System and method for GNSS (global navigation satellite system) signal spoofing detection through processing of civilian and military signals

Abstract

A system includes one or more GNNS receivers having military code and civilian code receiving and processing capabilities enabling precise positional tracking while providing security against signal spoofing and jamming by adversarial parties. The receiver includes a military M-code receiver component to provide anti-spoofing and anti-jamming features and a civilian code receiving component to provide positional tracking. The M-code receiving component receives and processes M-code signals from one or more satellites to define a general location (a "focal region" or "focal envelope") of the craft or individual. The civilian code receiving component is used to track and process civilian satellite signals which are within, pass through or otherwise intersect, the focal envelope defined by the M-code receiving component.

Description

SYSTEM AND METHOD FOR GNSS (GLOBAL NAVIGATION SATELLITE SYSTEM) SIGNAL SPOOFING DETECTION THROUGH PROCESSING OF CIVILIAN AND MILITARY SIGNALSCROSS REFERENCE TO RELATED APPLICATIONS

[0001] The present application claims the benefit of, and priority to, U.S. provisional patent Application Serial No. 63 / 578,688, filed August 25, 2023, entitled SYSTEMS AND METHODS FOR GLOBAL POSITIONING NAVIGATION THROUGH MULTIPLEXING OF SIGNALS FROM MULTIPLE ANTENNAS OF A SINGLE RECEIVER, the entire contents of which application is incorporated by reference herein.FIELD

[0002] The present application relates generally to systems and methods for navigation via Global Navigation Satellite System (GNSS) and / or Global Positioning System (GPS) navigation, and, more particularly, relates to systems and methods including one or more GPS receivers capable of processing military (e.g., M-code) and civilian (C-code) signals to enable precise position tracking while defending against signal jamming and spoofing.BACKGOUND

[0003] A conventional Global Navigation Satellite System (GNNS) and / or Global Positioning System (GPS) requires at least one receiver with an incorporated antenna to receive GPS signals from multiple satellites to determine geolocation of an object. M-code receivers, used by the military, process M-code or military signals, and are designed to be autonomous to determine position with M-code signals alone while providing antijamming and signal encryption capabilities. However, due to challenges in signal and information processing of M-code satellite signals, and other technical challenges, M-code receivers do not always provide optimal positional and / or tracking information of a tracked craft or individual.SUMMARY

[0004] Accordingly, the present invention is directed to a system and methodology for use in a GPS or GNNS environment for determining the position and / or heading of a craft or individual. In illustrative embodiments, the system includes one or more GNNS receivers having militarycode and civilian code receiving and processing capabilities enabling precise positional tracking while providing security against signal spoofing and jamming by adversarial parties. In embodiments, the specialized receiver of the present invention includes a military M-code receiver component to provide anti-spoofing and anti -jamming features and a civilian (C / A) code receiving component to provide positional tracking. In illustrative embodiments, the M-code receiving component receives and processes M-code signals from one or more satellites to define a general location (a “focal region” or “focal envelope”) of the craft or individual. The civilian code receiving component is used to track and process civilian satellite signals which are within, pass through or otherwise intersect, the focal envelope defined by the M-code receiving component. These civilian satellite signals are processed by the civilian receiving component to identify the precise location and / or heading of the craft or individual. In embodiments, signals outside the focal envelope are disregarded due to the possibility that these signals may be erroneous, ghost and / or spoof signals. More specifically, the focal envelope defined by the M-code receiving component is accurate with regard to defining the general location of the craft with received M-code satellite signals. Thus, civilian signals falling outside the focal envelope have a high probability of being erroneous and / or malicious while the civilian signals entering or passing through the focal envelope are more likely viable accurate satellite signals. These signals can be used to determine the precise location of the craft. Otherwise stated, the M-code receiving component is used to filter civilian satellite signals outside the focal envelope which potentially have a higher probability of being erroneous or malicious.

[0005] In one illustrative embodiment, a system comprises a movable vehicle and a receiver mounted to the movable vehicle for processing satellite signals to enable determination of one of a location or direction of the movable vehicle. The receiver includes a first receiver component for processing satellite signals of a first type and a second receiver component for processing satellite signals of a second type.

[0006] In embodiments, the first receiver component comprises an M-code receiver for processing M-code satellite signals and the second receiver component comprises a civilian code receiver for processing civilian code satellite signals.

[0007] In some embodiments, the system includes one or more processors for differentiating the M-code satellite signals and the civilian code satellite signals.

[0008] In other embodiments, the one or more processors include logic configured to define a focal envelope representative of a general location of the movable vehicle.

[0009] In embodiments, the focal envelope is determined at least in part on the M-code satellite signals processed in association with the M-code receiver.

[0010] In some embodiments, the logic of the one or more processors is configured to identify individual ones of the civilian code satellite signals passing through the focal envelope.

[0011] In other embodiments, the logic is configured to determine a location of the movable vehicle based at least in part on the individual ones of the civilian code satellite signals.

[0012] In embodiments, the logic is configured to identify spoof signals where the spoof signals include one or more signals that fail to pass through the focal envelope.

[0013] In some embodiments, the logic is configured to identify an origin of the spoof signals.

[0014] In other embodiments, the movable vehicle is one of a manned, unmanned, autonomous, or semi-autonomous vehicle.

[0015] In another illustrative embodiment, a method comprises: receiving, by a satellite receiver associated with an object, a plurality of satellite signals; identifying M-code satellite signals and civilian code satellite signals of the plurality of satellite signals; processing, with a M-code receiver component of the satellite receiver, the M-code satellite signals to define a focal envelope representative of a general location of the object; processing, with a civilian code receiver component of the satellite receiver, the civilian code satellite signals; identifying individual ones of the civilian code satellite signals passing through the focal envelope; and utilizing the individual ones of the civilian code satellite signals to determine one of a location or direction of the object; wherein the method is performed by one or more processors coupled to memory.

[0016] In embodiments, the method includes identifying spoof signals.

[0017] In some embodiments, identifying spoof signals includes detecting one or more signals that fail to pass through the focal envelope.

[0018] In other embodiments, the method includes identifying an origin of the spoof signals.

