GNSS data integrity monitoring as a connected service

Abstract

Techniques for integrating mixed Global Navigation Satellite System (GNSS) and Inertial Navigation System (INS) integrity monitoring information as a connected network database are described. Information regarding the integrity of known cases of GNSS disturbances may be stored and accessed by users. The information may include data regarding the integrity of GNSS / INS position solutions generated a priori from the vehicle, such as the location, time, and any known cause of the GNSS disturbance. The database may be located on the vehicle and / or on a remote server that can be shared with other users who have access to the database. In some embodiments, if the stored data is confidential, access may be restricted to certain users.

Description

Background Technology

[0001] In both commercial and military domains, modern land, air, or water vehicles rely on navigation systems to guide their movements. Commercial aircraft rely on system navigation to safely navigate, for example, changes in terrain or weather, while military aircraft rely on system navigation for effective reconnaissance, precise airstrikes, or defensive maneuvers. Such vehicle navigation systems typically include Global Navigation Satellite Systems (GNSS), such as the Global Positioning System (GPS), and may also include Inertial Navigation Systems (INS). Vehicles utilizing modern system navigation rely heavily on GNSS technology. However, despite the ubiquitous reliance on GNSS technology, current systems struggle to respond when such technology is compromised.

[0002] GNSS data can be susceptible to various forms of manipulation and misdirection, whether intentional or unintentional, which can render systems utilizing this data unable to navigate. GNSS jamming occurs when navigation signals are blocked or interfered with by external entities, thereby preventing any and all use of GNSS navigation systems. In contrast, GNSS spoofing occurs when navigation signals are altered or modified to deceptively reflect false position information to the vehicle. Current systems utilizing GNSS technology must possess appropriate safeguards to identify or correct risks associated with manipulated GNSS navigation data or compromising mission objectives. Therefore, maintaining reliability regarding the integrity of GNSS data is a critical factor in the extensive dependency on GNSS systems.

[0003] Although different measures exist to detect and correct GNSS disturbances, these measures may not be sufficient to protect vehicles relying on GNSS technology if such measures fail. Ineffective or failed measures can result in vehicles becoming vulnerable to jammed or spoofed GNSS signals, which can be fatal to the vehicle and crew.

[0004] In one embodiment, a system is described. The system comprises a plurality of vehicles and a navigation system mounted on each of the plurality of vehicles. The navigation system comprises both a Global Navigation Satellite System (GNSS) receiver and an Inertial Navigation System (INS). The system also comprises a processor coupled to the navigation system. The processor is configured to receive measurements corresponding to navigation integrity data from the navigation system, to analyze the received measurements, to identify one or more navigation parameters of at least one GNSS disturbance based on the analysis of the received measurements, to generate data based on the one or more navigation parameters, to store the generated data, and to distribute the generated data among one or more of the plurality of vehicles.

[0005] In another embodiment, a program product is described. The product comprises a non-transient computer-readable medium storing computer-executable instructions. When executed by one or more processors, the instructions cause one or more processors to perform the following tasks: receiving measurements corresponding to navigation integrity data from a plurality of navigation systems—each of the plurality of navigation systems comprises a GNSS receiver and an INS located on one of the plurality of vehicles—; analyzing the received measurements; identifying one or more navigation parameters of at least one GNSS disturbance based on the analysis of the received measurements; generating data based on one or more navigation parameters; storing the generated data; and distributing the generated data among one or more of the plurality of vehicles.

[0006] In another embodiment, a method is described. The method comprises the step of receiving a request for information regarding known GNSS disturbances. The method further comprises the step of accessing a database—the database comprises generated data, the generated data is generated by receiving measurements corresponding to navigation integrity data from a navigation system comprising a GNSS receiver and an INS located on a plurality of vehicles, by analyzing the received measurements, and by identifying one or more navigation parameters of at least one GNSS disturbance based on the analysis of the received measurements, the generated data is based on one or more navigation parameters, and the generated data is stored in the database—and providing the generated data in response to the request.

