Integrity Monitoring, Fault Detection Or Fault Isolation Of Space Segment) Patents (Class 342/357.58)
  • Patent number: 11480689
    Abstract: A method for detecting the spoofing of a signal from a satellite in orbit. A receiver can be located on an aircraft to receive an apparent satellite signal. The method can include determining at least two characteristic signatures of the signal including a power level, and indicating the apparent satellite signal is a spoofed satellite signal.
    Type: Grant
    Filed: November 12, 2019
    Date of Patent: October 25, 2022
    Assignee: GE Aviation Systems Limited
    Inventor: Stefan Alexander Schwindt
  • Patent number: 11467290
    Abstract: Improvements in Global Navigation Satellite System (GNSS) spoofing detection of a vehicle are disclosed utilizing bearing and/or range measurements acquired independently from GNSS technology. Bearing and/or range measurements are determined from a GNSS-calculated position. Additionally, bearing and/or range measurements are acquired from an independent sensor, such as a Very high frequency Omnidirectional Range (VOR) receiver and/or a Distance Measurement Equipment (DME) receiver. The differences between the GNSS-based bearing and/or range and the bearing and/or range determined from the independent sensor, along with any applicable sources of error or uncertainty (including the post-hoc residuals from the GNSS-calculated position), are input into an analytical algorithm (e.g., RAIM) to determine whether GNSS spoofing is present with respect to the calculated GNSS position.
    Type: Grant
    Filed: November 30, 2020
    Date of Patent: October 11, 2022
    Assignee: Honeywell International Inc.
    Inventor: John D. Savoy, Jr.
  • Patent number: 11320540
    Abstract: Systems and methods for integrity monitoring of primary and derived parameters are described herein. In certain embodiments, a method includes transforming an estimated error state covariance matrix of at least one primary integrity monitoring parameter of a navigation system onto an error state covariance matrix of one or more derived integrity monitoring parameters, wherein the one or more derived integrity monitoring parameters depends from the at least one primary integrity monitoring parameter. The method also includes transforming an integrity threshold of the at least one primary integrity monitoring parameter onto separation parameters of the one or more derived integrity monitoring parameters. The method further includes computing a protection limit for the one or more derived integrity monitoring parameters.
    Type: Grant
    Filed: April 10, 2019
    Date of Patent: May 3, 2022
    Assignee: Honeywell International Inc.
    Inventors: Zdenek Kana, Mats Anders Brenner, Pavol Malinak, James Arthur McDonald
  • Patent number: 11294066
    Abstract: A method and system for estimating a position of a mobile device is disclosed. In particular, a method and system in which the position of a mobile device is determined using measurements of received Global Navigation Satellite System, GNSS, satellite signals is disclosed. The present invention therefore proposes to qualify a received satellite signal based on whether a signal propagation characteristic of this signal falls within an expected range of this characteristic. The expected range is determined using information about the satellite that sent the signal. The position of the mobile device is computed based on the validated satellite signals.
    Type: Grant
    Filed: May 22, 2018
    Date of Patent: April 5, 2022
    Assignee: CycloMedia Technology B.V.
    Inventors: Peter Joosten, Bart Johannes Beers
  • Patent number: 11270250
    Abstract: A computer implemented method for matching services to potential receivers of the services that includes registering at least one of service providers and service receivers as members to a service matching system. The service matching system collects data from the members. Permission to collect data from the members is revocable at any time by the members. The method further includes taking an order from a first service receiver to receive goods from a service provider; and calculating a route of the first service receiver to obtain the goods from the service provider. The method further includes matching the route of the first service receiver with a potential delivery route to a second service receiver having an order with the service provider; and offering a promotion to the first service receiver to deliver the order by the second service receiver with the service provider over the potential delivery route.
    Type: Grant
    Filed: February 14, 2020
    Date of Patent: March 8, 2022
    Assignee: International Business Machines Corporation
    Inventors: Cheng-Fang Lin, Chih-Chiang Hung, Amanda PL Yang, Joey H. Y. Tseng, Ching-Chun Liu, Yu-Siang Chen
  • Patent number: 11226418
    Abstract: In an example embodiment, a GNSS receiver may calculate protection levels for velocity and course over ground computed at a GNSS receiver. Specifically, the GNSS receiver may obtain Doppler measurements and variance measurements based on satellite signals received from at least five GNSS satellites. The GNSS receiver may utilize a least squares method to calculate the velocity states (e.g., x-velocity state, y-velocity state, and z-velocity state) and the clock bias for the GNSS receiver. The GNSS receiver may calculate the slope for each Doppler measurement on each velocity state. The GNSS receiver may then select the maximum slope for each velocity state and scale up the maximum slopes by a non-centrality parameter to calculate the protection level for each velocity state in the ECEF frame. The GNSS receiver may convert the velocity protection levels to NEU velocity protection levels to then calculate a protection level for course over ground.
