CN103797380B - For the method selecting satellite - Google Patents
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- CN103797380B CN103797380B CN201280044428.5A CN201280044428A CN103797380B CN 103797380 B CN103797380 B CN 103797380B CN 201280044428 A CN201280044428 A CN 201280044428A CN 103797380 B CN103797380 B CN 103797380B
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- 238000000034 method Methods 0.000 title claims abstract description 78
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Abstract
The present invention relates to a kind of for the method selecting satellite (44), described satellite is configured to the received global navigation satellite system signal of hereinafter referred to as GNSS signal (12) is sent to vehicle (2), described method includes: measure the described vehicle measuring state data (50,52) relative to described satellite (44) based on described GNSS signal (12)；Determine the reference state data for described measuring state data (50, the 52) redundancy determined based on GNSS signal (12) of described vehicle (12)；When the contrast of described measuring state data (50,52) and described reference state data meets the condition of pre-determining, select described satellite (44).
Description
Technical field
The present invention relates to a kind of for selecting the method for satellite, a kind of control for performing described method
Device and a kind of vehicle with described control device, described satellite is configured to GNSS signal
It is sent to vehicle.
Background technology
Known in WO 20,11/,098 333 A1, vehicle considers different sensors parameter, in order to change
The kind sensor parameter existed or generate new sensor parameter and thus improve detectable letter
Breath.
Summary of the invention
It is an object of the invention to the utilization improving multiple sensor parameter for improving information.
Described purpose is realized by the feature of independent claims.Preferred development configuration is appurtenance
The theme required.
According to an aspect of the present invention, one is used for selecting satellite described in satellite to be configured to
The received global navigation satellite system signal of hereinafter referred to as GNSS signal is sent to the side of vehicle
Method includes step:
-measure the vehicle measuring state data relative to satellite based on GNSS signal,
-determine the reference of the measuring state data redundancy for determining of vehicle based on GNSS signal
Status data, and
-when the contrast (Gegen ü berstellung) of measuring state data and reference state data full
Foot pre-determining condition time, select described satellite.
Described method based on the idea that can be derived the positional information of vehicle by GNSS signal.But
Identify in the range of described method based on this design, GNSS signal its on vehicle by reception
Front may be through different interference sources, described interference source can make GNSS signal Noise, thus, institute
State GNSS signal and no longer indicate the actual position of vehicle.This interference source can be multipath receive,
Block or reflect.
Based on described design, the theory of described method can determine that estimated value for GNSS signal, by institute
State estimated value and can derive the reference of the quality for GNSS signal with enough precision.If GNSS
Deviation between signal and the estimated value being considered as reference is sufficiently small, then select this satellite as with
Source in GNSS signal.
In an expanded configuration, for measuring state data and the contrast of reference state data, surveying
Difference is formed between amount status data and reference state data.This expanded configuration based on the idea that
Although contrast can perform based on any wave filter, but is directly obtained it by the difference of two status datas
Deviation to each other, this statistically describes GNSS signal and thus directly allows to assess its quality.
Thus can be preferred, as conditions permit measuring state data and the reference state of pre-determining
Maximum allowable error between data, described error is again the quality limit when selecting satellite.
Particularly preferably, maximum allowable error can be relevant to standard deviation, described standard deviation based on by
The summation that reference variance for reference state data and the measurement variance for measuring state data are constituted
Calculate.This expanded configuration based on the idea that use two systems while selecting satellite at this
Evaluation.Reference value can determine iteratively, and wherein, the quality of described reference value is along with the increasing of iterative step
Many and become more and more higher.But this it is to say, reference value can first itself consumingly Noise and
With error, therefore do not meet purpose in this moment, select the GNSS with the highest quality
Signal.By the variance according to two status datas and thus noise select maximum allowable error
And the deviation thus allowed, maximum allowable error between status data and status data itself
Noise is interrelated when selecting.Thereby guarantee that, the noise matching of satellite to be selected in estimated value with
By the deviation between the measured value that GNSS signal represents.
In an additional expanded configuration of described method, maximum allowable error is so corresponding to mark
Many times of quasi-deviation so that in the dispersion interval that measuring state data enter into and standard deviation is relevant
Probability is less than the threshold value of pre-determining.Ensure in this way, by reference state data, i.e. estimated value with
The inevitably dispersion of the deviation between measuring state data, i.e. measured value does not selects
Real suitably satellite.