[0007] Details of one or more embodiments are described in the following description. Features illustrated or described in connection with one exemplary embodiment may be combined with features of other embodiments. Accordingly, any of the various embodiments described herein may be combined to provide additional embodiments. The aspects of the embodiments may be modified, if necessary, to utilize concepts from various patents, applications, and disclosures identified herein to provide other embodiments. Brief explanation of the drawing

[0008] Exemplary features of the present invention, their characteristics, and various advantages will become apparent from the following detailed description of various embodiments and the accompanying drawings. Non-limiting and non-comprehensive embodiments are described with reference to the accompanying drawings, wherein similar labels or reference numerals refer to similar parts throughout the various drawings unless otherwise specified. The sizes and relative positions of elements in the drawings are not necessarily drawn to scale. For example, the shapes of various elements are selected, enlarged, and positioned to improve the readability of the drawings. Specific shapes of elements as illustrated have been selected for ease of recognition in the drawings. One or more embodiments are described below with reference to the accompanying drawings. FIG. 1 illustrates a block diagram of a system comprising a server for processing data to identify GNSS disturbances, storing data on the identified disturbances, and distributing the data to one or more vehicles, as exemplified in one embodiment of the present invention. FIG. 2 illustrates a block diagram of a system for processing data to identify GNSS disturbances, storing data on the identified disturbances, and distributing the data from a remote server, as exemplified in one embodiment of the present invention. FIG. 3 illustrates a network in which GNSS disturbance data is shared among vehicles, as exemplified in one embodiment of the present invention. FIG. 4 illustrates a process for generating a database based on receiving GNSS disturbance data from one or more vehicles, as exemplified in one embodiment of the present invention. FIG. 5 illustrates a flowchart illustrating a method in which access to a database may be restricted based on received requests or GNSS disturbance data stored in the database. Specific details for implementing the invention

[0009] In the following detailed description, reference is made to the accompanying drawings, which form part of this specification and illustrate specific exemplary embodiments. However, it will be understood that other embodiments may be used and logical, mechanical, and electrical modifications may be made. Furthermore, the drawings and the methods presented herein should not be construed as limiting the order in which individual steps may be performed. Accordingly, the following detailed description should not be construed in a limiting sense.

[0010] The following disclosure relates to improvements in GNSS data integrity monitoring. Specifically, embodiments of the present invention relate to a shared data server that processes acquired data to identify, store, and disseminate data corresponding to GNSS disturbances, e.g., GPS jamming and spoofing, to other vehicles as part of a connected network. The processing techniques described herein may analyze, identify, and correlate cases of known, recurring GNSS disturbances, including data regarding the time and location of occurrence, frequency of occurrence, or known or reliable cause of occurrence from raw navigation data. Additionally, the data server may be implemented mounted on a vehicle or may provide data to one or more vehicles from a remote location. By utilizing the disclosed embodiments, a vehicle operator may download relevant navigation data prior to a mission or update the navigation data to the shared data server in real time during a mission as GNSS disturbances become known.

[0011] Throughout the present invention, terms are intended to convey their ordinary meanings as understood by those skilled in the art, unless otherwise indicated. For example, the use of the term “vehicle” is intended to include all classes of vehicles falling within the ordinary meaning of the term, and will include aerial vehicles, space vehicles, water vehicles, land vehicles, and automobiles. Although aircraft are exemplified throughout the present invention, such exemplification is for educational purposes only and is not intended to be limiting. Furthermore, “GNSS disturbance” as used herein means any intentional or unintentional modification of GNSS signals prior to acquisition by a GNSS receiver or similar signal retrieval device. Common examples include GNSS jamming and GNSS spoofing. Also, the term “exemplary” does not necessarily imply preferred or good embodiments, but rather further exemplifies the principles, applications, or nuances of the present invention.

