DE102016007182B4 - System and method for determining and storing location-related problem areas of navigation satellite-supported position determination - Google Patents

Abstract

System for determining and storing location-related problem areas of navigation satellite-supported position determination, comprising a navigation satellite-supported position determination device (2) assigned to a vehicle (1) and having a sensor (3) for receiving from navigation satellites (4, 4') of a global navigation satellite system transmitted signals (14, 14'), and a vehicle-external, digital computing device (5), wherein the position determining device (2) and the computing device (5) each have a communication device (6, 6') for transmitting data via mobile radio or are connected thereto are characterized in thata) the position determination device (2) is set up to, while the vehicle (1) is traveling, record a plurality of consecutive acquisitions of the signals (14 , 14') of navigation satellites (4, 4') to determine the coordinates (9) of the vehicle (1) resulting from the signals (14, 14') received with each detection, and the determined coordinates (9) together with data relating to the measurement accuracy of the received signals (14, 14') and data relating to the time of each detection via mobile radio to the computing device (5), andb) the computing device (5) is set up to b1) the transmitted to it Check coordinates (9) by comparing them with digital road data to determine whether the real measurement error in at least one of the acquisitions is greater than the measurement error to be expected from the data regarding the measurement accuracy of the received signals (14, 14'), and/or checking, by comparing it with digital road data, whether an apparent position jump (13) of the vehicle (1) occurred during the acquisition, andb2) the coordinates (9) for which the real measurement error is greater than that from the data relating to the measurement accuracy of the received signals (14, 14') is to be expected measurement errors and/or where there has been an apparent position jump (13) of the vehicle (1) into a position provided in the computing device (5) or associated therewith coordinate problem areas database (7) or leave it there, and/or- to assign the coordinates (9) mentioned in the above section of b2) to road sections of a digital road map and the road sections in question into a one provided in the computing device (5) or therewith enter or keep in related road problem database (7').

Description

The present invention relates to a system and a method for determining and storing location-related problem areas in navigation satellite-supported position determination.

The position of a vehicle, such as a motor vehicle, for e.g. integrated navigation systems, is currently determined predominantly using a GNSS sensor (GNSS=Global Navigation Satellite System), which receives data from a GNSS, e.g of the Russian GLONASS system.

Currently known GNSS include a number of 24 to 30 navigation satellites, which circle the earth in different orbits at an altitude of approx. 25,000 km. As a result, a GNSS sensor can receive the signals from several navigation satellites simultaneously, e.g. from 6 to 12 navigation satellites in the GPS system, provided there is a clear view of the sky (ideally up to the horizon). The position of the vehicle is determined using a GNSS by measuring the distance from the vehicle to several navigation satellites by measuring the respective signal propagation time.

The sensor measurement accuracy in a GNSS measurement depends on the position of the satellites in relation to each other and the observed location, as well as the accuracy of the time measurement. A high degree of accuracy in determining the position can be achieved if the angle of the connecting lines between the vehicle to be measured and the positions of the navigation satellites is as large as possible, but the navigation satellites are each at least 10° above the horizon.

In order for the position (i.e., latitude, longitude, and altitude) of a vehicle to be determined using only a GNSS, the GNSS sensor must receive signals from four different navigation satellites simultaneously.

Sensor data fusion is often used to verify and/or improve the accuracy of a vehicle's position determination. With such a sensor data fusion, the position of the vehicle on the earth's ellipsoid is determined on the basis of various sensor values, e.g. by merging the data from a GNSS sensor and the data from the vehicle's sensors (e.g. hodometry, acceleration sensors or yaw rate sensors).

In a sensor data fusion, the various measurements are usually combined using a weighting which is determined from the sensor measurement accuracy. This sensor measurement accuracy is supplied by the GNSS sensor with every GNSS measurement, for example.

Thus, in the case of a sensor data fusion, each GNSS measurement is usually weighted with the measurement accuracy per measurement provided by the sensor. The expectation on the part of the Fusion for a GNSS measurement is that the less precise a GNSS measurement is, the greater the associated measurement error is given.

However, there are areas (often referred to below as "problem areas") in which GNSS measurements occur which are given with incorrect measurement accuracy values. In such problem areas, e.g. in "house canyons", the measurement drifts from reality due to multipath propagation of the satellite signals, the real measurement accuracy is therefore smaller, but the measurement accuracy given by the sensor remains constant.

Another example of a “problem area” is going through a tunnel, since measurement failures can occur here due to satellite signal shadowing and/or invalid position jumps can occur in the measurements.