[0019] In embodiments, the object is one of a manned, unmanned, autonomous, or semi- autonomous vehicle.BRIEF DESCRIPTION OF THE DRAWINGS

[0020] An understanding of embodiments described herein and many of the attendant advantages thereof may be readily obtained by reference to the following detailed description when considered with the accompanying drawings, wherein:FIG. 1 is a diagram of a system and methodology of a navigation system in accordance with one or more illustrative embodiments;FIG. 2 is a diagram illustrating a satellite receiver of the navigation system illustrating the M-code receiver component and the civilian code receiver component in accordance with one or more illustrative embodiments;FIG. 3 is a flow chart of a methodology of use of the navigation system in accordance with one or more illustrative embodiments;FIG. 4 is a diagram of a system and methodology of a navigation system in accordance with one or more illustrative embodiments;FIG. 5 is a block diagram of the navigation system in accordance with one or more illustrative embodiments;FIG. 6 is a block diagram of the navigation system in accordance with one or more illustrative embodiments; andFIG. 7 is a flow chart illustrating one or more algorithms embodied within the navigation system in accordance with one or more illustrative embodiments.DETAILED DESCRIPTION

[0021] In the following description of exemplary embodiments, reference is made to the accompanying drawings (where like numbers represent like elements), which form a part hereof, and in which is shown by way of illustration exemplary embodiments in which the invention may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the invention, but some embodiments may be utilized and logical, mechanical, electrical, and other changes may be made without departing from the scope of the present invention. The following detailed description is, therefore, not to be taken in a limiting sense, andthe scope of the present invention is defined only by the appended claims.

[0022] In the following description, numerous specific details are set forth to provide a thorough understanding of the invention. However, it is understood that the invention may be practiced without these specific details. In other instances, well-known structures and techniques known to one of ordinary skill in the art have not been shown in detail in order not to obscure the invention. Referring to the figures, it is possible to see the various major elements constituting the apparatus of the present invention.

[0023] Referring initially to FIG. 1, a view of the system and methodology in accordance with one illustrative embodiment of the present disclosure is depicted. The system 10 may include a Global Navigation Satellite System (GNSS) and / or Global Positioning System (GPS) (hereinafter referred to as “PS” for Positioning System) 100 and a craft, vehicle or personnel, for example, a military armored vehicle, represented generally as reference numeral 110a. The PS 100 may be well-known and in common commercial usage around the world for personal, commercial, and military location-finding and navigation and may comprise one or more specific satellite constellation systems such as a GPS, BeiDou Navigation Satellite System (BDS), the Galileo system, the GLObalnaya NAvigazionnaya Sputnikovaya Sistema (GLONASS), the Indian Regional Navigation Satellite System (IRNSS) / Navigation Indian Constellation (NavIC), and / or the QuasiZenith Satellite System (QZSS). The constellation satellite architecture includes multiple satellites 108a-108f which distribute signals A-F respectively. The satellites 108a-108f may include various generations of deployed satellites including Block I satellites, Block II satellites, Block IIR-M satellites, and Block III satellites applied with three carriers LI (1575.42 MHz), L2 (1227.60 MHz), and L5 (1176.42 MHz) bands. At least some or all of the satellites 108a-108f may transmit civilian code satellite signals (e.g., C / A code signals or L1 / L2 signals) and military code satellite signals (e.g., P(Y) code and M-code). Thus, signals A-F may comprise civilian and military code signals.

[0024] The M-code is a type of military signal applied in the LI (1575.42 MHz) and L2 (1227.60 MHz) bands that is designed to increase security of GPS signals and improve anti -jamming capabilities of military receivers. The M-code is an improvement upon the prior encrypted / precision P(Y) code also used in military applications in that the M-code can be received autonomously by the receiver device to track location, direction and velocity. The encryption methodology applied in M-codes is the Modernized Navstar Security Algorithm (MNSA), whichensures the system is secure, enables detection and rejection of false satellite signals thereby increasing anti-spoofing capabilities.

[0025] However, M-code satellite signals and associated technologies do not always provide optimal results with respect to location tracking of a craft or user. More specifically, under certain circumstances, M-code satellite technology can only define a general area or region of location of the craft, not to the precise degree provided by civilian (e.g., C / A) code technologies. This relative inaccuracy may be due in part to signal processing and / or other challenges as M-code technology continues to be developed for universal military use. Thus, in certain situations, M-code defines a region of location of a craft with a margin (e.g., a small margin) of deviation from the absolute location of the craft where the absolute location is determinable via civilian (C / A) code methodologies.

[0026] With reference to FIG. 2, the PS system 200 includes multiple satellites 208a-208f which transmit one or more satellite signals A-F to a satellite receiver 212 (for example, a GPS or GNNS receiver) and associated processor(s) with memory and logic mounted to, or incorporated within, the craft or individual 110b. In embodiments, the receiver 212 includes multiple receiver modules or components, for example, a first or military receiver component 214 and a second or civilian receiver component 216. The first receiver component 214 includes an M-code receiver component for processing M-code satellite signals. As noted, an M-code receiver is designed to increase security of satellite signals and improve anti -jamming and spoofing. The second receiver component 216 is a conventional GNNS or GPS receiver component for processing civilian C / A code satellite signals including C / A signals etc. In some embodiments, the first and second receiver components 214, 216 form a single receiver structural component including logic or coding to process the M-code and civilian code satellite signals. In some embodiments, the first and second receiver modules 214, 216 are independent of each other.

[0027] The receiver 212 incorporates or is associated with one or more antennas 218 which receive the satellite signals A-F transmitted by the satellites 208a-208f. The one or more antennas 218 may be mounted in relation to the craft or individual, or directly mounted to the craft. The one or more antennas 218 receive the raw satellite signals A-E from the satellites 208a-208f which are converted as input signals 10, II, 12... IN for eventual processing by the first and second receiver components 214, 216.

[0028] The receiver 212, including the first and second receiver components 214, 216 incorporates, is coupled to, or otherwise associated with, a signal processor 220. The signal processor 220 receives the input signals 10, II, 12... IN representative of the satellite signals A-E (including both M-code signals and C / A signals). The signal processor 220 includes logic or coding configured and adapted to identify the signal type, for example, whether an individual signal is an M-code or a civilian code signal, for respective processing by the first receiver (M- code) component 214 or the second receiver (civilian code) component 216. In embodiments, the signal processor 220 may assign, separate or distribute the received satellite signals to the appropriate first receiver (M-code) component 214 or the second receiver (civilian code) component 216. In embodiments, the signal processor 210 includes logic configured to identify the received signals and convert the signals to one or more output signals 01, 02 for transmission to and processing by the appropriate first and second receiver components 214, 216. The first and second receiver components 214, 216 process the signals to determine location, tracking, velocity etc. of the craft as will be discussed.

