| 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. |
