# US 12,111,405 B2 · Dead reckoning-based analysis of fabricated maritime data > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,111,405 B2 - Document ID: US12111405B2 - Status: Granted - Kind: B2 - Application number: 17/534,075 - Filed: 2021-11-23 - Published: 2023-05-25 - Granted: 2024-10-08 - Earliest claimed: 2021-11-23 - Assignees: Windward LTD. - Applicants: Windward LTD. - Inventors: Dror Salzman; Shay Amram - Web page: https://patentgrep.com/patent/US12111405B2 ## CPC - G01C 21/203: {specially adapted for water-borne vessels} - G01S 19/215: {issues related to spoofing} - B63B 79/15: for monitoring environmental variables, e.g. wave height or weather data - G01C 21/12: executed aboard the object being navigated; Dead reckoning - G01S 19/396: {Determining accuracy or reliability of position or pseudorange measurements} - B63B 49/00: Arrangements of nautical instruments or navigational aids (nautical measuring instruments G01C; radio navigation, analogous arrangements using other waves G01S) - G01S 5/0027: {of actual mobile position, i.e. position determined on mobile} - G01S 5/16: using electromagnetic waves other than radio waves - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - B63B: SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING (arrangements of vessel ventilation, heating, cooling, or air-conditioning B63J2/00; floating substructures as supports of dredgers or soil-shifting machines E02F9/06) ## Abstract A method, system and product for dead reckoning-based analysis of fabricated maritime data. The method comprises determining an initial location of the maritime vessel; determining speed and heading information using the location-reporting signals; computing estimated location of the maritime vessel at a specific time, based on the initial location and based on the speed and heading information; comparing the estimated location with a reported location at the time according to location-reporting signals; based on the comparison, determining that the location-reporting signals are at least partially fabricated; and in response to the determination that the location-reporting signals are at least partially fabricated, performing a responsive action. ## Claims ### Claim 1 A method comprising: obtaining location-reporting signals of a maritime vessel, wherein the location-reporting signals comprise respective sets of geographical coordinates, each of which having a timestamp, wherein the location-reporting signals are transmitted by a reporting module, which is mounted on the maritime vessel, wherein the reporting module is connected to a bus of the maritime vessel providing sensor readings from one or more on-board devices of the maritime vessel, wherein the location-reporting signals are fabricated by replacing a positioning module connected to the reporting module with a positioning spoofing module, whereby the positioning readings are fabricated and sensor readings are authentic; determining an initial location of the maritime vessel; determining speed and heading information using the location-reporting signals; computing estimated location of the maritime vessel at a time, wherein said computing is performed based on the initial location and based on the speed and heading information; comparing the estimated location with a reported location at the time according to the one or more location-reporting signals; determining that the location-reporting signals are at least partially fabricated, wherein said determining that the one or more location-reporting signals are at least partially fabricated is based on said comparing; and in response to said determining that the location-reporting signals are at least partially fabricated, performing a responsive action, wherein the responsive action comprises instructing a sensor to obtain a new reading at a location associated with the at least partially fabricated location-reporting signals to validate or refute the determination that the location-reporting signals are at least partially fabricated. ### Claim 2 (depends on 1) The method of claim 1, wherein the location-reporting signals comprise a first and second location-reporting signals having a first and second timestamps, respectively; wherein said determining the speed and heading information is performed over a period of time that covers at least a first timestamp and a second timestamp, wherein said determining the speed and heading information is performed using the first and second location-reporting signals. ### Claim 3 (depends on 1) The method of claim 1, wherein said computing is performed using an Artificial Intelligence (AI) classifier, wherein the AI classifier is trained using maritime data to predict location after elapsed time given speed and heading information. ### Claim 4 (depends on 3) The method of claim 3, wherein the AI classifier is configured to take into account information for vessels in a vicinity of the maritime vessel in order to predict the location of the maritime vessel. ### Claim 5 (depends on 3) The method of claim 3, wherein the AI classifier is configured to take into account one or more environmental conditions in a vicinity of the maritime vessel in order to predict the location of the maritime vessel. ### Claim 6 (depends on 1) The method of claim 1, wherein the responsive action comprises predicting a true path of the maritime vessel using dead reckoning computation, wherein the true path comprises the estimated location of the maritime vessel at the time. ### Claim 7 (depends on 1) The method of claim 1, wherein the responsive action comprises alerting a user that the maritime vessel provides at least partially fabricated reports. ### Claim 8 (depends on 1) A The method of claim 1, comprising: obtaining location-reporting signals of a maritime vessel, wherein the location-reporting signals comprise respective sets of geographical coordinates, each of which having a timestamp; determining an initial location of the maritime vessel; determining speed and heading information using the location-reporting signals; computing estimated location of the maritime vessel at a time, wherein said computing is performed based on the initial location and based on the speed and heading information; comparing the estimated location with a reported location at the time according to the one or more location-reporting signals; determining that the location-reporting signals are at least partially fabricated, wherein said determining that the one or more location-reporting signals are at least partially fabricated is based on said comparing; wherein said determining the initial location, said