(54) METHOD FOR IMPROVING GPS
INTEGRITY AND DETECTING MULTIPATH
INTERFERENCE USING INERTIAL
NAVIGATION SENSORS AND A NETWORK
OF MOBILE RECEIVERS
(75) Inventors: Michael Moser, Fluorn-Winzeln (DE);
Arne Dietrich, Mountain View, CA
(73) Assignee: Robert Bosch GmbH, Stuttgart (DE)
( * ) Notice: Subject to any disclaimer, the term of this patent is extended or adjusted under 35 U.S.C. 154(b) by 0 days.
(21) Appl. No.: 10/615,427
(22) Filed: Jul. 7, 2003
(65) Prior Publication Data
US 2005/0010364 Al Jan. 13, 2005
(51) Int. CI.
G01C 21/26 (2006.01)
(52) U.S. CI 701/214; 701/93; 701/96;
701/207; 701/213; 701/220; 701/300; 701/301;
(58) Field of Classification Search 701/93,
701/96-97, 207, 213-216, 220, 300-301; 180/179, 168-169; 340/901-904; 342/61, 342/70, 118, 357.12,357.14 See application file for complete search history.
(56) References Cited
U.S. PATENT DOCUMENTS
A method for checking the integrity of GPS measurements for a moving vehicle includes determining a first intervehicle 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 motion of the first vehicle and the second vehicle obtained using INS sensors at both vehicles, and comparing the first and second inter-vehicle distances. The integrity of the GPS measurements are checked if the first and second inter-vehicle distances are nearly equivalent. Methods for error detection and for mapping GPS multipath levels at each point in a vicinity for an entire range of satellite constellations are also described.
10 Claims, 6 Drawing Sheets
Distance measurements are communicated from each vehicle to the other
Each vehicle Independently computes the difference between the distance readings
Each vehicle independently calculates tha new inter-vehlcle distance using INS sensors and the original distance
New GPS readings are taken and a ew inter-vehicle distance based on thi new readings is computed
A difference (T) between tha INSbased distance and the GPS-based distance is calculated