[0012] One embodiment of the present invention is further illustrated in FIG. 1 and describes a system (100) comprising a server (106) mounted on one or more vehicles (102) having a second processing circuit (116) configured to execute commands of a GNSS processing application (118) for receiving, analyzing, and disseminating GNSS integrity information shared across a network. Although only a single vehicle is illustrated in FIG. 1, the same principles described herein in relation to FIG. 1 also apply to a plurality of vehicles in a network, wherein each of the plurality of vehicles includes a server (106) for implementing the system of FIG. 1. The term “network” as used herein means a group of vehicles (which may include different airborne, waterborne vehicles, etc.) coupled communically through one or more communication links, ground control stations, and / or vehicle communication stations. The server (106) is coupled to the navigation system (104) and may include a first processing circuit (122) configured to execute commands of a GNSS integrity application (120) to determine the integrity of raw GNSS data, optionally.

[0013] Referring to FIG. 1, a vehicle (102) (e.g., an aircraft, land or water vehicle) includes a navigation system (104) and a server (106). The navigation system (104) further includes a GNSS receiver (108), which is a reference coordinate system (e.g. ,GNSS signal navigation data measurements corresponding to the position of the vehicle (102), such as elevation, attitude, heading, or three-dimensional position coordinates in orthogonal coordinates, are received. These signals may originate from global-based GNSS systems (e.g., GPS, GLONASS, Galileo, or BeiDou) or from local-based GNSS systems (e.g., QZSS or NAVIC). Additionally, the navigation system (104) includes an INS (110), which may be composed of a combination of gyroscopes, accelerometers, magnetometers, and associated circuitry. The INS (110), which may include one or more inertial measurement units (e.g., sensors), is configured to determine navigation data measurements including the elevation, attitude, and / or direction of the vehicle (102). The INS (110) may be further configured to provide navigation data measurements to the first processing circuit (122), where the navigation data may be used to generate a navigation solution (e.g., including position, speed, and attitude) of the vehicle (102).

[0014] In one embodiment, the navigation system (104) may optionally include a processing circuit (exemplified as a first processor circuit (122) in FIG. 1) coupled to a GNSS receiver (108) configured to execute commands of a GNSS integrity application (120). The first processing circuit (122) receives GNSS signal navigation data measurements from the GNSS receiver (108) and performs an integrity check on the measurements to ensure that the received measurements are accurate and precise and that there is no deceptive tampering of the measurements, such as GNSS jamming or spoofing. FIG. 1 illustrates an integrity check performed by the first processor circuit (122) through the GNSS integrity application (120), but the integrity check may be performed outside the navigation system (104). For example, in another embodiment, an integrity check is performed from the server (106) via the second processor circuit (116). Thus, although FIG. 1 illustrates a separate processor configured to perform an integrity check on received navigation data measurements, the integrity and data processing functions (described below) may be implemented in the same processor. Regardless of whether an integrity check is performed on the GNSS navigation data measurements, these measurements are transmitted to the server (106) for further processing.

[0015] The server (106) is coupled to the navigation system (104) and includes a second processing circuit (116), memory (112), and a GNSS processing application (118). The second processing circuit (116) may include any one or a combination of processors, microprocessors, digital signal processors, application integrated circuits, field programmable gate arrays, or other similar variations thereof. Each processor circuit may include or function as software programs, firmware, or other computer-readable instructions for performing various process tasks, calculations, and control functions used in the methods described herein. These instructions may be tangibly implemented on any storage medium (or computer-readable medium) used for storing computer-readable instructions or data structures. The memory (112) and its components described herein may be implemented on any available storage medium (or computer-readable medium) that can be accessed by a general-purpose or special-purpose computer or processor, or any programmable logic device. Suitable computer-readable media may include storage or memory media such as semiconductors, magnetic and / or optical media, and may be implemented as storing instructions in a non-transient computer-readable medium such as random access memory (RAM), read-only memory (ROM), non-volatile RAM, electrically erasable programmable ROM, flash memory, or other storage media. Additionally, memory (112) may include a database (114) for storing data executed by a GNSS processing application (118). In other examples, the GNSS processing application (118) and its equivalents may be implemented as a computer-readable medium comprising storing instructions to be executed by one or more processors.