[0029] FIG. 3 is a flow chart illustrating one methodology 350 of use of the system in determining the location of a craft or individual, and to potentially identify spoof signals. In STEP 352, multiple satellite signals are received by one or more antennas associated with a receiver 212 having a first or M-code receiver component 214 and a second or civilian C / A code component 216. The satellite signals may include one or more M-code satellite signals, one or more C / A code satellite signals and / or combinations thereof. The satellite signals may be in the direct line of site of the craft or individual or may be reflected off objects, building, trees within the geographical area. In STEP 354, via the signal processor 220, the M-code satellite signals and civilian code satellite signals are identified, differentiated and, in embodiments, separated. In STEP 356, the M-code satellite signals and civilian code satellite may be processed by their respective first or second receiver components 214, 216. In STEP 358, the M-code receiver component 214 utilizes its tracking / location coding to define a focal envelope about the object (craft or individual) being tracked, i.e., the craft or an individual. As noted above, due to limitations associated with processing M-code signals, the focal envelope defines a general area or region around the object. The focal envelope may define any three-dimensional shape including, without limitation, a sphere, cone, pyramid, vortex etc. about the tracked object. In STEP 358, one or more civilian satellite signals are tracked and identified and sent to the second civilian code receiver component216 for processing. In STEP 360, individual ones of the one or more civilian C / A code signals that pass through or enter the focal envelope are identified, and used to provide, via conventional tracking methodologies, the precise location and / or heading of the craft or individual. (STEP 362) Those signals which do not enter the focal envelope are disregarded with respect to use of their tracking data. In embodiments, these individual signals that do not enter the focal envelope may be identified as spoof signals. (STEP 364) More specifically, the fact that these signals do not enter or pass through the focal envelope defined by the M-code satellite signals may be an indication that these signals are spoof signals. In embodiments, a determination may be made as to the origin of these spoof signals. (STEP 366). For example, logic associated with one or more processors performing the steps of the method 300 may be configured to analyze the spoof signals to identify signal type / location / direction etc., which may assist in determining the origin of the signals.

[0030] FIG. 4 illustrates a system 400 including multiple satellite 408a-408e which transmit satellite signals A-E including M-code satellite signals and civilian code satellite signals. For ease of illustration, the satellite signals in FIG. 4 are direct line of site signals. However, it is possible the satellite signals may include reflected satellite signals. FIG. 4 also illustrates a focal envelope, identified by reference numeral “FE” defined by one or more M-code satellite signals received and processed by the M-code receiver component 214 of the receiver 212 as described in connection with FIG. 3. More specifically, the M-code receiver component 214 processes the M-code satellite signals to define the focal envelope FE or general regional location about the craft or vehicle. In general, the focal envelope FE may define an area within ten (10), twenty (20) or thirty (30) yards about the tracked craft or individual. Other ranges are contemplated. Due to the security and antispoofing characteristics associated with M-code technology, the focal envelope FE is generally very accurate with regard to the general location of the craft with the exception of the aforedescribed variances. Thus, it is highly likely that any satellite signals (including civilian code signals) that are transmitted and pass through the focal envelope FE are legitimate satellite signals (for example, signals A, B, C, D and F) as opposed to falsely generated or spoof signals identified as signals SI, S2 in FIG. 4. These legitimate satellite signals including legitimate civilian code satellite signals are processed by the second civilian receiver component 216 to determine a precise location / heading / velocity of the craft or vehicle. The false or spoof civilian code signals SI, S2 not passing though the focal envelope FE can be analyzed to determine origin etc.

[0031] Referring now to FIG. 5, a block diagram of a system 500 according to some illustrative embodiments is shown. The system 500 includes a vehicle, craft or individual 501 intended to be tracked in a geographical terrain or location. The system 500 one or more receivers 502 and one or more antennas (not shown) coupled to the receiver 502. The receiver 502 includes an M-code receiver component 504 and a civilian receiver component 506. Each of the M-code receiver component 504 and the civilian receiver component 506 may include part or all of a GNSS or GPS receiver configured to receive and process M-code satellite signals and / or civilian (C / A) satellite signals to determine location / heading / velocity of a craft and / or individual. The receiver 502 further includes, or is associated with, a signal processor 508. The signal processor 508 includes logic or coding configured to identify signal type, i.e., differentiate between an M-code satellite signal and a civilian code satellite signal. The signal processor 508 may include multiplexer, demultiplexer, splitter capabilities configured to identify the satellite signal type and direct the received signals to the appropriate M-code receiver component 504 or civilian receiver component 506 for processing.

[0032] The system 500 further comprises a plurality of objects 510a-b, a network 512, a remote server 514 and a plurality of satellites 516a-n (and / or other navigation signal sources) to ascertain or determine geolocation and / or positioning information of the vehicle based on communications via the network 512 and / or from one or more of the satellites 516a-n (e.g., via respective signals “Al”, “Bl”, “B2”, “nl”, “n2”, “n3”). The vehicle 501 may comprise a processing device 518, an input device 520, one or more sensors 522, a propulsion device 524, a maneuver device 526, and / or a power device 528. In some embodiments, the vehicle 501 may be in communication with, e.g., via the network 512, the remote server 514. According to some embodiments, the vehicle 501 may comprise a memory device 530.

[0033] According to some embodiments, the objects 510a, 510b may comprise any type, configuration, and / or quantity of objects such as any number or type of obstacles that may block, bend, reflect, refract, distort, and / or otherwise interfere with one or more of the signals “Al”, “Bl”, “B2”, “nl”, “n2”, “n3”. As depicted for non-limiting purposes of example in FIG. 5, a primary signal “nl” from an nth satellite 516n may be reflected off of a first object 510a to define a secondary signal “n2” and / or the secondary signal “n2” may be reflected off of a second object 510b to define a tertiary signal “n3”. In such a case, the objects 510a, 510b may comprise buildings, terrain features such as hills or mountains, etc. In some embodiments, a first signal “Bl”from a second satellite 516b may be received without obstruction by the vehicle 501 while a second signal “B2” from the second satellite 516b may pass through (and / or otherwise be affected by) the second object 510b. In such a case, the second object 510b may comprise natural and / or man-made diffusive materials such as a tree canopy (branches and / or leaves), electrical wires, smoke, haze, moisture (e.g., mist, rain, etc ), and / or chaff (i.e., man-made and / or man-implemented diffusive, reflective, and / or obstructive materials). According to some embodiments, one or more of the objects 510a, 510b may comprise one or more vehicles (e.g., additional instances of the vehicle 501).

[0034] The network 512 may, according to some embodiments, comprise a Local Area Network (LAN; wireless and / or wired), cellular telephone, Bluetooth®, Near Field Communication (NFC), and / or Radio Frequency (RF) network with communication links between the remote server 514 and the vehicle 501. In some embodiments, the network 512 may comprise direct communication links between any or all of the components of the system 500. The sensor 522 may be, for example, directly interfaced or connected to one or more of the processing device 518 and / or the remote server 514 via one or more wires, cables, wireless links, and / or other network components, such network components (e.g., communication links) comprising portions of the network 512. In some embodiments, the network 512 may comprise one or many additional or alternate links or network components other than those depicted in FIG. 5 . The vehicle 501 may, for example, be connected to the remote server 514 via various cell towers, routers, repeaters, ports, switches, and / or other network components that comprise the Internet and / or a cellular telephone (and / or Public Switched Telephone Network (PSTN)) network, and which comprise portions of the network 512.