The erroneous measurements of these problem areas are included in the sensor data fusion with the transmitted incorrect measurement accuracy and have a negative impact on the fusion result. It is therefore desirable if such problem areas are recognized and measurement values from problem areas are not taken into account, for example for position determination, or only with a correspondingly low weighting.

The U.S. 2012/0209519 A1 describes a method and system for creating a "sky visibility map" using data from a vehicle and vehicles adjacent thereto. A host vehicle with satellite navigation capability measures the quality of signals it receives from available satellites, the azimuth and elevation of the satellites being known from an ephemeris or almanac. The host vehicle also receives satellite signal data from surrounding vehicles via vehicle-to-vehicle communication. Using data from all vehicles, a 'sky visibility map' is created which indicates where there are obstacles to satellite visibility. The host vehicle can store its satellite signal data long-term and use it for estimation of satellite visibility when returning to a previously visited location.

From the EP 2 437 232 A1 there is known a driver assistance system that transmits and receives at least position information between one's own vehicle and another vehicle when the distance between one's own vehicle and the other vehicle is a predetermined value or less, the driver assistance system providing driver assistance information related to driving the own vehicle with respect to the other vehicle based on the position information. The driver assistance system includes a driver assistance level setting part that gradually changes its degree of driver assistance information offered depending on a moving area of the own vehicle, and an error-occurring area storage part that stores areas where the error occurs in advance together with map information in the position information is a predetermined level or more. The information offered is restricted when the own vehicle is located in an area where an error in the position information is a predetermined level or more. This helps prevent driver assistance information from being erroneously offered.

The DE 10 2013 018 807 A1 describes a radio navigation device and a method for receiving, evaluating and processing erroneous navigation signals. The radio navigation device contains a plurality of receiving devices and at least one evaluation device, with the radio navigation device also having a database or being connected to it, which essentially provides statically stored, predeterminable positioning data of defined, foreseeable areas or spaces and analyzes these as a function of predefined location information relating to foreseeable areas or spaces, defective or missing radio navigation signal reception, sends error information of the received radio navigation signals to the evaluation device and/or a user terminal.

The WO 2009/146948 A1 describes a method and a device for collecting a motor vehicle toll using satellite and/or mobile phone positioning. A communication link is set up between an on-board device and a central system, and location data required by the central system depending on the current vehicle position, eg in the form of grid squares, are transmitted via the communication link to the on-board device. The transmitted location data can contain information relating to the local quality of GPS signals. If there are repeated unexpected failures of the GPS connection in on-board devices in different vehicles, this information can be transmitted to the central system, so that the central system can conclude that the point of failure has not yet been recorded.

And the WO 2015/126499 A2 describes a system, method, devices and software for simultaneous localization and mapping using GNSS (GNSS = Global Navigation Satellite System). Simultaneous localization and mapping can be performed using GNSS-SNR (SNR = Signal Noise Ratio) and geolocated data. A 3-D environment map is divided into a grid of binary state cells (occupancy grid) and the receiver locations are estimated by sets of particles. Using a large number of sparsely sampled GNSS SNR measurements and receiver/satellite coordinates (all available from off-the-shelf GNSS receivers), each receiver-to-satellite beam is assigned a blockage probability. Loopy belief propagation is used to estimate the probability that each cell is occupied or empty, along with the probability of the "particles" for each receiver location.

It is the object of the present invention to provide a system and a method for determining and storing location-related problem areas in navigation satellite-supported position determination, with which disadvantages of the prior art can be overcome and advantages achieved with those of the prior art known systems and methods are not achievable. These objects are achieved by the system according to claim 1 and the method according to claim 10. Advantageous developments of the invention are the subject matter of the dependent claims.

According to the invention, a system for determining and storing location-related problem areas of navigation satellite-supported position determination is proposed, comprising a navigation satellite-supported position determination device assigned to a vehicle with a sensor for receiving signals emitted by navigation satellites of a global navigation satellite system, and a vehicle-external, digital computing device, wherein the position determination device and the computing device each have a communication device for the transmission of data by mobile radio or are connected thereto.