According to another aspect of the present invention, one is used for selecting satellite described in satellite to be constructed use
In the received global navigation satellite system signal of hereinafter referred to as GNSS signal is sent to vehicle
Method includes step:
-measure the vehicle measuring state data relative to satellite based on GNSS signal,
-when measuring state data meet the condition of pre-determining, select described satellite.
Described method is based on the idea that the selection of satellite can be by means of conclusive judgement basis
Perform, because using the vehicle of GNSS signal to yield to the physical boundary conditions determined.Vehicle example
If do not allowed arbitrarily to accelerate and also can not travel the most rapidly.Described physical boundary conditions can conduct
Basis considers the selection for satellite, checks GNSS signal without other comparison measurement
Quality.
Therefore, the condition of pre-determining is preferably the physical boundary conditions that vehicle is surrendered.
Particularly preferably physical boundary conditions could be for limit acceleration and/or the limit velocity of vehicle.
In a special expanded configuration of described method, measuring state data such as can include speed
And/or acceleration, described speed and/or described acceleration derived by GNSS signal.In this way may be used
Direct Test, the most previously described physical boundary conditions is to be met.
According to another aspect of the present invention, one is used for selecting satellite described in satellite to be constructed use
In the received global navigation satellite system signal of hereinafter referred to as GNSS signal is sent to vehicle
Method includes step:
-detection at least three satellite state to each other, described satellite includes satellite to be selected,
-GNSS signal based on satellite to be selected measures the vehicle measuring state relative to satellite
Data,
-contrasts based on described three satellites state relative to each other and measuring state data select
Satellite to be selected.
Described method is based on the idea that three satellites with satellite to be selected have toward each other
There is state known per se.By described known state, vehicle is relative to described three satellites also
Must move in estimable mode.Described estimable motion can consider to be used for selecting as judgement basis
Select GNSS signal and thus select satellite to be selected.
At this it is known that the state of three satellites includes relative toward each other in the range of described method
Position information.In order to by GNSS signal distortion be construed to error free, whole three GNSS satellite
GNSS signal must in the way of the most identical by blocking, the distortion such as multiple reflections, but this by
Can be got rid of as well as possible in diverse signal transmission path.Therefore, described method provides non-
The most reliably for selecting the judgement basis of satellite.
In an expanded configuration of described method, state that three satellites are relative to each other and measuring state
The contrast of data includes the vehicle contrast relative to the distance of three satellites.This expanded configuration is based on so
Design: the GNSS signal of three satellites can as to be mutually facing in possible contradiction based on satellite
Aspect is checked.If whole three satellites are investigated in the travel direction of vehicle is in vehicle
Before, whole three distances necessarily diminish.Additionally, the investigation in terms of trigonometry can determine that, car
Allow how fast to diminish to each distance of respective satellite.Satellite distance relative to each other can be by satellite
The information of transmission derives.
According to another aspect of the present invention, a kind of method for selecting satellite, described satellite is by structure
Make for the received global navigation satellite system signal of hereinafter referred to as GNSS signal is sent to vehicle,
Described method includes step:
-from GNSS signal detection vehicle relative to the distance of satellite and vehicle relative to satellite in court
Relative velocity on the line of vision of satellite,
-contrast based on the distance detected with the relative velocity detected selects satellite.
Described method based on the idea that vehicle relative to the distance of satellite and vehicle relative to satellite
Relative velocity be relative to each other, the most associated with each other.It addition, described method is based on the idea that phase
Speed such as can be detected based on Doppler effect by GNSS signal, and vehicle is relative to satellite
Distance such as can the transmission time based on GNSS signal and thus in measurement technology with relative velocity
Detection independently detect.Now, two kinds of measurements are still necessary to mutual to the theory of described method
Joining, measurement parameter, i.e. relative velocity to be detected are relative to each other with distance.
Contrast can be carried out at random formation based on difference or other filtering.Being formed with by difference
The little calculating time obtains the judgement basis for selecting satellite immediately.
Following expanded configuration still can be performed for previously described all method:
The measuring state data of vehicle and the reference state data of vehicle can include the distance of satellite respectively
And/or towards the relative velocity on the line of vision of satellite.That is, describe according to last aspect of the present invention
Method analysis based on measuring state data itself selects satellite, wherein, utilizes following advantage,
GNSS signal by measure technically available two kinds different in the way of the principle transmission measurement status number that detects
According to.
