Back to results
US 10,705,221 B2Granted
On-board backup and anti-spoofing GPS system
AssigneeThe Boeing Company
InventorsChristopher W. Raab, John W. Glatfelter, Kelly C. Hill
Life of this patent
Estimating the term…
Abstract
Disclosed is an on-board backup and anti-spoofing GPS (“OBASG”) system for navigating a vehicle through an environment with a GPS receiver. The GPS receiver is configured to receive GPS signals within the environment where the GPS signals may suffer a GPS outage or are unreliable within the environment. In general, the OBASG includes a GPS block-chain recorder, a block-chain storage module, an anti-spoofing module, and a backup navigation module.
Claims20
An on-board backup and anti-spoofing global positioning system (“GPS”) system for navigating a vehicle through an environment, the on-board backup and anti-spoofing GPS system comprising:
- a memory storing validated position data in one or more blocks of a block-chain, the validated position data including at least a first block indicating a starting position of the vehicle at a starting point of a mission;
- a first receiver configured to receive GPS signals during the mission;
- a second receiver configured to receive positional data distinct from the GPS signals during the mission, wherein the positional data includes geolocation data identifying an observed location of the vehicle as observed by an observer distinct from the vehicle and velocity data identifying an observed velocity of the vehicle as observed by the observer;
- a processor configured to perform operations comprising:
- using a Kalman filter to generate an estimated current position of the vehicle based on a plurality of previously validated location retrieved from the block-chain and the positional data;
- generating navigation data, wherein the navigation data comprises the estimated current position of the vehicle;
- performing a comparison of a particular location identified by the GPS signals and a previously validated location retrieved from the block-chain;
- responsive to the comparison indicating that the particular location is consistent with the previously validated location, store the particular location in a block of the block-chain as validated position data;
- storing the navigation data in a block of the block-chain;
- and
- retrieving current positional data from the block-chain, wherein the current positional data corresponds to the navigation data responsive to the comparison indicating that the particular location is not consistent with the previously validated location, and wherein the current positional data corresponds to the validated position data responsive to the comparison indicating that the particular location is consistent with the previously validated location.
8 more elements
A method for navigating a vehicle through an environment, the method comprising:
- storing validated position data in one or more blocks of a block-chain, the validated position data including at least a first block indicating a starting position of the vehicle at a starting point of a mission
- receiving, at a processor of an anti-spoofing GPS system of the vehicle, GPS signals during the mission;
- receiving, at the processor, positional data distinct from the GPS signals during the mission, wherein the positional data includes geolocation data identifying an observed location of the vehicle as observed by an observer distinct from the vehicle and velocity data identifying an observed velocity of the vehicle as observed by the observer;
- using a Kalman filter to generate an estimated current position of the vehicle based on a plurality of previously validated location retrieved from the block-chain and the positional data;
- generating, at the processor, navigation data, wherein the navigation data comprises the estimated current position of the vehicle;
- performing, at the processor, a comparison of a particular location identified by the GPS signals and a previously validated location retrieved from the block-chain;
- responsive to the comparison indicating that the particular location is consistent with the previously validated location, storing the particular location in a block of the block-chain as validated position data;
- storing the navigation data in a block of the block-chain;
- and
- retrieving current positional data from the block-chain, wherein the current positional data corresponds to the navigation data responsive to the comparison indicating that the particular location is not consistent with the previously validated location, and wherein the current positional data corresponds to the validated position data responsive to the comparison indicating that the particular location is consistent with the previously validated location.
7 more elements
Dependencies are inferred from the claim text.