1. a) die Positionsbestimmungseinrichtung dazu eingerichtet ist, während einer Fahrt des Fahrzeugs eine Mehrzahl an aufeinanderfolgenden, in vorgegebenen Zeitabständen oder nach vorgegebenen zurückgelegten Streckenlängen erfolgende Erfassungen der von dem Sensor empfangenen Signale von Navigationssatelliten durchzuführen, die sich aus den bei jeder Erfassung empfangenen Signalen ergebenden Koordinaten des Fahrzeugs zu ermitteln, und die ermittelten Koordinaten zusammen mit Daten bezüglich der Messgenauigkeit der empfangenen Signale und Daten bezüglich des Zeitpunkts einer jeden Erfassung mittels Mobilfunk zu der Recheneinrichtung zu übertragen, und
2. b) die Recheneinrichtung dazu eingerichtet ist,
   1. b1) die an sie übertragenen Koordinaten
      • - unter Abgleich mit digitalen Straßendaten dahin zu überprüfen, ob der reale Messfehler bei wenigstens einer der Erfassungen größer als der aus den Daten bezüglich der Messgenauigkeit der empfangenen Signale zu erwartende Messfehler ist, und/oder
      • - unter Abgleich mit digitalen Straßendaten dahin zu überprüfen, ob während den Erfassungen ein scheinbarer Positions-Sprung des Fahrzeugs erfolgt ist, und
   2. b2) die Koordinaten, bei denen der reale Messfehler größer als der aus den Daten bezüglich der Messgenauigkeit der empfangenen Signale zu erwartende Messfehler ist und/oder bei denen ein scheinbarer Positions-Sprung des Fahrzeugs erfolgt ist, in eine bei der Recheneinrichtung vorgesehene oder damit in Verbindung stehende Koordinaten-Problemstellen-Datenbank einzutragen oder darin zu belassen, und/oder die im vorstehenden Abschnitt von b2) genannten Koordinaten Straßenabschnitten einer digitalen Straßenkarte zuzuordnen und die betreffenden Straßenabschnitte in eine bei der Recheneinrichtung vorgesehene oder damit in Verbindung stehende Straßen-Problemstellen-Datenbank einzutragen oder darin zu belassen.

The system according to the present invention is characterized in that

1. a) the position determination device is set up to carry out a plurality of consecutive acquisitions of the signals received by the sensor from navigation satellites at predetermined time intervals or after predetermined distances covered while the vehicle is traveling, which results from the coordinates of the signal received during each acquisition to determine the vehicle, and to transmit the determined coordinates together with data relating to the measurement accuracy of the received signals and data relating to the time of each detection by means of mobile radio to the computing device, and
2. b) the computing device is set up to
   1. b1) the coordinates transmitted to them
      • - to check, by comparison with digital road data, whether the real measurement error in at least one of the acquisitions is greater than the measurement error to be expected from the data regarding the measurement accuracy of the received signals, and/or
      • - to check, by comparison with digital road data, whether an apparent jump in the position of the vehicle occurred during the acquisitions, and
   2. b2) the coordinates for which the real measurement error is greater than the measurement error to be expected from the data regarding the measurement accuracy of the received signals and/or for which there has been an apparent jump in the position of the vehicle, into a coordinate system provided for in the computing device or thus into to enter or leave in the connected coordinate problem area database and/or to assign the coordinates mentioned in the above section of b2) to road sections of a digital road map and to enter the relevant road sections into a road problem area database that is provided in the computing device or is connected to it to be entered or left there.

The system according to the present invention results in a number of advantages compared to the previously known prior art. According to the present invention, it is provided that an analysis for problem areas of navigation satellite-supported position determination is carried out by the vehicle-external, digital computing device and not by a device on the vehicle. It is therefore sufficient if only "raw data" is transmitted by the position determination device and the analysis result is independent of an "analysis device" present in a vehicle (e.g. the position determination device) and the hardware and software available in this regard.

A vehicle-external, digital computing device, which can be a server connected to a network, such as the Internet, or a server farm (often also referred to as a "backend"), usually has a multiple of the computing power than this is the case with on-board computing devices. As a result, for example, the software that can run on the server or servers can often perform much more complex calculations in a reasonable amount of time than would be the case with computing devices on the vehicle. Also, software that is executable and installed on a server can often be updated much more easily and adapted to new findings and/or requirements than is the case with software for an on-board device.

As the number of vehicle journeys increases, the geographic coverage generally also increases and/or problem areas that have already been identified can be validated and/or updated. Due to the large storage capacity usually present in a server or servers, a much larger number of "problem areas" (up to all problem areas known worldwide) can be stored there without any problems than would be the case with on-board computing devices.

The data stored in the coordinate problem location database and/or the road problem location database are made available by the computing device for use in on-board methods and devices, but can of course also be made available for off-board methods and devices be and be used for this.

