Apparatus for verified antispoofing navigation

• US 9,507,026 B2
• Filed: 05/04/2013
• Issued: 11/29/2016
• Est. Priority Date: 05/04/2013
• Status: Active Grant

• Current Assignee: Trimble Inc.
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Nichols, Mark E.
• Primary Examiner(s): Liu, Harry
• Application Number:
  US13/887,302
• Publication Number:
  US 20160154112A1
• Time in Patent Office: 1,305 Days
• Field of Search: 342/357.47, 342/357.3, 342/357.32, 342/357.31, 342/357.28, 342/357.43, 342/357.44, 342/357.58
• US Class Current: 1/1
• CPC Class Codes: G01S 19/10 providing dedicated supplementary positioning signals
• CPC Class Codes: G01S 19/215 issues related to spoofing

Abstract

A verified antispoofing navigation apparatus is provided. The apparatus comprises: a primary navigation receiver configured to provide a set of primary measurements related to positioning of a mobile platform; a supplemental navigation device configured to provide a set of supplemental measurements related to positioning of the mobile platform; an identity monitoring device configured to verify an identity of a driver of the mobile platform; and a verification and authentication navigation processor configured to verify authenticity of the set of primary measurements provided by the primary navigation receiver by using the set of supplemental measurements provided by the supplemental navigation device. The verified antispoofing navigation apparatus further comprises: a driver authentication navigation processor configured to provide the driving and rest times of the driver to relevant authorities.

Claims

1. An apparatus for verified antispoofing navigation comprising:

a primary navigation radio receiver mounted on a mobile platform;

said primary navigation radio receiver configured to provide a set of primary measurements related to position and direction of said mobile platform;

a supplemental sensory navigation device mounted on said mobile platform;

said supplemental sensory navigation device configured to provide a set of supplemental measurements related to position and direction of said mobile platform; and

a verification navigation circuit mounted on said mobile platform;

said verification navigation circuit configured to verify authenticity of said set of primary measurements provided by said primary navigation radio receiver by comparing a first set of changes in position and direction of the mobile platform with a second set of changes in position and direction, wherein the first set of changes is calculated based on the primary measurements and the second set of changes is calculated based on the secondary measurements.

2. The apparatus of claim 1;

wherein said primary navigation radio receiver is selected from the group consisting of;

a Galileo navigation receiver;

a GPS navigation receiver;

a GLONASS navigation receiver;

a Compass navigation receiver;

a Quasi-Zenith Satellite System (QZSS) navigation receiver;

a combined multi-satellite navigation receiver; and

a pseudolite navigation receiver.

3. The apparatus of claim 2;

wherein said GPS navigation receiver is selected from the group consisting of;

an autonomous GPS satellite navigation receiver;

a differential GPS satellite navigation receiver; and

an RTK GPS satellite navigation receiver.

4. The apparatus of claim 2;

wherein said Galileo receiver comprises;

a Galileo Commercial Services (Galileo CS) E6 frequency signals satellite navigation receiver configured to receive Galileo Commercial Services (Galileo CS) E6 frequency signals.

5. The apparatus of claim 1;

wherein said supplemental sensory navigation device is selected from the group consisting of;

an Inertial Navigation System receiver;

an accelerometer-based navigation receiver;

a magnetometer-based navigation receiver;

a cell phone-based navigation receiver;

a Distance Measurement Instrument comprising an Internal Rim DMI sensor; and

a wheel rotating sensor.

6. The apparatus of claim 1;

wherein said verification navigation circuit is further configured to combine said set of primary measurements provided by said primary navigation radio receiver and said set of supplemental measurements provided by said supplemental sensory navigation receiver device in a blended solution to provide an output combined positioning signal related to positioning of said mobile platform.

7. The apparatus of claim 1;

wherein said verification navigation circuit is further configured to run an integrity process comprising at least the following steps;

(A) calculating a primary set of changes in position and direction of said mobile platform by using said set of primary measurements provided by said primary navigation radio receiver;

(B) calculating a supplemental set of changes in position and direction of said mobile platform by using said set of supplemental measurements provided by said supplemental sensory navigation device;

(C) comparing said primary set of changes in position and direction of said mobile platform and said supplemental set of changes in position and direction of said mobile platform and obtaining a set of differences in position and direction of said mobile platform;

(D) selecting in said set of differences in position and direction of said mobile platform a subset of critical differences in position and direction of said mobile platform elements;

wherein each said critical difference in position and direction of said mobile platform exceeds a first predetermined threshold;

(E) if number of said critical differences exceeds a second predetermined threshold, detecting a spoofing message;

and

(F) communicating to relevant authorities said detected spoofing message;

wherein said spoofing message informs relevant authorities that said primary navigation radio receiver is compromised and does not provide the true positioning data of said mobile platform.