[0035] While the network 512 is depicted in FIG. 5 as a single object, the network 512 may comprise any number, type, and / or configuration of networks that is or becomes known or practicable. According to some embodiments, the network 512 may comprise a conglomeration of different sub-networks and / or network components interconnected, directly or indirectly, by the components. The network 512 may comprise one or more cellular telephone networks with communication links between the receiver / communication device 502 and the remote server 514, for example, and / or may comprise an NFC or other short-range wireless communication path, with communication links between the vehicle 501 and one or more of the objects 510a, 510b, for example.

[0036] According to some embodiments, the remote server 514 may comprise any type or configuration of a computerized processing device, such as a PC, laptop computer, computer server, database system, and / or other electronic device, devices, or any combination thereof. In some embodiments, the remote server 514 may be owned and / or operated by a third party (i.e., an entity different than any entity owning and / or operating either the vehicle 501 and / or the satellites 516a-n; such as a certificate, authentication, data storage, image analysis, mapping, demographic, graphical element, and / or cryptographic service provider). The remote server 514 may comprise, for example, a server via which cloud-based services, such as Al processing and / or mapping services (e.g., including data descriptive of the objects 510a, 510b) are provided to the vehicle 501. According to some embodiments, the remote server 514 may comprise a plurality of devices (e.g., sensors, transmitters, and / or computing devices) and / or may be associated with a plurality of third- party entities. In some embodiments, the remote server 514 may comprise the memory device 530 (or a portion thereof), such as in the case the remote server 514 comprises a third-party data storage service, device, and / or system, such as the Amazon® Simple Storage Service (Amazon® S3™) available from Amazon.com, Inc. of Seattle, Wash, or an open-source third-party database service, such as MongoDB™ available from MongoDB, Inc. of New York, N.Y.

[0037] In some embodiments, the satellites 516a-n may comprise any type and / or quantity of earth-orbiting and / or airborne devices that form a communication network (e.g., the network 312 and / or a separate network comprising the signals “A”, “Bl”, “B2”, “nl”, “n2”, “n3”). The communication network may comprise, for example, a geo-location network such as a GNSS / GPS constellation of earth-orbiting satellites 516a-n. According to some embodiments, one or more of the satellites 516a-n may comprise in-atmosphere objects such as drones and / or other aircraft (heavier-than-air or lighter-than-air) that generate any or all of the signals “A”, “Bl”, “B2”, “nl”, “n2”, “n3”. In the case that the satellites 516a-n comprise a GPS constellation of satellites, the satellites 516a-n may comprise a subset of twenty-seven (27) total active medium Earth-orbit Space Vehicles (SV) that are (e.g., but-for the objects 302a-b) in line-of-sight with the vehicle 501 at a particular time.

[0038] According to some embodiments, the vehicle 501 may comprise any type, configuration, and / or quantity of vehicle, manned, unmanned, autonomous, or semi-autonomous, that is or becomes known or practicable. The vehicle 501 may comprise, for example, an autonomous pathfollowing transportation vehicle that is operable to follow one or more predefined and / orautomatically computed paths (not shown) and / or a manned vehicle 501. In some embodiments, the vehicle 308 may comprise the processing device 518 such as a Central Processing Unit (CPU) that executes instructions (not shown) stored in the memory device 530 to operate in accordance with some embodiments described herein. The processing device 518, may, for example, execute one or more programs, modules, and / or routines (such as GNSS / GPS processing routines utilizing some or all of the signals “A”, “Bl”, “B2”, “nl”, “n2”, “n3”) that facilitate localization, navigation, and / or movement of the vehicle 308. The processing device 518 may comprise, in some embodiments, one or more Eight-Core Intel® Xeon® 7500 Series electronic processing devices.

[0039] According to some embodiments, the receiver 502 is a communication device that includes any wired and / or wireless communication object and / or network device such as, but not limited to, a Network Interface Card (NIC), a Radio Frequency (RF) antenna, transmitter, encoder, decoder, and / or receiver. In some embodiments, the receiver 502 may comprise hardware, software, and / or firmware operable to enable wireless communications including, but not limited to, encoding and / or decoding modules, filters, encryption and / or decryption modules, wireless signal triangulation devices, and / or atomic clock modules. In some embodiments, the receiver 502 may comprise an additional GNSS / GPS antenna and / or receiver that, e.g., in cooperation with the processing device 518, receives and processes some or all of the signals “A”, “Bl”, “B2”, “nl”, “n2”, “n3” to determine a geo-location of the vehicle 501.

[0040] According to some embodiments, the input device 520 may comprise one or more of a throttle, a steering, and a brake control mechanism and / or interface via which a human operator may control the speed and / or direction of the vehicle 501. According to some embodiments, the input device 520 may comprise one or more switches, levers, wheels, pedals, and / or interface elements capable of communicating speed, direction, etc.

[0041] In some illustrative embodiments, the sensor 522 may comprise any type, configuration, and / or quantity of sensor devices that are or become known or practicable. In some embodiments, the sensor 522 may comprise a Light Detection and Ranging (LiDAR), Laser Detection and Ranging (LADAR), radar, sonar, Infrared Radiation (IR), RF, ultrasound, structured light, and / or imaging (e.g., stereo vision and / or 3-D camera) device operable to acquire data descriptive of one or more of the objects 510a, 510b and / or one or more of the satellites 516a-n. According to some embodiments, the sensor 522 may also or alternatively comprise a gyroscope, image, audio, and / or video capture and / or recording device, chemical detection device, and / or a light sensor. Accordingto some embodiments, the sensor 522 may comprise various movement sensors such as speed / velocity sensors, pressure sensors, temperature sensors, accelerometers, Inertial Measurement Unit (IMU) devices, and / or tilt sensors. In some embodiments, the sensor 522 may comprise one or more sensors operable to detect a bearing, heading, angle, and / or location of one or more of the objects 510a, 510b and / or satellites 516a-n. The sensor 522 may comprise a camera and / or LiDAR device that detects, locates, and / or characterizes (e.g., in coordination with the processing device 518, identifies and / or determines one or more characteristics of; such a shape, size, composition, mass, density, etc.) the second object 510b, for example, and / or may comprise a receiver that is configured to measure a bearing to the nth satellite 516n. According to some embodiments, the sensor 522 (and / or the processing device 518) may utilize both information descriptive of the second object 510b and the nth satellite 516n (and / or the signals “nl”, “n2”, “n3” therefrom) to determine that the second object 510b is likely to be affecting the signals “nl”, “n2”, “n3” from the nth satellite 516n.

