1. A method for assuring location data integrity with minimum location disclosure comprising steps of: using Prefix-verifiable Message Authentication Codes (PMAC) to assure the integrity of the location data between at least one authenticator and at least one verifier; using the PMAC from the previous step to authenticate/verify for spatial and spatio-temporal predicates; and using one or more message authentication codes indexes and one or more optimization techniques to reduce computation and communication costs.