of perfect reference PRN replica sequences.
    Type: Application
    Filed: March 15, 2013
    Publication date: September 18, 2014
    Inventors: Farrokh Farrokhi, Edmund Gregory Lee, Dickson Wong
  • Publication number: 20140247185
    Abstract: Disclosed herein is a system for detecting manipulation of a GNSS signal and mitigating against such manipulation. A GNSS receiver receives GNSS signals from a plurality of GNSS satellites, and calculates event times for each GNSS satellite. The GNSS receiver then compares a next event time for a particular GNSS satellite with an expected next event time for the particular GNSS satellite. If the difference between the expected next event time and the next event times exceeds a predetermined threshold, then the GNSS receiver indicates that signal integrity may be compromised.
    Type: Application
    Filed: October 14, 2013
    Publication date: September 4, 2014
    Applicant: Schweitzer Engineering Laboratories, Inc.
    Inventors: Shankar V. Achanta, David E. Whitehead, Francis J. Cooper
  • Patent number: 8825236
    Abstract: A method of determining the reliability of long-term predicted orbit data, includes: determining the reliability of long-term predicted orbit data, which is acquired by predicting a satellite orbit in a target period of at least one day, using predicted position data including predicted positions of a positioning satellite in time series and actual position data including actual positions of the positioning satellite corresponding to the predicted positions.
    Type: Grant
    Filed: October 9, 2009
    Date of Patent: September 2, 2014
    Assignee: Seiko Epson Corporation
    Inventor: Kyoichi Tomita
  • Publication number: 20140232595
    Abstract: Systems and methods are disclosed herein for verifying the quality of global navigation satellite system (GNSS) measurements. The system includes a GNSS receiver, a wireless communications device, and a fault detection processor. The GNSS receiver includes a GNSS antenna for receiving signals from a plurality of global navigation satellites and a processor for calculating a ranging measurement for each of the global navigation satellites from the GNSS receiver to the global navigation satellite. The wireless communications device receives ranging measurements from at least one other GNSS receiver. The fault detection processor performs a fault detection algorithm to determine if there is an anomaly affecting the ranging measurements of the GNSS receiver and the at least one other GNSS receiver.
    Type: Application
    Filed: June 29, 2012
    Publication date: August 21, 2014
    Applicant: TUFTS UNIVERSITY
    Inventor: Jason Rife
  • Patent number: 8791816
    Abstract: A method and apparatus for managing events in an electrical distribution system. A number of events in the electrical distribution system are identified for an operator based on a profile for the operator. A wireless mobile device is assigned to the operator and the profile includes a role of the operator. The number of events is sent to the wireless mobile device assigned to the operator.
    Type: Grant
    Filed: June 27, 2011
    Date of Patent: July 29, 2014
    Assignee: The Boeing Company
    Inventors: William David Kelsey, Richard N. Blair
  • Patent number: 8717235
    Abstract: The invention relates to a network element comprising a controlling element for forming assistance data relating to two or more signals transmitted by a reference station of at least one navigation system; and a transmitter for transmitting the assistance data via a communications network to a device. The device comprises a positioning receiver for performing positioning on the basis of two or more signals transmitted by a reference station of the at least one satellite navigation system; a receiver for receiving the assistance data from the network element; and an examining element configured to examine the received assistance data to find out information relating to the status of the two or more signals. The information comprises indication on the reference station the signal relates to, and the status indicates the usability of the signal.
    Type: Grant
    Filed: March 5, 2012
    Date of Patent: May 6, 2014
    Assignee: Nokia Corporation
    Inventors: Kimmo Alanen, Jari Syrjarinne
  • Patent number: 8717234
    Abstract: The present disclosure relates to a monitoring system which comprises at least one monitoring satellite placed in orbit at a lower altitude than that of the satellites of the satellite constellation so as to be capable of receiving the positioning signals emitted towards the Earth by said satellites, and which comprises a processing unit intended for verifying the integrity of said received positioning signals, using position information that is separate from said signals for this purpose.
