	US 11,808,864 B2
	Multi-sensor vehicle positioning system employing shared data protocol
Robert Hanczor, San Diego, CA (US); David Garcia, San Diego, CA (US); and Duane Maxwell, San Diego, CA (US)
Assigned to Piper Networks, Inc., San Diego, CA (US)
Filed by Piper Networks, Inc., San Diego, CA (US)
Filed on Jun. 21, 2021, as Appl. No. 17/353,346.
Claims priority of provisional application 63/045,029, filed on Jun. 26, 2020.
Prior Publication US 2021/0405215 A1, Dec. 30, 2021
Int. Cl. G01S 19/46 (2010.01); H04B 17/309 (2015.01); G01S 19/52 (2010.01); G01S 19/47 (2010.01)

CPC G01S 19/46 (2013.01) [G01S 19/47 (2013.01); G01S 19/52 (2013.01); H04B 17/309 (2015.01)]

8 Claims

1. A system, comprising:

a hardware processor; and

a non-transitory machine-readable storage medium encoded with instructions executable by the hardware processor to perform operations comprising:

receiving Global Positioning System (GPS) location data;

determining a first quality of service (QOS) of the GPS location data;

determining, based on the first QoS of the GPS location data, whether a quality of the GPS location data is above a quality threshold;

responsive to determining the quality of the GPS location data is above the quality threshold, determining the GPS location data are available;

responsive to determining the quality of the GPS location data is not above the quality threshold, determining the GPS location data are unavailable;

responsive to determining the GPS location data are available:

determining a first location based on the GPS location data,

generating a first message in National Marine Electronics Association (NMEA) format, the first message indicating the first location, and

causing transmission of the first message; and

responsive to determining the GPS location data are unavailable:

weighting the GPS location data according to the first QoS,

determining a second QoS of the non-GPS location data,

weighting the non-GPS location data according to the second QoS,

determining a second location based on the weighted GPS location data and the weighted non-GPS location data,

generating a second message in the NMEA format, the second message indicating the second location, and

causing transmission of the second message.