Who really invented GPS?

There is an interesting article in today's Miami Herald questioning who owns the rights to GPS technology. A defunct company called SPS claims that Motorola ended a joint venture in 2000 that gives SPS the intellectual property rights to GPS technology. Motorola claims that they gave SPS $5,000,000, paid for their offices, and paid employee salaries. The law suit could potentially be in the $1 Billion dollar range. The trial will take about a month.