[0042] According to some embodiments, the propulsion device 524 may comprise any type, configuration, and / or quantity of propulsion devices that are operable to move the vehicle 501 from one location to another. In some embodiments, the maneuver device 526 may comprise any type, quantity, and / or configuration of mechanical, electrical, and / or electro-mechanical devices that are operable to control the path of the vehicle 501 (a / or the direction of thrust output by the propulsion device 524). The maneuver device 526 may comprise, for example, steering linkage, actuators, control surfaces, thrust vectoring devices, etc. In some embodiments, the maneuver device 526 may be coupled to and / or in communication with the propulsion device 524. The maneuver device 526 may comprise, for example, a steer-by-wire system that permits computerized control (e.g., via the processing device 518 and / or the remote server 514) of the maneuvering of the vehicle 501. The maneuver device 526 and the propulsion device 524 may, for example, operate in a coordinated fashion (e.g., in response to commands from the processing device 518) to cause the vehicle 501 to follow a desired path and / or route.

[0043] According to some embodiments, the power device 528 may be electrically coupled to provide power to any or all of the components. In some embodiments, the power device 528 may comprise a power source such as a solar panel, inertial generator, on-board generator, alternator, fuel-cell, external power supply port, etc. According to some embodiments, the power device 528 may also or alternatively comprise a power storage device such as one or more capacitors,batteries, fuel reservoirs or tanks, etc.

[0044] In some embodiments, the memory device 530 may store various logic, code, and / or applications, each of which may, when executed, participate in, facilitate, and / or cause selective and / or opportunistic GNSS / GPS navigation processing, as described herein. In some embodiments, the memory device 530 may comprise any type, configuration, and / or quantity of data storage devices that are or become known or practicable. The memory device 530 may, for example, comprise an array of optical and / or solid-state memory cards or hard drives configured to store sensor data, geo-location data, maneuvering data, object location and / or classification data, navigation data, road network data, rules of the road data, routing data (e.g., analysis formulas and / or mathematical models), credentialing and / or communication instructions, codes, and / or keys, and / or various operating instructions, drivers, etc. In some embodiments, the memory device 330 may comprise a solid-state and / or non-volatile memory card (e g., a Secure Digital (SD) card, such as an SD Standard-Capacity (SDSC), an SD High-Capacity (SDHC), and / or an SD eXtended- Capacity (SDXC) and any various practicable form-factors, such as original, mini, and micro sizes, such as are available from Western Digital Corporation of San Jose, Calif. While the memory device 530 is depicted as a stand-alone component of the vehicle 501, the memory device 530 may comprise multiple components. In some embodiments, a multi-component memory device 530 may be distributed across various devices and / or may comprise remotely dispersed components. Any of the vehicle 501, the satellites 516a-n, the objects 5 lOa-b, and / or the remote server 514 may comprise the memory device 530 or a portion thereof, for example.

[0045] Referring now to FIG. 6 a block diagram depicting an exemplative illustrative embodiment of the system of the present invention is illustrated. The system 600 includes an object 602 (e.g., an obstruction and / or interference), one or more processing devices 612, one or more GNSS receivers 614 (including the M-code receiver component 214 and the civilian receiver component 216 and the signal processor 220 of FIG. 2), one or more antennas 616a, 616b, a Chip Scale Atomic Clock (CSAC) 616c, an IMU 616d, a sensor 616g, a processing device 612 coupled to memory device 640 (e.g., storing object data 644-1 and / or location data 644-2). The memory device 640 may comprise a database containing a description of open areas where the sky can be seen directly without occlusions (e.g., the object data 644-1), for example, and / or the processing device 612may comprise a controller / computer programmed to process localization solutions for pseudoranges coming from satellites (not shown).

[0046] One or more signals from one or more satellites may be received by the antennas 616a, 616b and the incoming data / input may be provided to and / or processed by the GNSS / GPS receiver 614. In some embodiments, the processing device 612 may execute stored instructions in coordination with data from the receiver 614. The processing device 612 and may perform one or more processing functions on the signals on the signals including, without limitations, fdtering, noise suppressing, attenuating, converting, transforming etc. The receiver 614 includes the M- code receiver component 214 and the civilian code component 216, and processes the satellite signals in the manner described hereinabove in connection with FIG. 3.

[0047] The system 600 may comprise a CSAC 616c, which may include, for example, an accurate clock that can process the GNSS solution over time by sequentially receiving different satellite signals via the antennas 616a, 616b. The system 600 may also include an IMU 616d that may, for example, provide inertial / visual odometry / LiDAR odometry and / or other relative localization data to measure a change in pose within subsequent GNSS measurements.

[0048] With continued reference to FIG. 6, the system 600 may include one or more sensors 616g that builds and / or populates the object data 644-1 and / or the location data 644-2 by detecting, identifying, locating, and / or classifying the object 602. In such a manner, for example, the configuration of the system 600 may self-build and / or derive a model and / or mapping of clear and obstructed sky areas, bearings, locations, etc., without the need to utilize data from a separate and / or remote source. According to some embodiments, the sensor 616g may sense and / or detect various environmental and / or object data such as data descriptive of a size, shape, location, density, and / or temperature of the object 602, and / or wind, rain, light, humidity, magnetic field, and / or pressure measurements. Wind measurements from the sensor 616g may be, for example, utilized to predict and / or track smoke and / or other transient and / or mobile interferences. This data may be stored as location data 644-2. The system 600 may further include multiple antennas, for example, two or more antennas 616a, 616b utilized to receive signals from multiple satellites (e.g., in different clear sky areas) at a single time.

[0049] With reference to FIG. 7, for example, any of the computing or processing devices described hereinabove may include storage or memory for storing or loading one or more algorithms to control at least operation of the receiver, multiplexer and the antenna architecture. The algorithm 700 may comprise, for example, one or more software programs, modules, engines, and / or applications coded to perform any of the method of FIG. 7 herein, and / or portions thereof.The algorithm 700, and any reference to the term “algorithm” herein, refers to any set of defined instructions that operate upon input to define and / or provide output 714. The algorithm 700 may, for example, be specifically programmed and / or otherwise defined to instruct a computer or other device (not shown) to solve a particular problem (e.g., logical) and / or resolve a particular mathematical calculation (e.g., arithmetic). In some embodiments, the algorithm 700 may be written and / or defined as a series or sequence of instructions encoded in (e.g., written in accordance with syntax and / or semantics rules) a particular computer programming language (e.g., Python™, Java™, JavaScript™, C, C++, C#, Basic™, FORTRAN, COBOL, Ruby™, and / or Perl™), e.g., a set of instructions that convert and / or encode characters, objects, and / or other data elements into machine code (e.g., code operable to be executed by an electronic processing device, such as a CPU).

