Low Authority GPS Aiding of Navigation System For Anti-Spoofing
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Abstract
A method and apparatus for generating navigation solutions. A global positioning system based navigation solution unit; an inertial navigation solution unit; a correction unit, a limiter, and an adding unit. The global positioning system based navigation solution unit is capable of generating a first navigation solution. The inertial navigation solution unit is capable of generating a second navigation solution. The correction unit is capable of generating a raw correction. The limiter is capable of selectively modifying the raw correction to fall within a selected range of corrections to form a correction. The adding unit is capable of adding the correction to the second navigation solution to form a navigation solution.
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Citations
20 Claims
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1-10. -10. (canceled)
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11. A method for generating a navigation solution, the method comprising:
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generating a set of inertial navigation solution using inertial sensor measurements; generating a blended global positioning system and inertial navigation system navigation solution using a set of global positioning system receiver measurements and a set of inertial sensor measurements; computing a raw global positioning system navigation correction as the difference between inertial navigation solution and blended global positioning system and inertial navigation system navigation solution; storing the raw global positioning system navigation correction with a time stamp; retrieving the raw global positioning system navigation correction at a specified past time stamp; computing a low authority global positioning system correction by applying a limit upon the retrieved raw global positioning system navigation correction; and adding the inertial navigation solution and the low authority global positioning system correction to form the navigation solution. - View Dependent Claims (12, 13)
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14. A method for generating a navigation solution, the method comprising:
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generating an inertial navigation solution using a set of inertial sensor measurements; generating a blended global positioning system and inertial navigation system navigation solution using a set of global positioning system receiver measurements and the set of inertial sensor measurements; computing a raw global positioning system navigation correction as the difference between inertial navigation solution and blended global positioning system and inertial navigation system navigation solution; storing the raw global positioning system navigation correction with a time stamp; generating a global positioning system-only navigation solution; monitoring for global positioning system spoofing; responsive to detecting the global positioning system spoofing, retrieving a selected raw global positioning system navigation correction at a past time before the global positioning system spoofing was detected; computing a low authority global positioning system correction by applying a limit upon the retrieved raw global positioning system navigation correction; and adding the inertial navigation solution and the low authority global positioning system correction to form the navigation solution. - View Dependent Claims (15, 16, 17)
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18. An apparatus comprising:
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a global positioning system based navigation solution unit capable of generating a first navigation solution; a inertial navigation solution unit capable of generating a second navigation solution; a correction unit capable of generating a raw correction; a limiter capable of selectively modifying the raw correction to fall within a selected range of corrections to form a correction; and adding unit capable of adding the correction to the second navigation solution to form a navigation solution. - View Dependent Claims (19, 20)
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Specification