8. An apparatus for authenticated verified antispoofing navigation comprising:

a primary navigation radio receiver mounted on a mobile platform;

said primary navigation radio receiver configured to provide a set of primary measurements related to positioning and direction of said mobile platform;

a supplemental sensory navigation device mounted on said mobile platform;

said supplemental navigation receiver configured to provide a set of supplemental measurements related to positioning and direction of said mobile platform;

an identity monitoring device configured to verify an identity of a driver of said mobile platform;

a verification and authentication navigation system mounted on said mobile platform, the verification and authentication navigation system further comprising;

a verification navigation circuit configured to verify authenticity of said set of primary measurements provided by said primary navigation radio receiver by using said set of supplemental measurements provided by said supplemental sensory navigation device; and

a driver authentication navigation circuit configured to provide the driving and rest times of said driver to relevant authorities.

9. The apparatus of claim 8;

wherein said primary navigation radio receiver is selected from the group consisting of;

a Galileo navigation receiver;

a GPS navigation receiver;

a GLONASS navigation receiver;

a Compass navigation receiver;

a Quasi-Zenith Satellite System (QZSS) navigation receiver;

a combined multi-satellite navigation receiver; and

a pseudolite navigation receiver.

10. The apparatus of claim 9;

wherein said GPS navigation receiver is selected from the group consisting of;

an autonomous GPS satellite navigation receiver;

a differential GPS satellite navigation receiver; and

an RTK GPS satellite navigation receiver.

11. The apparatus of claim 9;

wherein said Galileo receiver comprises;

a Galileo Commercial Services (Galileo CS) E6 frequency signals satellite navigation receiver configured to receive Galileo Commercial Services (Galileo CS) E6 frequency signals.

12. The apparatus of claim 8;

wherein said supplemental sensory navigation device is selected from the group consisting of;

an Inertial Navigation System receiver;

an accelerometer-based navigation receiver;

a magnetometer-based navigation receiver;

a cell phone-based navigation receiver;

a Distance Measurement Instrument comprising an Internal Rim DMI sensor; and

a wheel rotating sensor.

13. The apparatus of claim 8;

wherein said verification navigation circuit is further configured to combine said set of primary measurements provided by said primary navigation radio receiver and said set of supplemental measurements provided by said supplemental sensory navigation device in a blended solution to provide an output combined positioning signal related to positioning of said mobile platform.

14. The apparatus of claim 8;

wherein said identity monitoring device is configured to verify an identity of a driver of said mobile platform by using a plurality of id parameters selected from the group consisting of;

a set of fingerprints;

a set of eye scans;

a photo identification; and

a voice identification.

15. The apparatus of claim 8;

wherein said verification navigation circuit is further configured to run an integrity process comprising at least the following steps;

(A) calculating a primary set of changes in position and direction of said mobile platform by using said set of primary measurements provided by said primary navigation radio receiver;

(B) calculating a supplemental set of changes in position and direction of said mobile platform by using said set of supplemental measurements provided by said supplemental sensory navigation device;

(C) comparing said primary set of changes in position and direction of said mobile platform and said supplemental set of changes in position and direction of said mobile platform and obtaining a set of differences in position and direction of said mobile platform;

(D) selecting in said set of differences in position and direction of said mobile platform a subset of critical differences in position and direction of said mobile platform elements;

wherein each said critical difference in position and direction of said mobile platform exceeds a first predetermined threshold;

(E) if number of said critical differences exceeds a second predetermined threshold, detecting and recording a spoofing message;

and

(F) communicating to relevant authorities that said primary navigation radio receiver is compromised and does not provide the true positioning data of said mobile platform.

16. The apparatus of claim 8;

wherein said driver authentication navigation circuit configured to provide the driving and rest times of said driver to relevant authorities further comprises;

a tachograph.

17. A method of verified antispoofing navigation comprising:

(A) calculating a primary set of changes in position and direction of a mobile platform by using a set of primary measurements provided by a primary navigation radio receiver;

(B) calculating a supplemental set of changes in position and direction of said mobile platform by using a set of supplemental measurements provided by a supplemental sensory navigation device;

(C) comparing said primary set of changes in position and direction of said mobile platform and said supplemental set of changes in position and direction of said mobile platform and obtaining a set of differences in position and direction of said mobile platform;

(D) selecting in said set of differences in position and direction of said mobile platform a subset of critical differences in position and direction of said mobile platform elements, wherein each said critical difference in position and direction of said mobile platform exceeds a first predetermined threshold;

(E) if a number of said critical differences exceeds a second predetermined threshold, detecting a spoofing message;

and

(F) communicating to relevant authorities said detected spoofing message;

wherein said spoofing message informs relevant authorities that said primary navigation radio receiver is compromised and does not provide the true positioning data of said mobile platform.

18. The method of claim 17 further comprising:

(G) consulting a relevant database to identify a source of said spoofing message.

19. The method of claim 17 further comprising:

(H) using a driver authentication navigation circuit to provide the driving and rest times of a driver of said mobile platform to relevant authorities.