| 摘要 |
A positioning system comprises an onboard GNSS satellite receiver in a mobile element belonging to a user which estimates the position of said mobile element at various instants, a first processing module determining a consistency indicator by combining the estimated positions and data provided by secondary information sources, using a dynamic model of movement of the mobile elements to be positioned. The indicator is determined by comparing a speed, acceleration, gyration triplet derived from direction and velocity measurements taken by the mobile element, to a dynamic model of movement of an object, vehicle, person or animal to be positioned. The system comprises a consolidation module containing means storing the positions estimated at various instants, a digital filter to obtain a filtered position from the stored positions of a user, the consistency indicator calculated from filtered positions; and detection means determining from the consistency indicator whether the estimated positions are falsified. |
| 主权项 |
1. A positioning system comprising:
at least one onboard GNSS satellite receiver in a mobile element belonging to a user u, said receiver having a function of estimating a position Xu of said mobile element at various instants, and a first processing module determining a consistency indicator coh(X) by combining the estimated positions Xu[t] and data provided by secondary information sources, a dynamic model of movement of the mobile elements to be positioned being used, said indicator being determined by comparing a speed, acceleration, gyration [v, a, g] triplet derived from direction and velocity measurements taken by the mobile element, to a dynamic model of movement of an object, vehicle, person or animal to be positioned, the system further comprising: a consolidation module containing means for storing the positions Xu[t] estimated at various instants t by user u, a digital filter configured to obtain a filtered position Xf[t] from the stored positions Xu[t] of the user, the consistency indicator coh(X) being calculated from the filtered positions Xf[t], and the system also contains detection means for determining from the consistency indicator coh(X) whether or not the estimated positions Xu(t) are falsified. |