[0050] According to some embodiments, the algorithm 700 may comprise soliciting input, at 702. Input from one or more sources may be searched for and / or queried, by structuring and / or executing a database query and / or by sending a data communication signal or “handshake”, such as is common with Bluetooth® short-range communication protocols. In some embodiments, the algorithm 700 may comprise receiving the input, at 704. Whether solicited or otherwise provided and / or acquired (e.g., received as an incoming signal, loaded and / or downloaded), for example, the input for the algorithm 700 may be received, identified, and / or otherwise processed and / or located. According to some embodiments, the algorithm 700 may comprise data processing, at 706. The data processing 706 may, for example, comprise execution of one or more logical and / or computational procedures, modules, scripts, and / or routines that may be stored in a memory device 708 as a set of instructions or rules 710 and / or that may be defined and / or implemented by one or more electrical, mechanical, and / or physical components, such as logic gates, diodes, transistors, relays, and / or switches (e.g., operable to execute the method of FIG. 7 herein, and / or portions thereof).

[0051] In some embodiments, execution of the algorithm 700 may comprise a loading of the rules 710 into the memory 708 and / or into an electronic processing system (not shown) and / or an activation of one or more logic gates and / or other electrical and / or mechanical components. The algorithm 700 may operate upon the input in accordance with the rules 710 to achieve a result by defining output, at 712. The algorithm 700 may, for example, generate, produce, define, identify, calculate, and / or otherwise compute output based on an application of the data processing 706utilizing the rules 710 and any or all input receiving at 704. According to some embodiments, the algorithm 700 may comprise providing the output, at 712. One or more output devices (not shown) may be utilized to convey the output (e.g., a result, conclusion, decision, etc.) to one or more other devices and / or entities (not shown), such as one or more users, consumers, customers, potential customers, and / or devices utilized thereby. The output may be displayed via an electronic display screen of a computer, mobile / smart phone, smart watch, etc., and / or may be transmitted as one or more electronic signals to one or more network destination addresses, such as e-mail addresses, URL locations, MAC addresses, and / or broadcast radio frequencies.

[0052] According to some embodiments, the data processing at 706 may comprise execution of a listing, sequence, matrix, and / or other set of stored steps and / or instructions that utilize the input to define the output. In some embodiments, the listing of steps and / or instruction details may comprise elements that are known to those skilled in the art. The algorithm 700 may partially or completely comprise, for example, instructions and / or steps that are well known, such as steps and / or instructions operable to calculate an area (length times width), volume (length times width times height), distance (difference between two locations), velocity (distance over time), acceleration (velocity over time), GNSS / GPS location, and / or any other known mathematical and / or logical (if / then statements) procedures. For any and all known procedures and / or instructions, the discrete details of such instructions are represented by the data processing at 706 and are not listed herein as one of ordinary skill in the art would readily comprehend both what such technological knowledge entails and that the inventor has possession of such knowledge. Instructions that may be included within and / or comprise the data processing at 706 (and / or the algorithm 700) may include, for example, but are not limited to, any known or practicable: (i) GNSS, GPS, and / or other navigational geo-location resolution algorithms, (ii) Al and / or ML data input classification algorithms, (iii) data transmission algorithms, (iv) data encoding algorithms, (v) data decoding algorithms, (vi) logical and / or mathematical data comparison algorithms, and (vii) data searching (e.g., keyword searching) algorithms.Rules of Interpretation

[0053] Throughout the description herein and unless otherwise specified, the following terms may include and / or encompass the example meanings provided. These terms and illustrative example meanings are provided to clarify the language selected to describe embodiments both in thespecification and in the appended claims, and accordingly, are not intended to be generally limiting. While not generally limiting and while not limiting for all described embodiments, in some embodiments, the terms are specifically limited to the example definitions and / or examples provided. Other terms are defined throughout the present description.

[0054] Neither the Title (set forth at the beginning of the first page of this patent application) nor the Abstract (set forth at the end of this patent application) is to be taken as limiting in any way as the scope of the disclosed invention(s). Headings of sections provided in this patent application are for convenience only, and are not to be taken as limiting the disclosure in any way.

[0055] All definitions, as defined and used herein, should be understood to control over dictionary definitions, definitions in documents incorporated by reference, and / or ordinary meanings of the defined terms. The terms and expressions which have been employed herein are used as terms of description and not of limitation, and there is no intention, in the use of such terms and expressions, of excluding any equivalents of the features shown and described (or portions thereof), and it is recognized that various modifications are possible within the scope of the claims. Accordingly, the claims are intended to cover all such equivalents.

[0056] The indefinite articles “a” and “an,” as used herein in the specification and in the claims, unless clearly indicated to the contrary, should be understood to mean “at least one” or "one or more".

[0057] The phrase “and / or,” as used herein in the specification and in the claims, should be understood to mean “either or both” of the elements so conjoined, i.e., elements that are conjunctively present in some cases and disjunctively present in other cases. Other elements may optionally be present other than the elements specifically identified by the “and / or” clause, whether related or unrelated to those elements specifically identified, unless clearly indicated to the contrary.

[0058] When an ordinal number (such as "first", "second", "third" and so on) is used as an adjective before a term, that ordinal number is used (unless expressly specified otherwise) merely to indicate a particular feature, such as to distinguish that particular feature from another feature that is described by the same term or by a similar term. For example, a "first widget" may be so named merely to distinguish it from, e.g., a "second widget". Thus, the mere usage of the ordinal numbers "first" and "second" before the term "widget" does not indicate any other relationship between the two widgets, and likewise does not indicate any other characteristics of either or both widgets. Forexample, the mere usage of the ordinal numbers "first" and "second" before the term "widget" (1) does not indicate that either widget comes before or after any other in order or location; (2) does not indicate that either widget occurs or acts before or after any other in time; and (3) does not indicate that either widget ranks above or below any other, as in importance or quality. In addition, the mere usage of ordinal numbers does not define a numerical limit to the features identified with the ordinal numbers. For example, the mere usage of the ordinal numbers "first" and "second" before the term "widget" does not indicate that there must be no more than two widgets.

[0059] An enumerated list of items (which may or may not be numbered) does not imply that any or all of the items are mutually exclusive, unless expressly specified otherwise. Likewise, an enumerated list of items (which may or may not be numbered) does not imply that any or all of the items are comprehensive of any category, unless expressly specified otherwise. For example, the enumerated list "a computer, a laptop, a PDA" does not imply that any or all of the three items of that list are mutually exclusive and does not imply that any or all of the three items of that list are comprehensive of any category.

