Abstract: In an aspect, a user equipment (UE) receives a spoofing alert message from either a server or an internet-of-things (IOT) device that indicates whether a spoofed Global Navigation Satellite System (GNSS) condition is present. Based on determining that the spoofing alert message indicates that a spoofed GNSS condition is present, the UE determines, based on the spoofing alert message, a location of a spoofer broadcasting a spoofed GNSS signal, determines, based on the location of the spoofer and a current location of the UE, that the UE is within a receiving area of the spoofed GNSS signal, and determines a position of the UE without using the spoofed GNSS signal.

Abstract: An interference source hunting method of hunting for an interference source of electromagnetic waves while moving between multiple measurement points, includes the steps of acquiring strength information of electromagnetic waves, estimating a distance from the measurement point to the location of the interference source, based on the strength information, calculating a first presence probability that the interference source is present at each position, based on whether a distance from the measurement point to the position is within the distance, updating second presence probabilities acquired in hunting in the past, based on the first presence probabilities, determining a position obtained by moving, by a predetermined distance, the measurement point toward a position with the second presence probability higher than the second presence probability at the measurement point, as a new measurement point, and determining, in a case where a size of an area in which each of the second presence probabilities is great

Abstract: In some aspects, a mobile device is configured to obtain a set of satellite signal measurements through measuring, for each satellite in a first plurality of satellites, a first signal from the satellite in a first frequency band and a second signal from the satellite in a second frequency band. The first plurality of satellites can include at least a first satellite, a second satellite, and a third satellite. The mobile device can determine that at least one measurement in the set of satellite signal measurements is impaired, based on a difference between a measurement of the first signal from a particular satellite (e.g., the first satellite, the second satellite, or the third satellite) and a measurement of the second signal from the particular satellite. A position of the mobile device can then be determined based on non-impaired measurements in the set of satellite signal measurements.

Abstract: A system and method for detecting cyber-attacks. The method includes receiving satellite data from at least one satellite orbiting at a location of a ground-level sensor. The satellite data is received from the ground-level sensor. The method also includes determining whether the received satellite data is valid, and upon determining that the received satellite data is invalid, extracting a list of GNSS devices in a region where the ground-level sensor is deployed, and alerting each GNSS device in the list of GNSS devices on a potential cyber-attack.

Abstract: A map error detection system includes a map error position candidate calculation unit configured to calculate a map error candidate position which is a candidate for route information not included in map information on the basis of an aggregation of positional information not corresponding to route information included in the map information among time-series positional information of a moving object.

Abstract: A remote user can define one or more zone based driver/vehicle behavior definitions. Current vehicle location is analyzed at the vehicle or remotely to determine if the vehicle is approaching or has arrived at a location for which a zone based driver/vehicle behavior has been defined. For zone based driver behavior definitions, a display in the vehicle automatically displays the zone based driver behavior definition to the driver. In some embodiments driver compliance is tracked and non-compliance is reported to the remote user. For zone based vehicle behavior definitions, a vehicle controller at the vehicle responsible for controlling the defined behavior is reprogrammed to impose the defined behavior (no regeneration at location, max speed at location, no idle over 2 minutes at location, etc.). Once the vehicle has left the zone, the controller programming reverts to its prior state, and/or zone based driver behavior definition is no longer displayed.

Abstract: A system for maneuvering an aircraft for operations in connection with a sea-going vessel, the vessel having a designated area for landings and sling-load operations. Each of the aircraft has a navigation unit (INU) comprising a GPS receiver and an inertial navigation unit. The INU's are updated by data from the GPS receivers and the data from the shipboard unit's GPS receiver and INU are transmitted to the aircraft. The aircraft performs RTK calculations to determine a vector to the shipboard GPS antennas and modifies the vector with data from the INU's.

Abstract: An automated portable call collection unit (APCCU) may gather information used in testing the accuracy of a wireless mobile device locating system. A GPS ground truth detector may detect the location of the APCCU based on GPS signals. A cellular GPS detector may detect GPS signals identified by a signal-identification communication from the locating system. An internal clock may keep time and synchronize its time to GPS time as announced periodically by GPS time signals. A controller may repeatedly cause a cellular network communication system to wirelessly request and receive the signal-identification communication and to send the information about the detected GPS signals, the locations, and the times. All of this may be done in a manner that insures that the accuracy of the locating system is not tested before the internal clock is first synchronized to GPS time following application of operating power to the APCCU.