    Type: Grant
    Filed: November 2, 2009
    Date of Patent: May 6, 2014
    Assignee: Astrium SAS
    Inventor: Robert André Lainé
  • Publication number: 20140111377
    Abstract: Disclosed herein is a system for detecting manipulation of a global time source such as a Global Navigational Satellite System (GNSS) signal and mitigating against such manipulation. A plurality of receivers with geographical diversity receive GNSS signals, and calculate a time signal to be distributed to consuming devices. The receivers also communicate calculated time signals with other receivers. The receivers compare the time signals, and when a difference between the time signals exceeds a predetermined threshold, the receivers indicate that manipulation is likely. Such indication is shared across the network of receivers. The indication is further shared with consuming devices of the time signal from the compromised receiver. A second time signal that is not compromised may be shared with the consuming devices and/or used by the consuming devices. The consuming devices may modify their behavior when in receipt of the indication.
    Type: Application
    Filed: May 17, 2013
    Publication date: April 24, 2014
    Applicant: Schweitzer Engineering Laboratories, Inc.
    Inventors: Shankar V. Achanta, Gregary C. Zweigle, Christopher R. Huntley
  • Publication number: 20140097984
    Abstract: A system and method for monitoring integrity of a Global Navigation Satellite System (GNSS) are provided. Integrity of a GNSS location is assessed based on a comparison of the GNSS location with one or more locations received from at least one other GNSS. Integrity of the GNSS location is also assessed based on a comparison of the GNSS location with one or more locations obtained from signals generated by one or more known located emitters. Integrity of the GNSS location is also assessed based on a comparison of the GNSS location with historical data, which may include contextual information of recent GNSS locations of a user equipment, measurements made by an inertial navigation system of the user equipment, and prior measurements made by the user equipment during similar paths. An integrity warning is outputted when one or more of the integrity assessments indicate a loss of integrity of GNSS.
    Type: Application
    Filed: August 2, 2012
    Publication date: April 10, 2014
    Applicant: Lockheed Martin Corporation
    Inventor: Tim STEVENS
  • Publication number: 20140062778
    Abstract: Systems and methods for detecting and displaying cycle slips are provided. In one example method, a first L1 signal and a second L2 signal may be received. The coarse/acquisition code from the L1 signal may be extracted and may be monitored to detect a phase shift in the code. In response to detecting a phase shift in the code, a data bit of the L1 signal may be monitored for a predetermined length of time to detect a change in the data bit. A cycle slip may be detected in response to detecting a change in the data bit during the predetermined length of time. In another example, a cycle slip may be detected in response to detecting a change between a phase of the L1 signal and a phase of the L2 signal.
    Type: Application
    Filed: August 28, 2013
    Publication date: March 6, 2014
    Applicant: JAVAD GNSS, INC.
    Inventors: Javad ASHJAEE, Sergey YUDANOV
  • Patent number: 8659475
    Abstract: A method for detecting the distortion of a GNSS signal transmitted by at least one GNSS satellite and received by at least one GNSS receiver is disclosed, where the distortion is caused by a GNSS signal generation defect. Initially, at least one autoregressive parametric model of the GNSS signal is determined at the output of a correlation stage of the GNSS receiver. Next, at least one linear prediction error e(n) between the output signal of the correlation stage and the autoregressive parametric model is computed. The linear prediction error is compared to a detection threshold and the distortion of the transmitted GNSS signal is decided when the linear prediction error exceeds the detection threshold.
    Type: Grant
    Filed: November 10, 2011
    Date of Patent: February 25, 2014
    Assignee: Thales
    Inventors: Damien Kubrak, Michel Monnerat
  • Publication number: 20140043188
    Abstract: Methods and devices for the analysis of global positioning system (GPS) data are described. The methods and devices comprise several metrics to analyse GPS data, such as tracking coverage, signal to noise ratio, multipath noise, positioning and receiver clock, troposphere and data noise.
    Type: Application
    Filed: July 26, 2013
    Publication date: February 13, 2014
    Applicant: CALIFORNIA INSTITUTE OF TECHNOLOGY
    Inventors: Shailen D. DESAI, Bruce J. HAINES
  • Patent number: 8633852
    Abstract: A first position of a satellite is calculated at a first time in dependence on received orbit data corresponding to an orbit path of the satellite. Anan orbit path of the satellite is modeled from the first position at the first time to a second time to determine a second position of the satellite at the second time. A third position of the satellite is then calculated at the second time in dependence on the received orbit data. The second position and third position are compared to determine a validity of the orbit data.
    Type: Grant
    Filed: September 20, 2011
    Date of Patent: January 21, 2014
    Assignee: STMicroelectronics (Research & Development) Limited
    Inventor: Peter Bagnall