    Type: Grant
    Filed: June 19, 2019
    Date of Patent: January 18, 2022
    Assignee: NovAtel Inc.
    Inventors: Brandon Culling, Lance de Groot
  • Patent number: 11119222
    Abstract: The present invention relates to a system for improving accuracy and safety of UAV navigation, and for generating an optimal protection level and geometry screening, and more particularly to a system that monitors an error and a failure of a GNSS navigation signal, broadcasts error correction information and integrity information to a UAV within a radius of about 20 km to allow the UAV to apply the corresponding information by a ground module, thereby improving the navigation accuracy and safety of the UAV. The ground module receives a GNSS navigation signal, calculates GNSS navigation error information, and generates correction information, and monitors a failure through a simplified failure monitoring algorithm, and the mounted module provides a system and a method for receiving a message that is broadcast by the ground module, and calculating precise and safe navigation information of an UAV by applying the message.
    Type: Grant
    Filed: December 18, 2018
    Date of Patent: September 14, 2021
    Assignee: KOREA ADVANCED INSTITUTE OF SCIENCE AND TECHNOLOGY (KAIST)
    Inventors: Jiyun Lee, Jinsil Lee, Min Chan Kim, Dongwoo Kim, Moon Seok Yoon
  • Patent number: 11073620
    Abstract: A method for computing and applying alternative uncertainty limits is provided. The method includes generating a main solution from a plurality of received measurement signals. A solution separation is applied using a filter bank to generate sub-solutions from the received plurality of measurement signals. Each sub-solution uses all of the measurement signals from the plurality of measurement signals except one measurement signal to generate the associated sub-solution. Each sub-solution excludes a different measurement signal. One sub-solution is selected as fault free. A difference between the main solution and the selected sub-solution is determined. The determined difference is added to a rare normal protection limit to create a solution with improved integrity bounding. The solution with improved integrity bounding is then implemented.
    Type: Grant
    Filed: February 6, 2019
    Date of Patent: July 27, 2021
    Assignee: Honeywell International Inc.
    Inventors: James Arthur McDonald, Mark A. Ahlbrecht, Zdenek Kana
  • Patent number: 11035962
    Abstract: A method of supplementing a satellite based augmentation system approach during low visibility conditions is provided. The method includes acquiring satellite range measurements and additional measurements from at least one additional onboard independent sensor. Core sigma values are assigned for satellite range measurements and for each additional measurement from the at least one additional onboard independent sensor. A weighted position solution is determined using the acquired satellite range measurements, the acquired additional measurements and the assigned core sigma values. A discriminator is applied that utilizes vehicle positions derived from the acquired satellite range measurements and from the additional measurements to determine if a fault is present in the weighted position solution. An alert is generated if an output of the discriminator is outside a set tolerance value needed for low visibility operation.
    Type: Grant
    Filed: September 11, 2018
    Date of Patent: June 15, 2021
    Assignee: Honeywell International s.r.o.
    Inventors: Pavel Ptacek, Mats Anders Brenner, Tomas Beda
  • Patent number: 11035959
    Abstract: A system may include a global positioning system (GPS) receiver and inertial measurement units configured to generate signals representative of relative motion of the GPS receiver. The system may also include a navigation processor configured to receive a first position determination from the GPS receiver, and determine relative motion of the GPS receiver with respect to the first position determination based at least in part on signals received from the inertial measurement units. The navigation processor may also receive second respective distances between the GPS receiver and respective satellites based on signals received from the respective satellites, and determine second projected distances between the GPS receiver and the respective satellites based on the relative motion determination.
    Type: Grant
    Filed: April 19, 2017
    Date of Patent: June 15, 2021
    Assignee: Amazon Technologies, Inc.
    Inventor: Carlos Guillermo Parodi
  • Patent number: 11022697
    Abstract: Provided are systems, methods, and computer-readable storage media for improving accuracy of GPS in luminaires. For example, in one embodiment, there is provided a method that includes receiving, at a controller coupled to a luminaire, a GPS message. The method further includes extracting information from the GPS message, the information including data associated with a plurality of coordinates. Furthermore, the method can include determining, based on the information and not from the coordinates, an error associated with each coordinate of the plurality of coordinates. The method can also include discarding coordinates for which the error fails to satisfy a predetermined condition. Moreover, the method can include selecting, as a location of the luminaire, the coordinates for which the error satisfies the predetermined condition.
