Method for improving GPS integrity and detecting multipath interference using inertial navigation sensors and a network of mobile receivers
First Claim
1. A method for checking the integrity of GPS measurements for a moving vehicle comprising:
- determining a first inter-vehicle distance between the moving vehicle and a second vehicle based on GPS measurements obtained at both vehicles;
independently determining a second inter-vehicle distance based on relative motion of the moving vehicle and the second vehicle obtained using INS sensors at both vehicles;
comparing the first and second inter-vehicle distances; and
confirming the integrity of the GPS measurements as a function of whether the first and second inter-vehicle distances are substantially equivalent.
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Abstract
A method for checking the integrity of GPS measurements for a moving vehicle includes determining a first inter-vehicle distance between a first vehicle and a second vehicle based on GPS measurements obtained at both vehicles, independently determining a second inter-vehicle distance based on relative motion of the first vehicle and the second vehicle obtained using INS sensors at both vehicles, and comparing the first and second inter-vehicle distances. The integrity of the GPS measurements are checked if the first and second inter-vehicle distances are nearly equivalent. Methods for error detection and for mapping GPS multipath levels at each point in a vicinity for an entire range of satellite constellations are also described.
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Citations
10 Claims
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1. A method for checking the integrity of GPS measurements for a moving vehicle comprising:
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determining a first inter-vehicle distance between the moving vehicle and a second vehicle based on GPS measurements obtained at both vehicles; independently determining a second inter-vehicle distance based on relative motion of the moving vehicle and the second vehicle obtained using INS sensors at both vehicles; comparing the first and second inter-vehicle distances; and confirming the integrity of the GPS measurements as a function of whether the first and second inter-vehicle distances are substantially equivalent.
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2. A method for checking the integrity of GPS measurements for a moving vehicle comprising:
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determining a first inter-vehicle distance between the moving vehicle and a second vehicle based on GPS measurements obtained at both vehicles; independently determining a second inter-vehicle distance based on relative motion of the moving vehicle and the second vehicle obtained using INS sensors at both vehicles; comparing the first and secondinter-vehicle distances; and confirming the integrity of the GPS measurements as a function of whether the first and second inter-vehicle distances are substantially equivalent; wherein the step of determining a first inter-vehicle distance includes; obtaining a first set of GPS measurements at the moving vehicle; obtaining a second set of GPS measurements at the second vehicle; and mutually communicating the first and second sets of GPS measurements to the respective second vehicle and moving vehicle.
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3. A method of detecting an error at a particular vehicle by communicating GPS data among multiple vehicles within a given vicinity, the method comprising:
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generating test series data at each vehicle for each pair of vehicles receiving GPS signals from a satellite, the test series data for each pair comprising a difference between a first inter-vehicle distance between the pair of vehicle calculated based on GPS data and a second inter-vehicle distance independently calculated based on INS sensors in each of the pair of vehicles; identifying which test series data have values greater than a threshold, indicating an error; and if an error is indicated, determining which of the multiple vehicles the error occurs in by comparing the test series data generated at each vehicle.
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4. A method of detecting an error at a particular vehicle by communicating GPS data among multiple vehicles within a given vicinity, the method comprising:
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generating test series data at each vehicle for each pair of vehicles receiving GPS signals from a satellite, the test series data for each pair comprising a difference between a first inter-vehicle distance between the pair of vehicle calculated based on GPS data and a second inter-vehicle distance independently calculated based on INS sensors in each of the pair of vehicles; identifying which test series data have values greater than a threshold, indicating an error; if an error is indicated, determining which of the multiple vehicles the error occurs in by comparing the test series data generated at each vehicle; and detecting an error at a particular vehicle if a particular vehicle has errors in all test series it generates with respect to a particular satellite, and the other of the multiple vehicles show an error in only test series pertinent to the particular vehicle with respect to the particular satellite. - View Dependent Claims (5, 6, 7)
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8. A system provided in a vehicle for checking the integrity of GPS measurements for a moving vehicle comprising:
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means for receiving GPS signals and for determining a GPS pseudo range of the vehicle; means for communicating with a second vehicle within a vicinity of the vehicle; a processor capable of determining a first inter-vehicle distance between the vehicle and the second vehicle based on the pseudo range of the vehicle and on GPS measurements communicated from the second vehicle; and an INS system including inertial sensors, the INS system providing information allowing the processor to determine a relative motion of the first vehicle; wherein the processor determines a second inter-vehicle distance based on the relative motion of the first vehicle and on a relative motion of the second vehicle detected using an INS system of the second vehicle and communicated from the second vehicle, and compares the first and second inter-vehicle distances, the integrity of the GPS measurements being determined as a function of whether the first and second inter-vehicle distances are substantially equivalent. - View Dependent Claims (9, 10)
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Specification