In a preferred development configuration of one of described method, to the distance of satellite and/or towards satellite
Line of vision on relative velocity correspondingly by GNSS signal code measure and phase measurement try to achieve.
The abbreviation global positioning system signal of gps signal, abbreviation such as can be used as GNSS signal
The received global navigation satellite system signal of GLONASS signal or Galileo signal.Thus, as replacement
Scheme or additional comparison parameter are available for vehicular longitudinal velocity and use, can based on described vehicular longitudinal velocity
Improve the quality of information of tire radius to be detected.GNSS signal such as allows to make the car load electricity of vehicle
Network participants, such as sensor in road network are corresponding accurately based on its high-precision timestamp
Synchronize in time.At present, this synchronization be in for Car2X communication, i.e. from a vehicle to it
The data exchange of system, such as signal lights or other infrastructure component in its vehicle or surrounding
Current exploitation focus in.By about accident and other jeopardously, about section situation, traffic mark
The exchange of the information of will etc., can obtain the income in terms of safety and comfortableness.Here, a lot
In the case of, it is necessary to information is provided in real time.In order to ensure this real-time, information such as can be provided with height
The timestamp of precision, described timestamp is linked with information by corresponding network participants.But the described time
Stamp must accordingly in high precision, and this ensures by selecting undistorted GNSS signal.
In another expanded configuration of one of described method, reference state data are dynamic with the traveling of vehicle
State data and/or ranging data are correlated with.This expanded configuration is based on the idea that reference state data can
In fused filtering device, precision is such as carried out based on GNSS signal.This such as can be achieved in,
Status data that reference state data with GNSS signal itself or are derived by GNSS signal, such as observation
Measuring state Data Comparison in device.Belong to this observer can be allow simulation ground or digitally
Carry out any wave filter of vehicle condition observation.The most such as it is contemplated that Luenberger observer.As
Fruit to consider noise together, then investigate Kalman filter.If it is also contemplated that the form of noise, then
If desired it is contemplated that particle filter, described particle filter has the operational noise of fundamental quantity
Scene and such as select the considered noise scenarios when eliminating by Monte Carlo simulation.Observation
Device is preferably Kalman filter, and described Kalman filter provides in terms of the calculating resource that it is required
Optimum.By observation, reference state data the most accurately and thus allow also to
Select more and more accurate GNSS signal.
According to another aspect of the present invention, control device to be arranged for performing one of described method.
In an expanded configuration of described control device, described device has memorizer and processor.
Here, described method stores in memory in the form of a computer program and processor is set use
In implementing described method by memorizer when computer program is loaded in processor.
According to another aspect of the present invention, computer program includes code modules, based on working as
Calculation machine program performs whole steps of one of described method when being carried out on one of computer or described device
Suddenly.
According to another the aspect of the present invention, computer program includes program code, described journey
Sequence code is stored in computer-readable data medium, and when described computer code is at data
When being carried out on reason device, described computer code performs one of described method.
According to another aspect of the present invention, vehicle includes described control device.
Accompanying drawing explanation
Following description in conjunction with the embodiments can become apparent from and be expressly understood that the above-mentioned characteristic of the present invention, spy
Advantage of seeking peace and obtain the ways and means of above-mentioned characteristic, feature and advantage, retouches in detail in conjunction with accompanying drawing
State described embodiment, wherein,
Fig. 1 illustrates the concept view with the vehicle merging sensor,
Fig. 2 illustrates the concept view merging sensor in Fig. 1,
Fig. 3 illustrates the first explanatory view of the vehicle receiving GNSS signal.
Detailed description of the invention
In the accompanying drawings, identical skill element is provided with identical reference number and only describes once.
The concept view with the vehicle 2 merging sensor 4 is shown with reference to Fig. 1, Fig. 1.
Merge sensor 4 to be received by GNSS receiver 6 commonly known per se in current form of implementation
The status data 8 of vehicle 2, described status data includes the vehicle 2 absolute position on road surface 10.