Abstract: A vehicle navigation system includes a GNSS position engine (GPE) that uses GNSS satellite measurements to compute a first position and velocity of a vehicle and a first quality metric associated with the position and velocity. The system also includes a dead reckoning engine (DRE) that operates parallel with the GPE that computes a second position and velocity and a second quality metric associated with the dead reckoning. The GPE is configured to use the second position and velocity to detect a set of outliers in an incoming GNSS measurement; use the second position and velocity as an initial estimate of its position and velocity for a particular time instant, which is then refined by GNSS measurements received at that particular time instant; and to replace the first position and velocity with the second position and velocity.

Abstract: Aspects of the disclosure relate generally to localizing mobile devices. In one example, a first location method associated with a first accuracy value may be used to estimate a location of the mobile device. A confidence circle indicative of a level of confidence in the estimation of the location is calculated. The confidence circle may be displayed on a mobile device. When other location methods become available, the size of the displayed confidence circle may be expanded based on information from an accelerometer of the client device or the accuracy of the other available location methods. This may be especially useful when the mobile device is transitioning between areas which are associated with different location methods that may be more or less accurate.

Abstract: An enhanced vehicle guidance system comprising a global navigation satellite system (GNSS) receiver and a data processor with a memory component and a computing device. The method of enhancing a vehicle's guidance system may comprise calculating the altitude, latitude, and longitude of a GNSS receiver for each of a plurality of positions; calculating the incline angle between adjacent points; and using the calculated incline angles to infer the attitude of the vehicle at any of the plurality of positions. The attitude may be used to calculated an inertial correction factor to compensate for GNSS position inaccuracies induced as a result of the vehicle rolling and pitching on uneven terrain. The altitude, latitude, longitude, and attitude of the plurality of positions may be stored in the memory such that the system may look-up the attitude for a given position without recalculating the attitude and without using an inertial sensor.

Abstract: A steering system for a work vehicle towing a towed implement is described. A steering control unit is coupled to a location signal generation arrangement on the vehicle, a steering actuator, a memory for storing desired path data of the implement and a slope sensor for detecting a lateral inclination of the work vehicle or the implement. The steering control unit calculates a lateral offset compensation value to steer the work vehicle such that the implement is moved on the desired path and a slope offset compensation value based upon a signal from the tilt sensor to compensate for slope forces pulling the implement down a lateral slope. A steering signal is sent to the steering actuator based upon the lateral offset compensation value and the slope offset compensation value.

Abstract: A method of determining a GPS position fix is disclosed together with a corresponding GPS receiver and server for the same. The method comprising the steps of: (i) providing standard GPS ephemeris corresponding to that transmitted by a GPS satellite; (ii) providing supplemental GPS ephemeris including at least one parameter describing the fluctuation over time of at least one satellite orbit parameter of standard GPS ephemeris; (iii) measuring psuedoranges to GPS satellites; and (iv) determining a GPS position fix from both the standard and supplemental GPS ephemeris provided in steps (i) and (ii) respectively and the psuedoranges measured in step (iii).

Abstract: Device for aiding the navigation and guidance of an aircraft, and system comprising such a device. The device (1) comprises at least three independent channels and it comprises at least one computer (2) which contains means (4) for storing and means (6, 7) for calculating positions and deviations.

Abstract: A vessel hull robot navigation subsystem and method for a robot including a drive subsystem onboard the robot for driving the robot about the hull. A sensor subsystem onboard the robot outputs data combining robot and vessel motion. A memory onboard the robot includes data concerning the configuration of the hull and a desired path of travel for the robot. A fix subsystem communicates position fix data to the robot. A navigation processor onboard the robot is responsive to the memory data, the sensor subsystem, the position fix data, and the data concerning vessel motion. The navigation processor is configured to determine the position of the robot on the hull by canceling, form the sensor subsystem output data combining both robot and vessel motion, the determined vessel motion.

Abstract: The navigation system described here utilizes GPS and Galileo satellite signals combined with Inertial Navigation Systems (INS), where a Coupled Antenna (CAN) provides both GNSS and Inertial Measurement Unit (IMU) data to a Highly Integrated GNSS-Inertial (Hi-Gi) receiver. Such receiver makes use of a high fidelity relation between GNSS unprocessed Correlator Output (COUT) I and Q data and the user trajectory, and inertial sensor data, which in turn are combined within a Kalman Filter (KF). The KF determines the navigation solution that is also used to provide feedback to the receiver demodulation signal processing stage, thus eliminating the need of dedicated structures such as Delayed Locked Loops (DLL) and Phase Locked Loops (PLL), allowing a significant improvement in navigation performance.

