Method and apparatus to correct for erroneous global positioning system data

• US 8,560,218 B1
• Filed: 12/31/2008
• Issued: 10/15/2013
• Est. Priority Date: 12/31/2008
• Status: Active Grant

• Current Assignee: DP Technologies, Inc.
• Original Assignee: DP Technologies, Inc.
• Inventors: Kinsolving, Arthur, Vogel, David, Christensen, Mark Andrew, Kahn, Philippe
• Primary Examiner(s): NGUYEN, HIEP VAN
• Application Number:
  US12/347,993
• Time in Patent Office: 1,749 Days
• Field of Search: 701/216
• US Class Current: 701/216
• CPC Class Codes: G01C 21/165 combined with non-inertial navigation instruments
• CPC Class Codes: G01S 19/215 issues related to spoofing
• CPC Class Codes: G01S 19/49 whereby the further system is an inertial position system, e.g. loosely-coupled

Abstract

A method and apparatus for detecting bad signals at a global positioning system (GPS) enabled device are described. In one embodiment, the GPS enabled device includes one or more inertial sensors to provide acceleration measurements for the GPS enabled device, and a GPS receiver to receive positioning data for the GPS enabled device. The GPS enabled device may also include a comparison logic to predict a position of the GPS enabled device from the acceleration measurements, and determine whether the received positioning data is within a confidence interval of the prediction.

Claims

1. A global positioning system (GPS) enabled device, comprising:

one or more inertial sensors to provide acceleration measurements for the GPS enabled device from a first time to a second time;

a confidence interval logic to determine a confidence interval of a predicted position of the GPS enabled device at the second time;

a GPS receiver to receive GPS positioning data for the GPS enabled device at the first time and the second time;

a location determination logic to determine a GPS based position of the GPS enabled device at the first time and the second time from the received GPS positioning data corresponding to the first time and the second time; and

a comparison logic to predict a position of the GPS enabled device at the second time based on the first position and acceleration measurements from the first time to the second time, and determine whether the GPS positioning data received during the second time is erroneous when the GPS based position of the GPS enabled device determined from the GPS positioning data received at the second time is not within the confidence interval of the predicted position of the GPS enabled device during the second time period, wherein the GPS positioning data received at the second time determined to be erroneous is determined to be false GPS data provided from an erroneous GPS data source.

2. The GPS enabled device of claim 1, further comprising:

the comparison logic to trigger one or more remedial actions at the GPS enabled device in response to the comparison logic determining the GPS positioning data is not within the confidence interval.

3. The GPS enabled device of claim 2, further comprising:

the comparison logic to discard the GPS positioning data and initiate dead reckoning at the GPS enabled device when the GPS positioning data is determined to include false GPS data provided from the erroneous GPS data source; and

a dead reckoning logic to estimate positioning data for the GPS enabled device based on the acceleration measurements.

4. The GPS enabled device of claim 2, further comprising:

the GPS receiver to receive additional positioning data for the GPS enabled device; and

a triangulation logic to triangulate a location for the erroneous GPS data source that provides the false GPS data based on the additional GPS positioning data and the predicted position.

5. The GPS enabled device of claim 2, further comprising:

a transceiver to transmit data indicating the location of the erroneous GPS data source.

6. The GPS enabled device of claim 1, wherein the GPS enabled device is a GPS enabled navigation system.

7. The GPS enabled device of claim 1, wherein the one or more inertial sensors are selected from accelerometers and gyroscopes.

8. A method, comprising:

predicting a position of a global positioning system (GPS) enabled device from one or more inertial sensor readings, wherein the one or more inertial sensors provide acceleration measurements for the GPS enabled device from a first time to a second time, and the position of the GPS enabled device is predicted at the second time based on a first position of the GPS enabled device and acceleration measurements from the first time to the second time;

determining a confidence interval of the predicted position of the GPS enabled device at the second time;

receiving GPS positioning data for the GPS enabled device at the first time and the second time;

determining a GPS based position of the GPS enabled device at the first time and the second time from the received GPS positioning data corresponding to the first time and the second time; and

determining whether the GPS positioning data received during the second time is erroneous when the GPS based position of the GPS enabled device determined from the GPS positioning data received at the second time is not within the confidence interval of the predicted position of the GPS enabled device during the second time period, wherein the GPS positioning data received at the second time determined to be erroneous is determined to be false GPS data provided from an erroneous GPS data source.

9. The method of claim 8, further comprising:

initiating one or more remedial actions at the GPS enabled device when the GPS positioning data is not within the confidence interval.

10. The method of claim 9, further comprising:

discarding the GPS positioning data when the GPS positioning data is determined to include false GPS data provided from the erroneous GPS data source;

initiating dead reckoning at the GPS enabled device; and

estimating positioning data for the GPS enabled device based on the one or more inertial sensor readings.

11. The method of claim 8, further comprising:

receiving additional GPS position data; and

triangulating a location for the erroneous GPS data source that provides the false GPS data based on the additional GPS positioning data and the predicted position.

12. The method of claim 11, further comprising:

transmitting data indicating the location of the erroneous GPS data source.

13. The method of claim 8, wherein the GPS enabled device is a GPS enabled navigation system.

14. The method of claim 8, wherein the one or more inertial sensor readings are provided by one or more accelerometers and gyroscopes of the GPS enabled device.

15. A non-transitory computer-readable medium having instructions stored thereon, which when executed by a system, cause the system to perform a method comprising:

predicting a position of a global positioning system (GPS) enabled device from one or more inertial sensor readings, wherein the one or more inertial sensors provide acceleration measurements for the GPS enabled device from a first time to a second time, and the position of the GPS enabled device is predicted at the second time based on a first position of the GPS enabled device and acceleration measurements from the first time to the second time;

determining a confidence interval of the predicted position of the GPS enabled device at the second time;

receiving GPS positioning data for the GPS enabled device at the first time and the second time;

determining a GPS based position of the GPS enabled device at the first time and the second time from the received GPS positioning data corresponding to the first time and the second time; and

determining whether the GPS positioning data received during the second time is erroneous when the GPS based position of the GPS enabled device determined from the GPS positioning data received at the second time is not within the confidence interval of the predicted position of the GPS enabled device during the second time period, wherein the GPS positioning data received at the second time determined to be erroneous is determined to be false GPS data provided from an erroneous GPS data source.

16. The computer-readable medium of claim 15, further comprising:

initiating one or more remedial actions at the GPS enabled device when the GPS positioning data is not within the confidence interval.

17. The computer-readable medium of claim 16, further comprising:

discarding the GPS positioning data when the GPS positioning data is determined to include false GPS data provided from the erroneous GPS data source;

initiating dead reckoning at the GPS enabled device; and

estimating positioning data for the GPS enabled device based on the one or more inertial sensor readings.

18. The computer-readable medium of claim 16, further comprising:

receiving additional GPS position data; and

triangulating a location for the erroneous GPS data source that provides the false GPS data based on the additional GPS positioning data and the predicted position.

19. The computer-readable medium of claim 18, further comprising:

transmitting data indicating the location of the erroneous GPS data source.