Techniques for detection of global navigation satellite system (GNSS) error using motion sensor output

Patent metadata

Field	Value
Publication number	US-11719828-B2
Application number	US-202117359901-A
Country	US
Kind code	B2
Filing date	Jun 28, 2021
Priority date	Jun 30, 2020
Publication date	Aug 8, 2023
Grant date	Aug 8, 2023

Abstract

Techniques disclosed herein are directed to detect the presence of false, incorrect, or spoofed Global Navigation Satellite Systems (GNSS) signals. Embodiments may comprise receiving, at a mobile device, a global navigation satellite system (GNSS) signal via a GNSS antenna of the mobile device; determining first movement data based on the GNSS signal; determining second movement data based on data from one or more motion sensors of the mobile device, wherein the first movement data and the second movement data each comprise respective movement-related information regarding the mobile device during a time period; and providing an indication that GNSS error is occurring based on a determination that a difference between first movement data and the second movement data exceeds a threshold.

First claim

What is claimed is:

1. A method for detecting Global Navigation Satellite System (GNSS) error, comprising:
receiving, at a mobile device, one or more global navigation satellite system (GNSS) signals via a GNSS antenna of the mobile device;
determining first movement data based on the one or more GNSS signals;
determining second movement data based on data from one or more motion sensors of the mobile device, wherein the first movement data and the second movement data each comprise respective movement-related information regarding the mobile device during a time period; and
providing an indication that a GNSS error occurs based on a determination that a difference between the first movement data and the second movement data exceeds a threshold, wherein the first movement data, the second movement data, or both, comprise data indicative of an acceleration of the mobile device, a velocity of the mobile device, a rotation of the mobile device, or a combination thereof.

2. The method of claim 1 , wherein the determination that the difference between the first movement data and the second movement data exceeds the threshold comprises normalizing the first movement data, the second movement data, or both.

3. The method of claim 1 , wherein the GNSS antenna and the one or more motion sensors are offset by a known distance.

4. The method of claim 3 , wherein the determination that the difference between the first movement data and the second movement data exceeds the threshold comprises determining that the first movement data and the second movement data reflect an offset distance that is different than the known distance by more than a threshold value.

5. The method of claim 1 , wherein the determination that the difference between the first movement data and the second movement data exceeds the threshold comprises:
measuring a horizontal estimated position error from a plurality of global navigation satellite system (GNSS) signals; and
detecting that the horizontal estimated position error exceeds a threshold error value.

6. The method of claim 1 , wherein:
the mobile device comprises a vehicle;
the one or more motion sensors comprise an odometer; and
the determination that the difference between the first movement data and the second movement data exceeds the threshold comprises determining a difference between a first velocity value obtained from the odometer and a second velocity value based on the one or more GNSS signals exceeds a threshold value.

7. The method of claim 1 , wherein:
the one or more motion sensors comprise a barometric sensor; and
the determination that the difference between the first movement data and the second movement data exceeds the threshold comprises determining a difference between a first change in altitude value determined using the barometric sensor and a second change in altitude value determined using the one or more GNSS signals exceeds a threshold value.

8. The method of claim 1 , wherein providing the indication that the GNSS error occurs is further based on a determination that the first movement data is inconsistent with map data.

9. The method of claim 1 , the one or more motion sensors comprise a camera.

10. A mobile device for detecting Global Navigation Satellite System (GNSS) error, the mobile device comprising:
a GNSS receiver communicatively coupled with a GNSS antenna;
one or more motion sensors;
a memory; and
one or more processors communicatively coupled with the GNSS receiver, the one or more motion sensors, and the memory, wherein the one or more processors are configured to:
receive, via the GNSS receiver, one or more global navigation satellite system (GNSS) signals via the GNSS antenna;
determine first movement data based on the one or more GNSS signals;
determine second movement data based on data from the one or more motion sensors of the mobile device, wherein the first movement data and the second movement data each comprise respective movement-related information regarding the mobile device during a time period; and
provide an indication that a GNSS error occurs based on a determination that a difference between the first movement data and the second movement data exceeds a threshold, wherein the first movement data, the second movement data, or both, comprise data indicative of an acceleration of the mobile device, a velocity of the mobile device, a rotation of the mobile device, or a combination thereof .

11. The mobile device of claim 10 , wherein the one or more processors are configured to normalize the first movement data, the second movement data, or both to determine that the difference between the first movement data and the second movement data exceeds the threshold.

12. The mobile device of claim 10 , wherein the GNSS antenna and the one or more motion sensors are offset by a known distance.

13. The mobile device of claim 12 , wherein, to determine that the difference between the first movement data and the second movement data exceeds the threshold, the one or more processors are configured to determine that the first movement data and the second movement data reflect an offset distance that is different than the known distance by more than a threshold value.

14. The mobile device of claim 10 , wherein, to determine that the difference between the first movement data and the second movement data exceeds the threshold, the one or more processors are configured to:
measure a horizontal estimated position error from a plurality of global navigation satellite system (GNSS) signals; and
detect that the horizontal estimated position error exceeds a threshold error value.

15. The mobile device of claim 10 , wherein:
the mobile device comprises a vehicle;
the one or more motion sensors comprise an odometer; and
to determine that the difference between the first movement data and the second movement data exceeds the threshold, the one or more processors are configured to determine a difference between a first velocity value obtained from the odometer and a second velocity value based on the one or more GNSS signals exceeds a threshold value.

16. The mobile device of claim 10 , wherein:
the one or more motion sensors comprise a barometric sensor; and
to determine that the difference between the first movement data and the second movement data exceeds the threshold, the one or more processors are configured to determine a difference between a first change in altitude value determined using the barometric sensor and a second change in altitude value determined using the one or more GNSS signals exceeds a threshold value.

17. The mobile device of claim 10 , wherein the one or more processors are configured to provide the indication that the GNSS error occurs further based on a determination that the first movement data is inconsistent with map data.

18. The mobile device of claim 10 , the one or more motion sensors comprise a camera.

19. An apparatus for detecting Global Navigation Satellite System (GNSS) error, the apparatus comprising:
means for receiving one or more global navigation satellite system (GNSS) signals;
means for determining first movement data based on the one or more GNSS signals;
means for determining second movement data based on data from one or more motion sensors, wherein the first movement data and the second movement data each comprise respective movement-related information regarding a mobile device during a time period; and
means for providing an indication that a GNSS error occurs based on a determination that a diff

Assignees

• Qualcomm Inc

Inventors

• Tuck David
• Stephen James
• Lakshminarayan Inchara

Classifications

• G01S19/396 Primary

  Determining accuracy or reliability of position or pseudorange measurements · CPC title

• G01S19/49

  whereby the further system is an inertial position system, e.g. loosely-coupled · CPC title

• G01S19/215 Primary

  issues related to spoofing · CPC title