CN114008487B - 通过运动预测进行误差和完整性评估 - Google Patents

通过运动预测进行误差和完整性评估

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Publication number
CN114008487B
CN114008487B CN202080044406.3A CN202080044406A CN114008487B CN 114008487 B CN114008487 B CN 114008487B CN 202080044406 A CN202080044406 A CN 202080044406A CN 114008487 B CN114008487 B CN 114008487B
Authority
CN
China
Prior art keywords
time
receiver
later point
satellite
error
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202080044406.3A
Other languages
English (en)
Chinese (zh)
Other versions
CN114008487A (zh
Inventor
B·库比纳
R·布格哈特
R·博登海默
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Aumovio Germany GmbH
Original Assignee
Continental Teves AG and Co OHG
Continental Automotive Technologies GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Continental Teves AG and Co OHG, Continental Automotive Technologies GmbH filed Critical Continental Teves AG and Co OHG
Publication of CN114008487A publication Critical patent/CN114008487A/zh
Application granted granted Critical
Publication of CN114008487B publication Critical patent/CN114008487B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/20—Integrity monitoring, fault detection or fault isolation of space segment
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/22—Multipath-related issues
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/396—Determining accuracy or reliability of position or pseudorange measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/485—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an optical system or imaging system

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Security & Cryptography (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
CN202080044406.3A 2019-06-18 2020-06-17 通过运动预测进行误差和完整性评估 Active CN114008487B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102019208874.0A DE102019208874A1 (de) 2019-06-18 2019-06-18 Fehler- und Integritätsbewertung durch Bewegungsprädikation
DE102019208874.0 2019-06-18
PCT/DE2020/200048 WO2020253922A1 (de) 2019-06-18 2020-06-17 Fehler- und integritätsbewertung durch bewegungsprädikation

Publications (2)

Publication Number Publication Date
CN114008487A CN114008487A (zh) 2022-02-01
CN114008487B true CN114008487B (zh) 2025-08-01

Family

ID=71409070

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202080044406.3A Active CN114008487B (zh) 2019-06-18 2020-06-17 通过运动预测进行误差和完整性评估

Country Status (6)

Country Link
US (1) US12111403B2 (https=)
EP (1) EP3987310B8 (https=)
JP (1) JP7406570B2 (https=)
CN (1) CN114008487B (https=)
DE (2) DE102019208874A1 (https=)
WO (1) WO2020253922A1 (https=)

Family Cites Families (24)

* Cited by examiner, † Cited by third party
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US5714948A (en) 1993-05-14 1998-02-03 Worldwide Notifications Systems, Inc. Satellite based aircraft traffic control system
US6516021B1 (en) * 1999-09-14 2003-02-04 The Aerospace Corporation Global positioning systems and inertial measuring unit ultratight coupling method
CN1361409A (zh) * 2000-12-23 2002-07-31 林清芳 增强型导航定位之方法及其系统
US7133772B2 (en) * 2002-07-30 2006-11-07 Global Locate, Inc. Method and apparatus for navigation using instantaneous Doppler measurements from satellites
ES2427975T3 (es) * 2005-06-02 2013-11-05 Gmv Aerospace And Defence S.A. Método y sistema para proporcionar una solución de posición de navegación de GNSS con una integridad garantizada en entornos no controlados
US20070109185A1 (en) * 2005-11-14 2007-05-17 Doug Kracke Providing GPS pseudo-ranges
US7439907B2 (en) 2006-11-20 2008-10-21 Sirf Technology Holdihgs, Inc. Navigation signal receiver trajectory determination
CN100442077C (zh) * 2007-07-12 2008-12-10 北京航空航天大学 接收机自主完好性监测的可用性预测方法
FR2928741B1 (fr) 2008-03-11 2020-06-26 Thales Dispositif et procede de surveillance d'integrite en temps reel d'un systeme de navigation par satellite
WO2010037416A1 (en) * 2008-10-01 2010-04-08 Nokia Corporation Managing the measurement of signals
US8525727B2 (en) * 2009-12-29 2013-09-03 Texas Instruments Incorporated Position and velocity uncertainty metrics in GNSS receivers
US8416129B2 (en) 2009-04-20 2013-04-09 The Boeing Company Positioning determinations of receivers
JP5460148B2 (ja) * 2009-07-06 2014-04-02 株式会社豊田中央研究所 測位装置及びプログラム
JP5673071B2 (ja) * 2010-03-10 2015-02-18 株式会社豊田中央研究所 位置推定装置及びプログラム
KR101151670B1 (ko) * 2011-12-14 2012-06-08 한국항공우주연구원 기준국 수신기 시계오차 조정 효과를 고려한 ｇνｓｓ 의사거리 보정치 표준편차 설정방법
DE102013016243A1 (de) * 2013-10-01 2014-07-17 Daimler Ag Verfahren und Vorrichtung zur Koppelnavigation eines Fahrzeugs mittels fahrzeugspezifischer Bewegungsparameter
US10353077B2 (en) * 2014-08-06 2019-07-16 Raytheon Company Position and motion informed navigation system
WO2017154131A1 (ja) * 2016-03-09 2017-09-14 三菱電機株式会社 測位装置および測位方法
DE102016215645A1 (de) * 2016-08-19 2018-02-22 Continental Automotive Gmbh Vorrichtung und Verfahren zum Erkennen einer fehlerhaften Bestimmung einer geographischen Position eines Fahrzeuges
CN108196288A (zh) * 2018-01-11 2018-06-22 南京理工大学 基于微惯性、芯片原子钟辅助北斗接收机的重定位方法
CN108919312B (zh) 2018-05-03 2022-11-04 武汉大学 基于低轨卫星的自主导航信号增强方法
CN109061694B (zh) * 2018-07-18 2020-08-14 西安空间无线电技术研究所 一种基于gnss钟差固定的低轨导航增强定位方法及系统
DE102019208872A1 (de) * 2019-06-18 2020-12-24 Continental Teves Ag & Co. Ohg Verfahren zur Fehlerbewertung bei einer Positionsbestimmung
US20230077069A1 (en) * 2021-06-23 2023-03-09 Tupaia Ltd. System and method for timing synchronization and tracking of satellite signal receivers

Also Published As

Publication number Publication date
DE102019208874A1 (de) 2020-12-24
DE112020002918A5 (de) 2022-03-10
EP3987310B1 (de) 2025-11-05
WO2020253922A1 (de) 2020-12-24
JP2022534706A (ja) 2022-08-03
EP3987310B8 (de) 2025-12-10
US20220244399A1 (en) 2022-08-04
JP7406570B2 (ja) 2023-12-27
CN114008487A (zh) 2022-02-01
US12111403B2 (en) 2024-10-08
EP3987310A1 (de) 2022-04-27

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Effective date of registration: 20230306

Address after: Hannover

Applicant after: Continental Automotive Technology Co.,Ltd.

Address before: Frankfurt, Germany

Applicant before: CONTINENTAL TEVES AG & Co. OHG

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