    Type: Grant
    Filed: December 17, 2015
    Date of Patent: June 1, 2021
    Assignee: CURRENT LIGHTING SOLUTIONS, LLC
    Inventors: Nam N S Nguyen, Beno Koblents
  • Patent number: 11022695
    Abstract: A GBAS integrity risk allocation system based on key satellites is used to perform a GBAS integrity risk allocation method, including: reading data from an ephemeris at a certain time, and determining numbers of key satellites, key satellite pairs and key satellite groups at a certain time; under H2 hypothesis, allocating the integrity risks by using the fault probability of satellites in key satellite pairs or key satellite groups, where the integrity risks allocated by using the fault probability of satellites in key satellite pairs or key satellite groups include integrity risks caused by dual-receiver fault and integrity risks caused by ranging source fault; under H0 and H1 hypotheses, allocating the integrity risks by using the fault probability of non-key satellites; making an integrity allocation table according to the integrity risk allocation under the H0, H1 and H2 hypotheses.
    Type: Grant
    Filed: September 4, 2020
    Date of Patent: June 1, 2021
    Assignee: BEIHANG UNIVERSITY
    Inventors: Kun Fang, Yanbo Zhu, Zhen Gao, Zhipeng Wang
  • Patent number: 10996345
    Abstract: A Global Navigation Satellite System (GNSS) based navigation system with signal fault detection is provided. A least one controller is configured to; determine a true carrier phase measurement associated with each satellite signal received at each antenna of a plurality of spaced antennas; resolve integer ambiguities in true carrier phase measurement differences; and calculate at least one variable of a first navigation solution based on the obtained first set of resolved integer ambiguity measurements. The at least one controller is further configured to apply a solution separation process to repeatedly; calculate the at least one variable of a second navigation solution; determine a difference between the at least one variable of the second navigation solution and the first navigation solution; and detect a fault in satellite signals when the determined difference exceeds a defined threshold.
    Type: Grant
    Filed: June 11, 2018
    Date of Patent: May 4, 2021
    Assignee: Honeywell International Inc.
    Inventor: Mats Anders Brenner
  • Patent number: 10948608
    Abstract: A Global Navigation Satellite System (GNSS) based navigation system with signal fault detection is provided. A least one controller is configured to; determine a true carrier phase measurement associated with each satellite signal received at each antenna of a plurality of spaced antennas; resolve integer ambiguities in true carrier phase measurement differences; and calculate at least one variable of a first navigation solution based on the obtained first set of resolved integer ambiguity measurements. The at least one controller is further configured to apply a solution separation process to repeatedly; calculate the at least one variable of a second navigation solution; determine a difference between the at least one variable of the second navigation solution and the first navigation solution; and detect a fault in satellite signals when the determined difference exceeds a defined threshold.
    Type: Grant
    Filed: June 11, 2018
    Date of Patent: March 16, 2021
    Assignee: Honeywell International Inc.
    Inventor: Mats Anders Brenner
  • Patent number: 10935663
    Abstract: Disclosed are a system, apparatus, and method for monitoring integrity of satellites, and global navigation satellite systems (GNSS). One or more satellites in one or more GNSS are monitored based on a reference crowdsourced integrity report. One or more satellite integrity metrics are determined for the one or more satellites based at least on signals from the one or more satellites. A position of the mobile device is estimated. The position of the mobile device and the one or more satellite integrity metrics are provided.
    Type: Grant
    Filed: September 22, 2017
    Date of Patent: March 2, 2021
    Assignee: QUALCOMM Incorporated
    Inventors: Zoltan Biacs, Ning Luo
  • Patent number: 10801186
    Abstract: A system and method for monitoring and alerting of a working equipment proximity to a utility system. The invention provides a device on the working equipment with sensors and GPS location capabilities to determine location and/or movement event data of the equipment. The invention further includes the establishment of an imaginary buffer boundary established around the utility components to use in combination with the event data to provide a reference for alerts to be triggered. Alerts are automatically provided by the system and method at the working equipment and/or a remote operator dashboard.
    Type: Grant
    Filed: July 26, 2017
    Date of Patent: October 13, 2020
    Assignee: OPERATIONS TECHNOLOGY DEVELOPMENT, NFP
    Inventors: Robert Marros, Saurav Acharya, Jason Sphar, Steven Blitzstein
  • 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
  • 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