Patent ID: 9535160
Date: 2017-01-03
CPC Classifications: G01S,G07B

Claim:
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.