In addition to absolute position, the status data 8 from GNSS receiver 6 also includes the speed of vehicle 2
Degree.From the status data 8 of GNSS receiver 6 in current form of implementation with for professional
Known mode by the GNSS signal 12 received by GNSS antenna 13 in GNSS receiver 6
Middle derivation, the most hereinafter referred to as GNSS status data 8.For its details, see about this
Relevant speciality document.
Fusion sensor 4 is configured to improve in the way of the most to be described, is led by GNSS signal 12
The quality of information of the GNSS status data 8 gone out.On the one hand, this is necessary, because GNSS letter
Numbers 12 have the highest signal/noise bandwidth and therefore may unusual inaccuracy.On the other hand,
GNSS signal 12 can not provide continuously.
In current form of implementation, vehicle 2 has inertial sensor 14, described inertial sensor for this
The traveling dynamic data 16 of detection vehicle 2.It is known that the longitudinal direction having vehicle 2 belonging to this is accelerated
Degree, transverse acceleration and normal acceleration and inclination ratio, pitching ratio and yaw ratio.This
A little dynamic datas 16 that travel are considered for improving GNSS status data 8 in current form of implementation
Quality of information and such as make the vehicle 2 position on road surface 10 and speed precision.Then, i.e.
Making GNSS signal 12 such as can not provide below tunnel, the status data 18 of precision is also
Can be used by guider 20.
In order to improve the quality of information of GNSS status data 8 further, in current form of implementation,
Can also optionally use wheel speed sensor 22, described wheel speed sensor detection vehicle 2
The vehicle wheel rotational speed 24 of each wheel 26.
The concept view merging sensor 4 in Fig. 1 is shown with reference to Fig. 2, Fig. 2.
Measurement data already mentioned above in Fig. 1 enters in fusion sensor 4.Merging sensor 4 should
The status data 18 of output precision.Its basic conception is, from the letter of GNSS status data 8
Breath with from the traveling dynamic data 16 of inertial sensor 14 to wave filter 30 in carry out contrasting and because of
This improves the status data 8 of GNSS receiver 6 or from the traveling dynamic number of inertial sensor 14
According to the signal/noise bandwidth in 16.Although to this end, wave filter may be configured to arbitrarily, but Kalman
Wave filter solves described task with relatively low calculating resource requirement most effectively.Therefore, wave filter
30 should be preferably Kalman filter 30 later.
The status data 18 of the precision of vehicle 2 and the comparison status data 34 of vehicle 2 enter into card
In Thalmann filter 30.The status data 18 of precision in current form of implementation such as by DE 10
Strapdown inertial 36 known to 2006 029 148 A1 generates from traveling dynamic data 16.Described accurately
The status data changed comprises the positional information of the precision about vehicle, but also includes about vehicle 2
Other status data, such as its speed, its acceleration and course thereof.In contrast to this, status number is compared
Obtaining by the model 38 of vehicle 2 according to 34, described model is the most once presented from GNSS receiver 6
Send GNSS status data 8.Then determined in model 38 by described GNSS status data 8 and compare
Status data 34, the described status data that compares comprises the information that the status data 18 with precision is identical.
The status data 18 of precision and compare status data 34 and differ only in its value to each other.
Kalman filter 30 status data based on precision 18 calculates use with comparing status data 34
In the error distribution (Fehlerhaushalt) 40 of status data 18 of precision be used for comparing state
The error distribution 42 of data 34.Always miss for what error distribution was interpreted as in a signal later
Difference, described total error is constituted by the detection single error different with when transmitting this signal.At GNSS
In the case of signal 12 and thus in the case of GNSS status data 8, corresponding error is divided
Join can by the error of satellite orbit, the error of satellite clock, the error of remaining refraction effect and by
Error in GNSS receiver 6 is constituted.
The error distribution 40 of the status data 18 of precision and the error distribution comparing status data 34
42 the most correspondingly flow to strapdown inertial 36 and module 38 for correcting the status data 18 of precision
Compare status data 34 in other words.The i.e. status data 18 of precision and compare status data 34 and changed
Generation ground removing error.
In current form of implementation, GNSS receiver 6 connects from the GNSS satellite 44 shown in Fig. 3
Receive GNSS signal 12.The GNSS signal 12 sent by described GNSS satellite 44 can be more or less
Strong ground, ground Noise, therefore, module 38 extends a function, this function in current form of implementation
GNSS signal 12 itself or GNSS status data 8 based on GNSS signal 12 derivation are carried out
Analyzing and processing and be then based on analyzing and processing selects GNSS satellite 44 as GNSS signal
The source of 12.