[0016] The server (106) can enable the vehicle (102) to transmit, receive, and store GNSS disturbance data from or to other sources within a network, such as other vehicles (not shown) or ground communications systems (GCS) (also not shown), through the processing of received GNSS data integrity measurements. For example, the server (106) may receive navigation data measurements or integrity data measurements from other vehicles or ground control stations. Such data may be obtained when it is being processed or retrieved after processing is completed. In practice, embodiments disclosed herein allow data retrieval in real time (e.g., updates on known GNSS disturbances along the flight path while the vehicle is driving) or before / after flight (e.g., by downloading GNSS disturbance data to the relevant flight path before flight). Specifically, storage, processing, and distribution features can be implemented through algorithmic means such as the GNSS processing application (118) shown in FIG. 1.

[0017] The server (106) receives raw GNSS navigation data measurements and optionally navigation data measurements from the INS (110) from the navigation system (104) or from one or more navigation systems mounted on a separate vehicle (not shown), wherein it can analyze the received data to identify patterns and determine correlations for other known GNSS disturbance events based on the acquired navigation data. The second processing circuit (116) is configured to execute commands of the GNSS processing application (118). When executed, the second processing circuit (116) is configured to receive navigation data measurements or integrity data measurements. The server (106) may also be connected to a network shared across multiple vehicles. For example, in one embodiment, the network comprises a plurality of vehicles, and the second processing circuit (116) is configured to receive navigation data measurements or integrity data measurements from other vehicles in the network through the respective navigation systems of each vehicle. “Navigation data measurements” as used herein mean position, velocity, attitude, and time measurements calculated as part of a mixed solution using information from both a GNSS receiver and an inertial-based system. “Integrity data measurements” as used herein mean measures of the reliability of the navigation data measurements. Integrity data measurements include, but are not limited to, failure detection flags or protection and uncertainty levels.

[0018] If an integrity check has not yet been performed on the received navigation data measurements, the second processing circuit (116) may be configured to perform an integrity check on the measurements. For example, the second processing circuit (116) may use data acquired by the GNSS receiver (108) and compare it with data acquired by the INS (110). Additionally or alternatively, the measurements may be compared using other reliable integrity techniques (e.g., radar elevation techniques), receiver autonomous integrity monitoring ("RAIM"), or other integrity techniques, including comparison through other sensors mounted on the vehicle.

[0019] Subsequently, the second processing circuit (116) is configured to analyze received integrity data measurements for indications of common or repeated GNSS disturbances based on data processing techniques. For example, (e.g., via a GNSS processing application (118)) the second processing circuit (116) may analyze or process the integrity data measurements by comparing the output received by the navigation system (104) with defined thresholds (e.g., as performed by a GNSS integrity application (120)) to determine whether the integrity data measurements indicate a possibility that the integrity data measurements reflect GNSS disturbance events. Additionally, such thresholds may be used to determine whether the integrity data measurements indicate a significant common pattern of GNSS disturbances based on other received integrity data measurements.

[0020] Once the second processing circuit analyzes the integrity data measurements, the second processing circuit (116) is configured to identify one or more navigation parameters corresponding to one or more GNSS disturbances based on the analysis. As used herein, “navigation parameters” means a set or class of data included in navigation data or integrity data measurements regarding variables used for vehicle navigation. Navigation parameters may include variables such as vehicle position (e.g., latitude, longitude, altitude), vehicle speed, time (e.g., duration or time of occurrence of disturbance), and frequency of occurrence, or other variables that can be used to classify the integrity data measurements. For example, when the GNSS processing application (118) analyzes GNSS disturbance(s) from received navigation data measurements, the second processing circuit (116) may be further configured to capture relevant data corresponding to the analyzed GNSS disturbance data, such as the position(s) and time(s) where the disturbance occurred.

[0021] Once navigation parameters of GNSS disturbances have been identified, the second processing circuit (116) is further configured to generate data based on the identified navigation parameters. The type of generated data depends on the embodiment. For example, in one embodiment, the generated data may include a compilation of known GNSS disturbances within a geographic area, wherein the compilation includes data describing the identified navigation parameters received by the server (106). Additionally or alternatively, the generated data may include a map of processed integrity data measurements received by the server (106), wherein the map includes data regarding navigation parameters identified from data analysis. The map may be updated or modified as the server (106) receives and processes additional integrity data measurements. In another embodiment, the generated data includes data corresponding to GNSS satellite exclusion occurrences, GNSS signal strength fluctuations, and / or differences in navigation subsystem measurements (e.g., differences between GNSS measurements and INS measurements).

