A method for checking the integrity of GPS measurements for a moving vehicle includes determining a first inter-vehicle distance between a first vehicle and a second vehicle based on GPS measurements obtained at both vehicles, independently determining a second inter-vehicle distance based on relative...http://www.google.com.au/patents/US7110882?utm_source=gb-gplus-sharePatent US7110882 - Method for improving GPS integrity and detecting multipath interference using inertial navigation sensors and a network of mobile receivers