The following method described by means of Fig. 3 can be mutually combined in any way, though these methods
Itself is individually described by.Therefore, it is not necessary to only implement in described method one and select satellite.
First order is not important.
The first explanatory view of the vehicle 2 receiving GNSS signal 12 is shown with reference to Fig. 3, Fig. 3.
Vehicle 2 moves on road 10 with speed 46 and acceleration 48.At this it will be assumed that, vehicle 2
Braking, thus, speed 46 and acceleration 48 are in opposite direction.Speed 46 and acceleration 48 can be by GNSS
Signal 12 determines.
This such as can be carried out by the carrier phase measurement of the difference of GNSS signal 12.Examine at this
Considering the time change of the carrier phase of GNSS signal 12, the change of described time is based on by motion
Doppler effect that vehicle 2 causes and obtain.Result as the phase measurement of difference obtains line of vision speed
Degree 50, the described radial velocity to be converted into speed 46 for mode known to professional and can add
Speed 48.
As an alternative solution or additionally, it is possible to consider the position of vehicle based on code measurement, by institute
State code measurement to be identified between vehicle 2 and satellite 44 by the transmission time of GNSS signal 12
Distance 52, can also be to calculate speed 46 He for mode known to professional by described distance
Acceleration 48.
First method in four methods described below:
The core concept of first method is, speed 46 and acceleration 48 must are fulfilled for certain physics
Boundary condition, described speed and acceleration do not allow to destroy described physical boundary conditions.Common it is not
Car travel speed for the design of motor type ride characteristic is not higher than 300km/h.Additionally, described sedan-chair
Car cannot be more than the 1.2 of acceleration of gravity times to brake.If GNSS signal 12 draws destruction
The value of described boundary condition, then satellite 44 can correspondingly be excluded and be not considered as GNSS in other words
The information source of status data 8.
Second method described below:
Second method is based on the idea that can directly be detected relative to satellite by GNSS signal 12
The radial velocity 50 of 44, i.e. vehicle are towards the motion of satellite direction and distance 52.The radial velocity 50 and
Distance 52 can be revised by measuring principle as an alternative solution by status data 18 based on precision,
Thus, GNSS signal 12 radial velocity relative to satellite 44 and the distance that derive can be considered
For the radial velocity 50 transmitted by GNSS signal 12 and the estimated value of distance 52.
The core concept of second method is now, and estimated value is corresponding to from GNSS signal 12
Deviation between information must be matched with overall noise, and the deviation i.e. calculated by overall noise was corresponding to previously
Described actual deviation.
Below will be by means of the radial velocity obtained by GNSS signal 12 in the way of not producing restriction
50 this thought is relatively described.As an alternative solution or additionally, can in the same manner based on
Second method is performed relative to the distance 52 of satellite 44.
Measurement noise σ from the radial velocity 50 of GNSS signalGNSSWith the state about precision
The unreliability of data 18 and the measurement data during all other participates in the radial velocity 50 of revision
Unreliability and the measurement noise σ of thus estimated valueRekIt is summed into an overall measurement noise
σMess=σGNSS+σRek.Additionally, the radial velocity 50 and the radial velocity of revision, i.e. estimated value it
Between can determine that deviation μ.In order to select satellite, now determine that the standard normal obtained by overall measurement noise
Deviation
With estimated value, the radial velocity i.e. revised relative to the radial velocity 50 measured by GNSS signal 12
The threshold value that differs of deviation μ.
Thereby guaranteeing that, the Accuracy Matching of the measured value 50,52 transmitted by GNSS signal 12 is in estimating
The precision of evaluation, i.e. from the precision merging sensor 4 status data 18 relative to satellite
The radial velocity of revision and/or the distance of revision.
In order to be not excluded for too much satellite 44 by described method, can make as the threshold value for deviation μ
Use standard deviation μStanMany times, wherein, many times can follow for select expectations dispersion width.
Third method is described below.
The basic thought of third method is, but the state of satellite 44 and other satellite 54,56 that
This relatively and independently determines, i.e. with the radial velocity 50 and distance 52 from the point of view of vehicle
Such as by means of the information of GNSS signal 12 transmission.