[0022] Next, the second processing circuit (116) is configured to store the generated data. The data may be stored via external means, such as an external hard drive or a computer-readable medium. The data may also be stored internally. For example, the second processing circuit (116) may be coupled to memory (112), which can store the data generated by the second processing circuit (116) on the server (106). Additionally, the memory (112) may include one or more databases (114) for storing data such as generated maps. The data may be retrieved by the vehicle (102) and used or updated as needed.

[0023] In another embodiment, the second processing circuit (116) is further configured to distribute the generated data to one or more vehicles. Distribution may occur in real time (when the data is being processed or generated) or after processing (when the data is retrieved from memory storage). Distribution may also occur automatically for each local vehicle or ground station within the network or upon a specific request. The distribution of GNSS disturbance data allows for a comprehensive information network, where pilots and crew can access essential navigation information before flight. This subsequently allows for the pre-detection of potential GNSS disturbances based on existing data, enabling the vehicle and its crew to prepare for known obstacles to GNSS use during navigation, thereby allowing them to adjust their preventive procedures while reducing surprise and improving navigation predictability.

[0024] However, since dispensing in some embodiments can be initiated only upon request, there are certain cases where dispensing is undesirable. Exemplary situations occur in certain military applications where unrestricted dispensing would compromise classified mission data. Accordingly, in some embodiments, dispensing may be restricted to certain data types, such as restricting access to data generated based on identified navigation parameters (e.g., location, frequency, or known cause of GNSS disturbances), or may be restricted to specific authorized users upon request. Furthermore, in one embodiment, the server (106) may implement a user authentication protocol using known data encryption techniques to prevent unauthorized dispensing or access to the stored data.

[0025] Now, referring to FIG. 2, a further embodiment of the present invention is described for implementing a system configured to process, store, and distribute GNSS disturbance data. The system (200) comprises one or more vehicles (202), each of which includes a GNSS receiver (230) and an INS (210). In contrast to FIG. 1, the server (204) is not mounted on the vehicle (202) but is rather coupled to the vehicle (202) in a remote location (e.g., at a ground control station) so as to be communicable. Similar to FIG. 1, the server (204) comprises a second processing circuit (212) coupled to a memory (206), wherein the second processing circuit (212) is configured to execute commands implemented in the GNSS processing application (214) described for FIG. 1. Likewise, the vehicle (202) may optionally include a first processing circuit (222) configured to execute commands of the GNSS integrity application (208), wherein an integrity check algorithm is performed on the received navigation data measurements as described above. However, such integrity check may also be performed by a second processing circuit (212).

[0026] Similar to FIG. 1, the second processing circuit (212) is configured to receive integrity data measurements transmitted from the vehicle (202). In other embodiments, where sufficient bandwidth is available, navigation data measurements may be received by the second processing circuit (212), wherein the second processing circuit may be configured to evaluate the integrity of the received navigation data measurements (e.g., to determine the integrity data measurements). The second processing circuit (212) is also configured to analyze the received integrity data measurements, to identify navigation parameter(s) from the analyzed data, and to generate data based on the navigation parameters identified in the integrity data measurements processed using the same techniques as described above. Subsequently, the second processing circuit (212) is configured to store the generated data in a remote server (204) via a memory (206) which may also include a database (232). Additionally or alternatively, the remote server (204) may distribute the generated data to other vehicles in the same manner as described for FIG. 1. Distribution may be carried out via communication methods such as HF (high frequency), VHF (very high frequency), UHF (ultra high frequency), SATCOM (satellite communication), and other communication methods.