[0060] Some embodiments described herein are associated with a "user device" or a "network device". As used herein, the terms "user device" and "network device" may be used interchangeably and may generally refer to any device that can communicate via a network. Examples of user or network devices include a PC, a workstation, a server, a printer, a scanner, a facsimile machine, a copier, a Personal Digital Assistant (PDA), a storage device (e.g., a disk drive), a hub, a router, a switch, and a modem, a video game console, or a wireless phone. User and network devices may comprise one or more communication or network components. As used herein, a “user” may generally refer to any individual and / or entity that operates a user device. Users may comprise, for example, customers, consumers, product underwriters, product distributors, customer service representatives, agents, brokers, etc.

[0061] As used herein, the term “network component” may refer to a user or network device, or a component, piece, portion, or combination of user or network devices. Examples of network components may include a Static Random Access Memory (SRAM) device or module, a network processor, and a network communication path, connection, port, or cable.

[0062] In addition, some embodiments are associated with a "network" or a "communication network". As used herein, the terms "network" and "communication network" may be used interchangeably and may refer to any object, entity, component, device, and / or any combinationthereof that permits, facilitates, and / or otherwise contributes to or is associated with the transmission of messages, packets, signals, and / or other forms of information between and / or within one or more network devices. Networks may be or include a plurality of interconnected network devices. In some embodiments, networks may be hard-wired, wireless, virtual, neural, and / or any other configuration of type that is or becomes known. Communication networks may include, for example, one or more networks configured to operate in accordance with the Fast Ethernet LAN transmission standard 802.3-2002® published by the Institute of Electrical and Electronics Engineers (IEEE). In some embodiments, a network may include one or more wired and / or wireless networks operated in accordance with any communication standard or protocol that is or becomes known or practicable.

[0063] As used herein, the terms “information” and “data” may be used interchangeably and may refer to any data, text, voice, video, image, message, bit, packet, pulse, tone, waveform, and / or other type or configuration of signal and / or information. Information may comprise information packets transmitted, for example, in accordance with the Internet Protocol Version 6 (IPv6) standard as defined by “Internet Protocol Version 6 (IPv6) Specification” RFC 1883, published by the Internet Engineering TaskForce (IETF), Network Working Group, S. Deering et al. (December 1995). Information may, according to some embodiments, be compressed, encoded, encrypted, and / or otherwise packaged or manipulated in accordance with any method that is or becomes known or practicable.

[0064] In addition, some embodiments described herein are associated with an “indication”. As used herein, the term “indication” may be used to refer to any indicia and / or other information indicative of or associated with a subject, item, entity, and / or other object and / or idea. As used herein, the phrases “information indicative of’ and “indicia” may be used to refer to any information that represents, describes, and / or is otherwise associated with a related entity, subject, or object. Indicia of information may include, for example, a code, a reference, a link, a signal, an identifier, and / or any combination thereof and / or any other informative representation associated with the information. In some embodiments, indicia of information (or indicative of the information) may be or include the information itself and / or any portion or component of the information. In some embodiments, an indication may include a request, a solicitation, a broadcast, and / or any other form of information gathering and / or dissemination.

[0065] As utilized herein, the terms “program” or “computer program” may refer to one or more algorithms formatted for execution by a computer. The term “module” or “software module” refers to any number of algorithms and / or programs that are written to achieve a particular output and / or output goal - e.g., a ‘login credentialing’ module (or program) may provide functionality for permitting a user to login to a computer software and / or hardware resource and / or a ‘shipping’ module (or program) may be programmed to electronically initiate a shipment of an object via a known and / or available shipping company and / or service (e.g., FedEX®). The terms “engine” or “software engine” refer to any combination of software modules and / or algorithms that operate upon one or more inputs to define one or more outputs in an ongoing, cyclical, repetitive, and / or loop fashion. Data transformation scripts and / or algorithms that query data from a data source, transform the data, and load the transformed data into a target data repository may be termed ‘data transformation engines’, for example, as they repetitively operate in an iterative manner upon each row of data to produce the desired results.

[0066] Numerous embodiments are described in this patent application, and are presented for illustrative purposes only. The described embodiments are not, and are not intended to be, limiting in any sense. The presently disclosed invention(s) are widely applicable to numerous embodiments, as is readily apparent from the disclosure. One of ordinary skill in the art will recognize that the disclosed invention(s) may be practiced with various modifications and alterations, such as structural, logical, software, and electrical modifications. Although particular features of the disclosed invention(s) may be described with reference to one or more particular embodiments and / or drawings, it should be understood that such features are not limited to usage in the one or more particular embodiments or drawings with reference to which they are described, unless expressly specified otherwise.

[0067] Devices that are in communication with each other need not be in continuous communication with each other, unless expressly specified otherwise. On the contrary, such devices need only transmit to each other as necessary or desirable, and may actually refrain from exchanging data most of the time. For example, a machine in communication with another machine via the Internet may not transmit data to the other machine for weeks at a time. In addition, devices that are in communication with each other may communicate directly or indirectly through one or more intermediaries.

[0068] A description of an embodiment with several components or features does not imply that all or even any of such components and / or features are required. On the contrary, a variety of optional components are described to illustrate the wide variety of possible embodiments of the present invention(s). Unless otherwise specified explicitly, no component and / or feature is essential or required.

[0069] Further, although process steps, algorithms or the like may be described in a sequential order, such processes may be configured to work in different orders. In other words, any sequence or order of steps that may be explicitly described does not necessarily indicate a requirement that the steps be performed in that order. The steps of processes described herein may be performed in any order practical. Further, some steps may be performed simultaneously despite being described or implied as occurring non-simultaneously (e.g., because one step is described after the other step). Moreover, the illustration of a process by its depiction in a drawing does not imply that the illustrated process is exclusive of other variations and modifications thereto, does not imply that the illustrated process or any of its steps are necessary to the invention, and does not imply that the illustrated process is preferred.

[0070] "Determining" something can be performed in a variety of manners and therefore the term "determining" (and like terms) includes calculating, computing, deriving, looking up (e.g., in a table, database or data structure), ascertaining and the like.

[0071] It will be readily apparent that the various methods and algorithms described herein may be implemented by, e.g., appropriately and / or specially-programmed computers and / or computing devices. Typically, a processor (e.g., one or more microprocessors) will receive instructions from a memory or like device, and execute those instructions, thereby performing one or more processes defined by those instructions. Further, programs that implement such methods and algorithms may be stored and transmitted using a variety of media (e.g., computer readable media) in a number of manners. In some embodiments, hard-wired circuitry or custom hardware may be used in place of, or in combination with, software instructions for implementation of the processes of various embodiments. Thus, embodiments are not limited to any specific combination of hardware and software.