Abstract: A method and apparatus for determining protection levels in a satellite navigation system includes the following steps: (1) determining an integrity risk at the alert limit for a plurality of application situations—for example, starting from approaches in category I (Category I precision approach) up to the operation “oceanic enroute;” (2) determining an interval of the alert limits between the largest set of alert limits which produces too high an integrity risk, and the smallest set of alert limits which produces an acceptable integrity risk; and (3) carrying out an interval nesting for the interval of the alert limits that was determined in the previous step, the integrity risk between the horizontal and the vertical being divided in the same way as it is obtained from the relationship between these integrity risks in the largest set of alert limits.

Abstract: A system vitally determines a position of a train. The system includes a plurality of diverse sensors, such as tachometers and accelerometers, structured to repetitively sense at least change in position and acceleration of the train, a global positioning system sensor, which is diverse from each of the diverse sensors, structured to repetitively sense position of the train, and a track map including a plurality of track segments which may be occupied by the train. A processor cooperates with the diverse sensors, the global positioning system sensor and the track map. The processor includes a routine structured to provide measurement uncertainty for each of the diverse sensors and the global positioning system sensor. The routine cross-checks measurements for the diverse sensors, and cross-checks the global positioning system sensor against the track map. The routine provides the vitally determined position of the train and the uncertainty of the vitally determined position.

Abstract: The present invention is an electronic apparatus 100, from which a portable apparatus 10 is detachable, and which includes an information providing portion 200 for providing information to the portable apparatus 10, the electronic apparatus 100 including: a controller 140 which transmits to and receives from the portable apparatus 10 control information through a first communication line L1, and which controls restarting of the information providing portion 200 when the controller 140 receives from the portable apparatus 10 a signal indicating that a function of the information providing portion 200 stops.

Abstract: System and methods of increasing reliability of determined location information by using two integration filters are provided. An exemplary embodiment integrates inertial navigation system information and global navigation satellite system (GNSS) information in a real time Kalman filter; determines a real time location of the aircraft with the real time Kalman filter based upon the INS information and the GNSS information; delays the GNSS information by an interval; integrates the INS information and the delayed GNSS information in a delay Kalman filter; determines a predictive location of the aircraft with the delay Kalman filter based upon the INS information, the delayed GNSS information, and the interval; and in response to an inaccuracy of the real time location determined from the real time Kalman filter, selects the predictive location determined from the delay Kalman filter as a new real time location of the aircraft.

Abstract: An exemplary navigation system uses a master navigation component at a first location in a vehicle and a slave navigation component at a second location that is a variable displacement to the first location due to physical deformation of the vehicle. Static and dynamic location components provide static and dynamic information of the displacement between the first and second locations. An error estimator estimates errors in the navigational measurement data generated by the slave navigation component based on the navigational measurement data generated by the master navigation component and the displacement information provided by the static and dynamic location components. The master navigation component corrects the navigation measurement data of the slave navigation component based on the determined error and translates the corrected navigation measurement data of the slave navigation component into navigational measurement data in its coordinate system.

Abstract: In a method for providing integrity information for users of a global navigation system, which comprises several space vehicles like satellites transmitting information to a device for position detection, the transmitted information comprises first information from the global navigation system about the accuracy of a signal in space error SISE of a faulty space vehicle, and second information whether or not the global navigation system assesses the faulty space vehicle as faulty. The invention is based on the assumption how exact a fault can be detected, so that performance the global navigation system can be increased; and no unfounded assumption is used which improves the quality of service.

Abstract: A cooperative engagement group-position determining system employs a group of at least three cooperative units, for example a group of unmanned aerial vehicles (UAV's), with each unit including a GPS system for determining a GPS-based position, an inter-distance measurement module for measuring a distance of the unit relative to at least one other unit, and a computer having a computer-readable storage medium encoded with a program algorithm for correcting the GPS-based position based on at least one relative distance between two units, providing an improved GPS-based position for the unit and for the group. The system can also include a ground controller, for example, for providing flight control for UAV's.