[0027] FIG. 3 is a diagram of a network further illustrating the embodiments described above. The diagram (300) includes vehicles (302a, 302b, 302c) within the network together with a remote server (304). Block (306) illustrates the embodiments described for FIG. 1: that is, the vehicles (302a, 302b, 302c) may be equipped with servers configured to receive, process, store, and distribute compiled navigation data to other vehicles within the network. Such distribution may be achieved independently of the remote server (304). Additionally, block (308) illustrates the embodiments described for FIG. 2, wherein navigation data and / or integrity data measurements obtained from the vehicles (302a, 302b, 302c) are transmitted to the remote server (304). Subsequently, the remote server (304) may optionally perform an integrity check if such an integrity check has not been performed by each vehicle, and then perform processing, storage, and distribution functions on the received integrity data measurements. The processed data may be stored on a shared database within the remote server (304), which may be accessed by any vehicle in the network or made available upon request. However, in particular, the embodiments described in FIGS. 1 and 2 do not need to be mutually exclusive as illustrated in FIGS. 3; in some cases, (e.g., when the remote server (304) acts as a central network hub that simultaneously receives the generated navigation data measurements as they are communicated through other vehicles), it may be desirable to have public distribution among the vehicles (302a, 302b, 302c) in addition to the remote server (304).

[0028] Next, FIG. 4 illustrates a method for processing, storing, and disseminating GNSS navigation data to other vehicles within a network. The method (400) may be performed, for example, using the systems described in FIGS. 1 through 3, but is not limited to these embodiments. The method (400) begins at step 402 by receiving a request for information regarding known GNSS disturbances. The request may be transmitted by one or more vehicles. In certain cases, for example, if the information is restricted or classified to the user initiating the request, the request may be denied.

[0029] Assuming a valid request, the method (400) proceeds to step (404) to access a database, wherein the database contains generated data of known GNSS disturbances. The database may be located mounted on one or each of the vehicles within a multi-vehicle network, or may be located on a remote server. The method (400) then includes sub-steps (404a, 404b, 404c) describing how the data in the database is generated. In step (404a), measurements corresponding to navigation integrity data are received from a navigation system, wherein the navigation system includes a GNSS receiver and an INS. The navigation data may include GNSS-based data in addition to inertial navigation data measurements. Subsequently, in step (404b), the received integrity data measurements are analyzed for common or repeated GNSS disturbances using the processing techniques described above. Next, in step (404c), one or more navigation parameters of at least one GNSS disturbance are identified based on the analysis of the received measurements. The generated data is based on one or more navigation parameters and is stored in a database, where it is retrieved by a server located directly or remotely from the request vehicle.

[0030] In one embodiment, the generated data may include a compilation of known GNSS disturbances within a geographic area, wherein the compilation includes data describing identified navigation parameters in detail. Additionally or alternatively, the generated data may include a map of received navigation data, wherein the map includes navigation parameters identified from data analysis. The map may be updated as additional navigation data is updated. In another embodiment, the generated data includes data corresponding to GNSS satellite exclusion occurrences, GNSS signal strength fluctuations, and / or differences in navigation subsystem measurements (e.g., differences between GNSS measurements and INS measurements).

[0031] The method (400) concludes in step (406) by providing data generated in response to a request. The data may be provided in real time (when the data is being processed or generated) or after processing (when the data is retrieved from memory storage). In some embodiments, distribution may be restricted to certain data types, such as restricting access to generated data based on identified navigation parameters (e.g., location, frequency, or known cause of GNSS disturbances), or may be restricted to specific authorized users by request. For example, in one embodiment, the server provides the generated data generated in response to an authorized request only to the entity that requested the data (e.g., vehicle or vehicle crew). That is, neither other vehicles in the network nor the server's own management entity can access the data stored in the database. Such a situation may occur, for example, in certain military applications where the data stored in the database is highly confidential and the server is managed by a non-military entity. In that case, the server may provide access to the database to authorized users without access to the content of the data, while maintaining confidentiality with respect to other users in the network, including the server's administrative entity. These embodiments are illustrated in the diagram in FIG. 5.

[0032] FIG. 5 illustrates a flowchart (500) illustrating a method in which access to a database may be restricted based on the type of GNSS disturbance data stored in the database or a received request. The flowchart (500) may be implemented in relation to the techniques described above for storing processed GNSS integrity data measurements in a database contained on a server. The flowchart (500) begins at block (502), where the server receives a request from an entity (e.g., a vehicle) to access GNSS disturbance data stored by the database. Following the request, the flowchart (500) proceeds to a decision block (504) that evaluates the authenticity of the request. If the request is not authorized, the flowchart (500) proceeds to block (506), where access to the database (and the consequent GNSS disturbance data) is denied. If the request is authorized, the flowchart (500) proceeds to block (508), where the GNSS disturbance data is provided to the requesting entity.

