Staggered examination of non-trusted receiver information
A system detects slowly diverging navigational signals by updating the current location from purely internal navigational aids for a period of time. The updated location compared to a continuously corrected current location; if the comparison indicates a deviation outside an expected boundary threshold, the external source is excluded from further measurements. Multiple monitoring elements may be staggered such that one or more monitoring elements are always sequestered for future comparisons. The multiple monitoring elements may monitor different external sources with different weights to identify a specific faulty external source.
1. A method comprising:
receiving one or more trusted signals from trusted signal sources;
receiving one or more untrusted signals from untrusted signal sources;
establishing an initial location based on the one or more untrusted signals;
establishing a plurality of monitors, each configured to establish a separate sequestered location by continuously updating the location based solely on the trusted signals for a period of time;
compare one or more of the separate sequestered locations to a current location defined by the untrusted signals after the period of time;
determine if the current location deviates from the separate sequestered locations by more than a boundary threshold; and
validate the separate sequestered locations against the current location if the current location deviates by less than the boundary threshold.
2. The method of claim 1 , further comprising continuously updating the current location with reference to the trusted signals and untrusted signals.
3. The method of claim 1 , wherein each of the plurality of monitors defines a different period of time.
4. The method of claim 1 , wherein each of the plurality of monitors are staggered in time such that comparisons are made more frequently than once per period of time.
5. The method of claim 1 , wherein each of the plurality of monitors applies a different weighting to untrusted signals.
6. The method of claim 1 , further comprising continuously validating the untrusted signals via comparison to the trusted signals to establish the current location.
7. A position tracking system comprising:
one or more untrusted navigation elements configured to establish a location measurement based on one or more untrusted untrusted signals;
one or more trusted navigation elements configured to update a location measurement based on one or more trusted trusted signals; and
at least one processor in data communication with a memory storing processor executable code for configuring the at least one processor to:
establish an initial location based on the one or more untrusted navigation elements;
establish a plurality of monitors, each configured to establish a separate sequestered location by continuously updating the location based solely on the trusted navigation elements for a period of time;
compare one or more of the separate sequestered locations to a current location defined by the untrusted navigation elements after the period of time;
determine if the current location deviates from the separate sequestered locations by more than a boundary threshold; and
validate the separate sequestered locations against the current location if the current location deviates by less than the boundary threshold.
8. The position tracking system of claim 7 , wherein the at least one processor is further configured to continuously update the current location with reference to the trusted navigation elements and untrusted navigation elements.
9. The position tracking system of claim 7 , wherein each of the plurality of monitors defines a different period of time.
10. The position tracking system of claim 7 , wherein each of the plurality of monitors are staggered in time such that comparisons are made more frequently than once per period.
11. The position tracking system of claim 7 , wherein each of the plurality of monitors applies a different weighting to untrusted navigation elements.
12. The position tracking system of claim 7 , wherein the at least one processor is further configured to continuously validate the untrusted navigation elements via comparison to the trusted navigation elements to establish the current location.