determining the speed and heading information, said computing the estimated location and said comparing are performed with respect to a first and second location-reporting signals, whereby a first and second dead reckoning estimations are performed individually with respect to the first and second location-reporting signals, respectively; and in response to said determining that the location-reporting signals are at least partially fabricated, instructing a sensor to obtain a new reading at a location associated with the at least partially fabricated location-reporting signals to validate or refute the determination that the location-reporting signals are at least partially fabricated. ### Claim 9 A method comprising: obtaining location-reporting signals of a maritime vessel, wherein the location-reporting signals comprise respective sets of geographical coordinates, each of which having a timestamp; determining an initial location of the maritime vessel; determining speed and heading information using the location-reporting signals; computing estimated location of the maritime vessel at a time, wherein said computing is performed based on the initial location and based on the speed and heading information; comparing the estimated location with a reported location at the time according to the one or more location-reporting signals; determining that the location-reporting signals are at least partially fabricated, wherein said determining that the one or more location-reporting signals are at least partially fabricated is based on said comparing; wherein said determining the initial location, said determining the speed and heading information, said computing the estimated location and said comparing are performed with respect to a first and second location-reporting signals and with respect to a set of location-reporting signals that comprise the first and second location-reporting signals, whereby at least three different dead reckoning estimations are performed, two of which are performed with respect to a single location-reporting signal, and one of which is performed with respect to the set of location-reporting signals; and in response to said determining that the location-reporting signals are at least partially fabricated, instructing a sensor to obtain a new reading at a location associated with the at least partially fabricated location-reporting signals to validate or refute the determination that the location-reporting signals are at least partially fabricated. ### Claim 10 A method comprising: obtaining location-reporting signals of a maritime vessel, wherein the location-reporting signals comprise respective sets of geographical coordinates, each of which having a timestamp; determining an initial location of the maritime vessel; determining speed and heading information using the location-reporting signals; computing estimated location of the maritime vessel at a time, wherein said computing is performed based on the initial location and based on the speed and heading information; comparing the estimated location with a reported location at the time according to the one or more location-reporting signals; determining that the location-reporting signals are at least partially fabricated, wherein said determining that the one or more location-reporting signals are at least partially fabricated is based on said comparing, wherein said determining that the one or more location-reporting signals are at least partially fabricated is further based on a computed distance between a predicted true path and a reported path in accordance with the location-reporting signals, wherein the predicted true path is determined based on one or more reception polygons of reception stations that received the location-reporting signals of the maritime vessel; and in response to said determining that the location-reporting signals are at least partially fabricated, instructing a sensor to obtain a new reading at a location associated with the at least partially fabricated location-reporting signals to validate or refute the determination that the location-reporting signals are at least partially fabricated. ### Claim 11 A non-transitory computer readable medium retaining instructions, which instructions, when read by a processor, cause the processor to perform: obtaining location-reporting signals of a maritime vessel, wherein the location-reporting signals comprise respective sets of geographical coordinates, each of which having a timestamp; determining an initial location of the maritime vessel; determining speed and heading information using the location-reporting signals; computing estimated location of the maritime vessel at a time, wherein said computing is performed based on the initial location and based on the speed and heading information; comparing the estimated location with a reported location at the time according to the one or more location-reporting signals; determining that the location-reporting signals are at least partially fabricated, wherein said determining that the one or more location-reporting signals are at least partially fabricated is based on said comparing, wherein said determining that the one or more location-reporting signals are at least partially fabricated is further based on a computed distance between a predicted true path and a reported path in accordance with the location-reporting signals, wherein the predicted true path is determined based on one or more reception polygons of reception stations that received the location-reporting signals of the maritime vessel; and in response to said determining that the location-reporting signals are at least partially fabricated, performing a responsive action, wherein the responsive action comprises instructing a sensor to obtain a new reading at a location associated with the at least partially fabricated location-reporting signals to validate or refute the determination that the location-reporting signals are at least partially fabricated. ### Claim 12 (depends on 11) The non-transitory computer readable medium of claim 11, wherein the location-reporting signals comprise a first and second location-reporting signals having a first and second timestamps, respectively; wherein said determining the speed and heading information is performed over a period of time that covers at least a first timestamp and a second timestamp, wherein said determining the speed and heading information is performed using the first and second location-reporting signals. ### Claim 13 (depends on 11) The non-transitory computer readable medium of claim 11, wherein said determining the