[0033] Next, the flowchart (500) proceeds to the decision block (510), which evaluates the access level for other users within the network. If the GNSS disturbance data is not restricted, the flowchart (500) proceeds to block (512), where other entities within the network can also access the GNSS disturbance data provided to the requester. However, if the GNSS disturbance data is restricted, the flowchart (500) proceeds to block (514), where other entities within the network cannot access the GNSS disturbance data provided to the requester. Restrictions on access can be implemented in various ways. For example, access restrictions can be applied to the navigation parameter(s) of the generated data within the database (e.g., ,It may be imposed on other entities based on the location of the GNSS disturbance. Access restrictions may also be imposed based on entities within the network. In one embodiment, access to the requested GNSS disturbance data is provided only to the authorized entity requesting the data. Other entities within the network, including the management entity, cannot access the content of the data, but the server is configured to still provide access to the content to the authorized requester.

[0034] Exemplary embodiments

[0035] Example 1 comprises a system, the system comprising: a plurality of vehicles; a navigation system mounted on each of the plurality of vehicles—the navigation system comprises a GNSS receiver and an INS—; and a processor coupled to the navigation system—the processor is configured to receive measurements corresponding to navigation integrity data from the navigation system, to analyze the received measurements, to identify one or more navigation parameters of at least one GNSS disturbance based on the analysis of the received measurements, to generate data based on one or more navigation parameters, to store the generated data, and to distribute the generated data among one or more of the plurality of vehicles.

[0036] Example 2 includes the system of Example 1, wherein the processor is additionally configured to restrict access to data generated in response to an unauthorized request.

[0037] Example 3 includes the system of Example 1 or Example 2, wherein distributing the generated data further includes distributing the generated data through a remote server.

[0038] Example 4 includes a system of any one of Examples 1 to 3, wherein generating data corresponding to at least one GNSS disturbance further includes generating a map based on the generated data.

[0039] Example 5 includes a system of any one of Examples 1 to 4, wherein one or more navigation parameters include at least one of position data and time data.

[0040] Example 6 includes a system of any one of Examples 1 to 5, wherein the data generated comprises at least one of GNSS satellite exclusion occurrences; GNSS signal strength fluctuations; and differences in navigation subsystem measurements.

[0041] Example 7 includes a system of any one of Examples 1 to 6, wherein generating data corresponding to at least one GNSS disturbance further includes compiling analyzed measurements.

[0042] Example 8 includes a system of any one of Examples 1 to 7, and further includes a second processor coupled to a vehicle, wherein the second processor is configured to determine the integrity of the received measurements.

[0043] Example 9 comprises a non-transient computer-readable medium in which computer-executable instructions are stored, wherein the computer-executable instructions, when executed by one or more processors, cause one or more processors to receive measurements corresponding to navigation integrity data from a plurality of navigation systems—each of the plurality of navigation systems includes a GNSS receiver and an INS located on one of the plurality of vehicles—; analyze the received measurements; identify one or more navigation parameters of at least one GNSS disturbance based on the analysis of the received measurements; generate data based on the one or more navigation parameters; store the generated data; and distribute the generated data among one or more of the plurality of vehicles.

[0044] Example 10 comprises the non-transient computer-readable medium of Example 9, wherein computer-executable instructions additionally cause one or more processors to restrict access to data generated in response to an unauthorized request.

[0045] Example 11 comprises a non-transient computer-readable medium of Example 9 or Example 10, wherein distributing the generated data further comprises distributing the generated data through a remote server.

[0046] Example 12 comprises a non-transient computer-readable medium of any one of Examples 9 to 11, wherein generating data based on at least one GNSS disturbance further comprises generating a map based on the generated data.

[0047] Example 13 comprises a non-transient computer-readable medium of any one of Examples 9 to 12, wherein the data generated therefrom comprises at least one of position data and time data.