When the state that known satellite 44,54,56 is relative to each other, the radial velocity 50 and relative to
The distance 52 of each satellite 44,54,56 cannot change in any way.If the most all defended
Before star is in vehicle 2 in travel direction 46, the most all relative to each satellite 44,54,56
Distance 52 inevitable diminish accordingly.
It practice, this such as can be performed by trigonometric ratio relatively (formula, Vergleich).If defended
Star distance 58 to each other is it is known that and vehicle 2 is relative at least two 54,56 in satellite
Distance it is known that then distance 52 be overdetermination because this distance can be by previous information revision.But revision
Distance must be matched with actual range 52, then from the quality of GNSS signal 12 of satellite 44
Can be assumed for merging sensor 4 enough.
Finally, can be by the whole distances 58 between satellite 44,54,56 and vehicle 2 relative to satellite
44, measured distance 52 radial velocity 50 in other words of 54,56 mathematically by satellite 44,
54,56 and vehicle 2 known triangle relation to each other set up the equation group of overdetermination, the side of described overdetermination
Journey group must be able to solve reconcilably.The advantage of described equation group is, contradiction can be limited in local and
Thus may be configured to the satellite 44,54,56 determined, thus, corresponding satellite 44,54,56 and
Its GNSS signal 12 can be excluded.
In the range of fourth method, basic thought is, the radial velocity 50 and vehicle 2 and satellite
Distance 52 between 44 is examined by means of different measurement means (carrier phase measurement and code are measured)
Survey.But the described radial velocity and distance must be mated each other.That is, when distance 52 is to time derivation
Time, it is necessary to obtain the radial velocity 50.Otherwise there is error, based on this error, satellite 44 can be arranged
Remove.
Preferably perform the method for selecting satellite 44 according to described order, because on the one hand by described
The precision of method inspection, another aspect perform described method and improve from first method to fourth method.Cause
This, in computing technique disadvantageously, the most incredible from the point of view of physical boundary conditions can lead to
The satellite crossing first method eliminating is formulated in the equation group of third method together.
Claims (15)
1. the method being used for selecting satellite (44), described satellite is configured to later
The received global navigation satellite system signal being referred to as GNSS signal (12) is sent to vehicle (2), institute
The method of stating includes:
-measure described vehicle relative to described satellite (44) based on described GNSS signal (12)
Measuring state data (50,52)；
-determine determining for described of described vehicle (2) based on GNSS signal (12)
The reference state data of measuring state data (50,52) redundancy, described with reference to shape
State data are the states of the precision produced by measuring principle as an alternative solution
Data；And
-when described measuring state data (50,52) and the contrast of described reference state data
When meeting the condition of pre-determining, select described satellite (44),
-wherein, the condition of described pre-determining be described measuring state data (50,52) with
Maximum allowable error (μ between described reference state dataStan), and
-wherein, described maximum allowable error (μStan) relevant to standard deviation, described mark
Quasi-deviation is based on by the reference variance (σ for described reference state dataRek) and use
Measurement variance (σ in described measuring state data (50,52)GNSS) constitute
Summation calculates.
Method the most according to claim 1, wherein, in order to described measuring state data (50,
52) and the contrast of described reference state data, described measuring state data (50,52) with described
Difference (μ) is formed between reference state data.
Method the most according to claim 1, wherein, described maximum allowable error (μStan)
So corresponding to many times of described standard deviation so that described measuring state data (50,52) enter
To and the relevant dispersion interval of described standard deviation in probability less than the threshold value of pre-determining.
4. according to the method one of claims 1 to 3 Suo Shu, wherein, described vehicle (2)
The reference state data of measuring state data (50,52) and described vehicle (2) include described respectively
The distance (52) of satellite (44) and/or the relative velocity (50) on the line of vision towards described satellite (44).
Method the most according to claim 4, wherein, to the distance (52) of described satellite (44)
And/or the relative velocity (50) on the line of vision towards described satellite (44) is correspondingly by described GNSS
The code of signal (12) is measured and phase measurement is tried to achieve.
6. according to the method one of claims 1 to 3 Suo Shu, wherein, described reference state data
Relevant to the traveling dynamic data of described vehicle and/or ranging data.