[0072] A "processor" generally means any one or more microprocessors, CPU devices, computing devices, microcontrollers, digital signal processors, or like devices, as further described herein.

[0073] The term "computer-readable medium" refers to any medium that participates in providingdata (e.g., instructions or other information) that may be read by a computer, a processor or a like device. Such a medium may take many forms, including but not limited to, non-volatile media, volatile media, and transmission media. Non-volatile media include, for example, optical or magnetic disks and other persistent memory. Volatile media include DRAM, which typically constitutes the main memory. Transmission media include coaxial cables, copper wire and fiber optics, including the wires that comprise a system bus coupled to the processor. Transmission media may include or convey acoustic waves, light waves and electromagnetic emissions, such as those generated during RF and IR data communications. Common forms of computer-readable media include, for example, a floppy disk, a flexible disk, hard disk, magnetic tape, any other magnetic medium, a CD-ROM, DVD, any other optical medium, punch cards, paper tape, any other physical medium with patterns of holes, a RAM, a PROM, an EPROM, a FLASH-EEPROM, any other memory chip or cartridge, a carrier wave, or any other medium from which a computer can read.

[0074] The term “computer-readable memory” may generally refer to a subset and / or class of computer-readable medium that does not include transmission media such as waveforms, carrier waves, electromagnetic emissions, etc. (e.g., “non-transitory”). Computer-readable memory may typically include physical media upon which data (e.g., instructions or other information) are stored, such as optical or magnetic disks and other persistent memory, DRAM, a floppy disk, a flexible disk, hard disk, magnetic tape, any other magnetic medium, a CD-ROM, DVD, any other optical medium, punch cards, paper tape, any other physical medium with patterns of holes, a RAM, a PROM, an EPROM, a FLASH-EEPROM, any other memory chip or cartridge, computer hard drives, backup tapes, Universal Serial Bus (USB) memory devices, and the like.

[0075] Various forms of computer readable media may be involved in carrying data, including sequences of instructions, to a processor. For example, sequences of instruction (i) may be delivered from RAM to a processor, (ii) may be carried over a wireless transmission medium, and / or (iii) may be formatted according to numerous formats, standards or protocols, such as Bluetooth™, TDMA, CDMA, 3G.

[0076] Where databases are described, it will be understood by one of ordinary skill in the art that (i) alternative database structures to those described may be readily employed, and (ii) other memory structures besides databases may be readily employed. Any illustrations or descriptions of any sample databases presented herein are illustrative arrangements for stored representationsof information. Any number of other arrangements may be employed besides those suggested by, e.g., tables illustrated in drawings or elsewhere. Similarly, any illustrated entries of the databases represent exemplary information only; one of ordinary skill in the art will understand that the number and content of the entries can be different from those described herein. Further, despite any depiction of the databases as tables, other formats (including relational databases, object-based models and / or distributed databases) could be used to store and manipulate the data types described herein. Likewise, object methods or behaviors of a database can be used to implement various processes, such as the described herein. In addition, the databases may, in a known manner, be stored locally or remotely from a device that accesses data in such a database.

[0077] The present invention can be configured to work in a network environment including a computer that is in communication, via a communications network, with one or more devices. The computer may communicate with the devices directly or indirectly, via a wired or wireless medium such as the Internet, LAN, WAN or Ethernet, Token Ring, or via any appropriate communications means or combination of communications means. Each of the devices may comprise computers, such as those based on the Intel® Pentium® or Centrino™ processor, that are adapted to communicate with the computer. Any number and type of machines may be in communication with the computer.

[0078] The present disclosure provides, to one of ordinary skill in the art, an enabling description of several embodiments and / or inventions. Some of these embodiments and / or inventions may not be claimed in the present application, but may nevertheless be claimed in one or more continuing applications that claim the benefit of priority of the present application. Applicants intend to file additional applications to pursue patents for subject matter that has been disclosed and enabled but not claimed in the present application.

[0079] It will be understood that various modifications can be made to the embodiments of the present disclosure herein without departing from the scope thereof. Therefore, the above description should not be construed as limiting the disclosure, but merely as embodiments thereof. Those skilled in the art will envision other modifications within the scope of the invention as defined by the claims appended hereto.

Claims

CLAIMSWhat Is Claimed Is:

1. A system, comprising: a movable vehicle; and a receiver mounted to the movable vehicle for processing satellite signals to enable determination of one of a location or direction of the movable vehicle, the receiver including: a first receiver component for processing satellite signals of a first type; and a second receiver component for processing satellite signals of a second type.

2. The system according to claim 1 wherein the first receiver component comprises an M-code receiver for processing M-code satellite signals and the second receiver component comprises a civilian code receiver for processing civilian code satellite signals.

3. The system according to claim 2 including one or more processors for differentiating the M-code satellite signals and the civilian code satellite signals.

4. The system according to claim 3 wherein the one or more processors include logic configured to define a focal envelope representative of a general location of the movable vehicle.

5. The system according to claim 4 wherein the focal envelope is determined at least in part on the M-code satellite signals processed in association with the M-code receiver.

6. The system according to claim 5 wherein the logic of the one or more processors is configured to identify individual ones of the civilian code satellite signals passing through the focal envelope.

7. The system according to claim 6 wherein the logic is configured to determine a location of the movable vehicle based at least in part on the individual ones of the civilian code satellite signals.

8. The system according to claim 7 wherein the logic is configured to identify spoof signals, the spoof signals including one or more signals that fail to pass through the focal envelope.

9. The system according to claim 8 wherein the logic is configured to identify an origin of the spoof signals.

10. The system according to claim 1 wherein the movable vehicle is one of a manned, unmanned, autonomous, or semi-autonomous vehicle.

11. A method, comprising: receiving, by a satellite receiver associated with an object, a plurality of satellite signals; identifying M-code satellite signals and civilian code satellite signals of the plurality of satellite signals; processing, with a M-code receiver component of the satellite receiver, the M-code satellite signals to define a focal envelope representative of a general location of the object; processing, with a civilian code receiver component of the satellite receiver, the civilian code satellite signals; identifying individual ones of the civilian code satellite signals passing through the focal envelope; and utilizing the individual ones of the civilian code satellite signals to determine one of a location or direction of the object; wherein the method is performed by one or more processors coupled to memory.

12. The method according to claim 11 including identifying spoof signals.

13. The method according to claim 12 wherein identifying spoof signals includes detecting one or more signals that fail to pass through the focal envelope.

14. The method according to claim 13 including identifying an origin of the spoof signals.

15. The method according to claim 11 wherein the object is one of a manned, unmanned, autonomous, or semi-autonomous vehicle.

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