[0048] Example 14 comprises a non-transient computer-readable medium of any one of Examples 9 to 13, wherein the data generated therefrom comprises at least one of GNSS satellite exclusion occurrences; GNSS signal strength fluctuations; and differences in navigation subsystem measurements.

[0049] Example 15 comprises a method, the method comprising: receiving a request for information regarding known GNSS disturbances; accessing a database, wherein the database comprises generated data, the generated data is generated by receiving measurements corresponding to navigation integrity data from a navigation system comprising a GNSS receiver and an INS located on a plurality of vehicles, by analyzing the received measurements, and by identifying one or more navigation parameters of at least one GNSS disturbance based on the analysis of the received measurements, the generated data is based on one or more navigation parameters, and the generated data is stored in the database—, and providing the generated data in response to the request.

[0050] Example 16 includes the method of Example 15, wherein the step of providing the generated data further includes the step of restricting access to the generated data only to the entity that requested the generated data.

[0051] Example 17 includes the method of Example 15 or Example 16, wherein the step of providing the generated data further includes the step of providing the generated data through a remote server.

[0052] Example 18 includes a method of any one of Examples 15 to 17, wherein the step of generating data based on at least one GNSS disturbance includes the step of generating a map based on the generated data.

[0053] Example 19 includes the method of any one of Examples 15 to 18, wherein the navigation parameter includes at least one of position data and time data.

[0054] Example 20 comprises the method of any one of Examples 15 to 19, wherein the data generated comprises at least one of GNSS satellite exclusion occurrences; GNSS signal strength fluctuations; and differences in navigation subsystem measurements.

[0055] From the foregoing, it will be understood that while specific embodiments are described herein for illustrative purposes, various modifications may be made without departing from the spirit or scope of the invention. Furthermore, where alternative examples are disclosed for a specific embodiment, such alternative examples may also be applied to other embodiments, even if not specifically mentioned. Additionally, any described component or operation may be implemented and / or performed in hardware, software, firmware, or any combination of two or more of hardware, software, and firmware. Additionally, one or more components of a described device or system may be omitted from the description for clarity or for other reasons. Furthermore, one or more components of a described device or system included in the description may be omitted from the device or system.

Claims

Claim 1 A method for a server comprises: receiving a request from a vehicle for information regarding known Global Navigation Satellite System (GNSS) disturbances; accessing a database by the server, wherein the database comprises generated data, said generated data is generated by receiving measurements corresponding to navigation integrity data from a navigation system comprising a Global Navigation Satellite System (GNSS) receiver and an Inertial Navigation System (INS) located on a plurality of vehicles, said server by analyzing said received measurements, said server by identifying one or more navigation parameters of at least one GNSS disturbance based on the analysis of said received measurements, said generated data is based on said one or more navigation parameters, said generated data is stored in said database; and said generated data is provided by the server in response to said request, said generated data is a combination of GNSS data from said GNSS receiver and inertial data from said INS A method comprising at least one of GNSS satellite exclusion occurrences determined based on, and differences in navigation subsystem measurements. Claim 2 A non-transient computer-readable medium storing computer-executable instructions, wherein, when the computer-executable instructions are executed by one or more processors of a server, the one or more processors cause to receive measurements corresponding to navigation integrity data from a plurality of navigation systems—each of the plurality of navigation systems includes a GNSS receiver and an INS located on one of a plurality of vehicles—; the server causes to analyze the received measurements; the server causes to identify one or more navigation parameters of at least one GNSS disturbance based on the analysis of the received measurements; the server causes to generate data based on the one or more navigation parameters; the server causes to store the generated data; and the server causes to distribute the generated data among one or more of the plurality of vehicles, wherein the generated data comprises GNSS satellite exclusion occurrences determined based on a combination of GNSS data from the GNSS receiver and inertial data from the INS, and A non-transient computer-readable medium comprising at least one of the differences in navigation subsystem measurements. Claim 3 A non-transient computer-readable medium according to paragraph 2, wherein distributing the generated data further includes distributing the generated data through a remote server.

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