7. the method being used for selecting satellite (44), described satellite is configured to later
The received global navigation satellite system signal being referred to as GNSS signal (12) is sent to vehicle (2), institute
The method of stating includes:
-measure described vehicle (2) relative to described satellite based on described GNSS signal (12)
(44) measuring state data (50,52)；
-when described measuring state data (50,52) meet the condition of pre-determining, select described
Satellite, the condition of wherein said pre-determining is the physical boundary conditions that vehicle is surrendered.
Method the most according to claim 7, wherein, physical boundary conditions is for described car
The limit acceleration of (2) and/or limit velocity.
9. according to the method described in claim 7 or 8, wherein, described measuring state data (50,
52) include that speed and/or acceleration, described speed and/or described acceleration are by described GNSS signal
(12) derive.
10. the method being used for selecting satellite (44), described satellite is configured to later
The received global navigation satellite system signal being referred to as GNSS signal (12) is sent to vehicle (2), institute
The method of stating includes:
The state that-detection at least three satellite (44,54,56) is relative to each other, described satellite bag
Include satellite (44) to be selected；
-that GNSS signal (12) based on satellite (44) to be selected measures described vehicle is relative
Measuring state data (50,52) in described satellite (44)；
-based on described three satellites (44,54,56) state (58) relative to each other and described
Satellite (44) to be selected described in the contrast selection of measuring state data (50,52).
11. methods according to claim 10, wherein, described three satellites (44,54,
56) state (58) relative to each other and the contrast of described measuring state data (50,52) include institute
State vehicle (2) relative to the distance (52) of described three satellites (44,54,56) and/or line of vision
The contrast of speed (50).
12. 1 kinds are used for the method selecting satellite (44), and described satellite is configured to later
The received global navigation satellite system signal being referred to as GNSS signal (12) is sent to vehicle (2), institute
The method of stating includes:
-detect described vehicle (2) from described GNSS signal (12) by means of different measurement means
Relative to the distance of described satellite (44) (52) and described vehicle (2) relative to institute
State the satellite (44) relative velocity (50) on the line of vision towards described satellite (44)；
-contrast based on the distance (52) detected and the relative velocity (50) detected selects
Described satellite (44).
13. methods according to claim 12, wherein, described contrast formation based on difference
Carry out.
14. 1 kinds are used for the method selecting satellite (44), and described satellite is configured to later
The received global navigation satellite system signal being referred to as GNSS signal (12) is sent to vehicle (2), institute
The method of stating includes:
-according to the method one of claim 7 to 9 Suo Shu,
-according to the method one of claim 1 to 6 Suo Shu,
-according to the method described in claim 10 or 11, and
-according to the method described in claim 12 or 13.
15. 1 kinds control device (4), and described control device is arranged for performing according to above-mentioned power
One of profit requirement described method.
Applications Claiming Priority (9)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102011082534 | 2011-09-12 | ||
| DE102011082534.7 | 2011-09-12 | ||
| DE102011082539 | 2011-09-12 | ||
| DE102011082539.8 | 2011-09-12 | ||
| DE102011086710.4 | 2011-11-21 | ||
| DE102011086710 | 2011-11-21 | ||
| DE102012207297 | 2012-05-02 | ||
| DE102012207297.7 | 2012-05-02 | ||
| PCT/EP2012/067866 WO2013037844A2 (en) | 2011-09-12 | 2012-09-12 | Method for selecting a satellite |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103797380A CN103797380A (en) | 2014-05-14 |
| CN103797380B true CN103797380B (en) | 2016-11-30 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5631838A (en) * | 1993-08-02 | 1997-05-20 | Aisin Seiki Kabushiki Kaisha | Apparatus for verifying GPS satellite data |
| CN101937073A (en) * | 2009-06-30 | 2011-01-05 | 凹凸电子（武汉）有限公司 | Method and device for detecting carrier frequency of GPS (Global Position System) satellites as well as GPS receiver |
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5631838A (en) * | 1993-08-02 | 1997-05-20 | Aisin Seiki Kabushiki Kaisha | Apparatus for verifying GPS satellite data |
| CN101937073A (en) * | 2009-06-30 | 2011-01-05 | 凹凸电子（武汉）有限公司 | Method and device for detecting carrier frequency of GPS (Global Position System) satellites as well as GPS receiver |
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