initial location, said determining the speed and heading information, said computing the estimated location and said comparing are performed with respect to a first and second location-reporting signals, whereby a first and second dead reckoning estimations are performed individually with respect to the first and second location-reporting signals, respectively. ### Claim 14 (depends on 11) The non-transitory computer readable medium of claim 11, wherein said determining the initial location, said determining the speed and heading information, said computing the estimated location and said comparing are performed with respect to a first and second location-reporting signals and with respect to a set of location-reporting signals that comprise the first and second location-reporting signals, whereby at least three different dead reckoning estimations are performed, two of which are performed with respect to a single location-reporting signal, and one of which is performed with respect to the set of location-reporting signals. ### Claim 15 (depends on 11) The non-transitory computer readable medium of claim 11, wherein said computing is performed using an Artificial Intelligence (AI) classifier, wherein the AI classifier is trained using maritime data to predict location after elapsed time given speed and heading information. ### Claim 16 (depends on 15) The non-transitory computer readable medium of claim 15, wherein the AI classifier is configured to take into account at least one of: information for vessels in a vicinity of the maritime vessel in order to predict the location of the maritime vessel; and one or more environmental conditions in a vicinity of the maritime vessel in order to predict the location of the maritime vessel. ### Claim 17 (depends on 11) The non-transitory computer readable medium of claim 11, wherein the location-reporting signals are transmitted by a reporting module, which is mounted on the maritime vessel, wherein the reporting module is connected to a bus of the maritime vessel providing sensor readings from one or more on-board devices of the maritime vessel, wherein the location-reporting signals are fabricated by replacing a positioning module connected to the reporting module with a positioning spoofing module, whereby the positioning readings are fabricated and sensor readings are authentic. ### Claim 18 (depends on 11) The non-transitory computer readable medium of claim 11, wherein the responsive action comprises predicting a true path of the maritime vessel using dead reckoning computation, wherein the true path comprises the estimated location of the maritime vessel at the time. ### Claim 19 A system comprising: a processor; and a memory coupled to said processor; wherein said processor is configured to perform: obtaining location-reporting signals of a maritime vessel to be retained in said memory, wherein the location-reporting signals comprise respective sets of geographical coordinates, each of which having a timestamp; determining an initial location of the maritime vessel; determining speed and heading information using the location-reporting signals; computing estimated location of the maritime vessel at a time, wherein said computing is performed based on the initial location and based on the speed and heading information; comparing the estimated location with a reported location at the time according to the one or more location-reporting signals; determining that the location-reporting signals are at least partially fabricated, wherein said determining that the one or more location-reporting signals are at least partially fabricated is based on said comparing; wherein said determining the initial location, said determining the speed and heading information, said computing the estimated location and said comparing are performed with respect to a first and second location-reporting signals and with respect to a set of location-reporting signals that comprise the first and second location-reporting signals, whereby at least three different dead reckoning estimations are performed, two of which are performed with respect to a single location-reporting signal, and one of which is performed with respect to the set of location-reporting signals; and in response to said determining that the location-reporting signals are at least partially fabricated, performing a responsive action, wherein the responsive action comprises instructing a sensor to obtain a new reading at a location associated with the at least partially fabricated location-reporting signals to validate or refute the determination that the location-reporting signals are at least partially fabricated. ### Claim 20 (depends on 19) The system of claim 19, wherein the location-reporting signals comprise a first and second location-reporting signals having a first and second timestamps, respectively; wherein said determining the speed and heading information is performed over a period of time that covers at least a first timestamp and a second timestamp, wherein said determining the speed and heading information is performed using the first and second location-reporting signals. ### Claim 21 (depends on 19) The system of claim 19, wherein said computing is performed using an Artificial Intelligence (AI) classifier, wherein the AI classifier is trained using maritime data to predict location after elapsed time given speed and heading information. ### Claim 22 (depends on 21) The system of claim 21, wherein the AI classifier is configured to take into account at least one of: information for vessels in a vicinity of the maritime vessel in order to predict the location of the maritime vessel; and one or more environmental conditions in a vicinity of the maritime vessel in order to predict the location of the maritime vessel. ### Claim 23 (depends on 19) The system of claim 19, wherein the location-reporting signals are transmitted by a reporting module, which is mounted on the maritime vessel, wherein the reporting module is connected to a bus of the maritime vessel providing sensor readings from one or more on-board devices of the maritime vessel, wherein the location-reporting signals are fabricated by replacing a positioning module connected to the reporting module with a positioning spoofing module, whereby the positioning readings are fabricated and sensor readings are authentic. ### Claim 24 (depends on 19) The system of claim 19, wherein the responsive action comprises predicting a true path of the maritime vessel using dead reckoning computation, wherein the true path comprises the estimated location of the maritime vessel at the time.