1. a) jede Positionsbestimmungseinrichtung dazu eingerichtet ist, während einer Fahrt des ihr zugeordneten Fahrzeugs eine Mehrzahl an aufeinanderfolgenden, in vorgegebenen Zeitabständen oder nach vorgegebenen zurückgelegten Streckenlängen erfolgende Erfassungen der von ihrem Sensor empfangenen Signale von Navigationssatelliten durchzuführen, die sich aus den bei jeder Erfassung empfangenen Signalen ergebenden Koordinaten des ihr zugeordneten Fahrzeugs zu ermitteln, und die ermittelten Koordinaten zusammen mit Daten bezüglich der Messgenauigkeit der empfangenen Signale und Daten bezüglich des Zeitpunkts einer jeden Erfassung mittels Mobilfunk zu der Recheneinrichtung zu übertragen, und
2. b) die Recheneinrichtung dazu eingerichtet ist,
   1. b1) die an sie übertragenen Koordinaten eines jeden Fahrzeugs
      • - unter Abgleich mit digitalen Straßendaten dahin zu überprüfen, ob der reale Messfehler bei wenigstens einer der Erfassungen größer als der aus den Daten bezüglich der Messgenauigkeit der empfangenen Signale zu erwartende Messfehler ist, und/oder
      • - unter Abgleich mit digitalen Straßendaten dahin zu überprüfen, ob während den Erfassungen ein scheinbarer Positions-Sprung des jeweiligen Fahrzeugs erfolgt ist, und
   2. b2) die Koordinaten, bei denen der reale Messfehler größer als der aus den Daten bezüglich der Messgenauigkeit der empfangenen Signale zu erwartende Messfehler ist, und/oder bei denen ein scheinbarer Positions-Sprung des jeweiligen Fahrzeugs erfolgt ist, in eine bei der Recheneinrichtung vorgesehene oder damit in Verbindung stehende Koordinaten-Problemstellen-Datenbank einzutragen oder darin zu belassen, und/oder die im vorstehenden Abschnitt von b2) genannten Koordinaten Straßenabschnitten einer digitalen Straßenkarte zuzuordnen und die betreffenden Straßenabschnitte in eine bei der Recheneinrichtung vorgesehene oder damit in Verbindung stehende Straßen-Problemstellen-Datenbank einzutragen oder darin zu belassen.

According to a first advantageous development of the invention, the system comprises a plurality of navigation satellite-supported position determination devices, each with a sensor for receiving signals transmitted by navigation satellites of a global navigation satellite system, each of the position determination devices being assigned to a different vehicle and wherein

1. a) each position-determining device is set up to cover a plurality of consecutive distances at predetermined time intervals or after predetermined periods during a journey of the vehicle assigned to it ten route lengths of acquisitions of the signals received by its sensor from navigation satellites, to determine the coordinates of the vehicle associated with it resulting from the signals received during each acquisition, and the determined coordinates together with data relating to the measurement accuracy of the received signals and data relating to the point in time to transmit each acquisition to the computing device by means of mobile radio, and
2. b) the computing device is set up to
   1. b1) the coordinates of each vehicle transmitted to them
      • - to check, by comparison with digital road data, whether the real measurement error in at least one of the acquisitions is greater than the measurement error to be expected from the data regarding the measurement accuracy of the received signals, and/or
      • - to check, by comparing it with digital road data, whether an apparent jump in the position of the respective vehicle has taken place during the acquisitions, and
   2. b2) the coordinates for which the real measurement error is greater than the measurement error to be expected from the data regarding the measurement accuracy of the received signals and/or for which there has been an apparent jump in the position of the respective vehicle, into a coordinate system provided in the computing device or to enter or leave in the associated coordinate problem area database and/or to assign the coordinates mentioned in the above section of b2) to road sections of a digital road map and to enter the road sections in question into a road problem area provided in the computing device or in connection therewith -Enter or leave in database.

If, according to this first advantageous development of the invention, data from a large number of acquisitions are transmitted from a large number of vehicles to the computing device, it is generally not only to be expected that greater geographic coverage will be achieved than if only the data of a single vehicle were transmitted but there is a high probability that new data relating to the same coordinates or road sections will be transmitted more often, i.e. the "update frequency" with regard to the problem areas will also increase. As a result, problem areas can be continuously validated by the new movement paths and problem areas can be identified with a high level of quality. According to this development, the (re)usability of so-called FloatingCarData from swarm data functions is thus (also) made possible.

According to a second advantageous development of the invention, the position determination device is or the position determination devices are also set up to transmit data for the unambiguous assignment of the transmitted data to the respective position determination device by means of mobile radio to the computing device.

According to a third advantageous development of the invention, the computing device is also set up to be able to transmit data from the coordinate problem location database and/or the road problem location database to the position determination device, the position determination devices and/or at least one other vehicle-side terminal device by means of its communication device . This results in the advantage that this data can be used directly in each of the receiving vehicles for the control and/or regulation of on-board devices and methods. For example, the received data can be used to improve navigation satellite-supported navigation (with or without data fusion), to activate and deactivate sensor devices (such as those by means of which a position determination can be carried out as an alternative or in addition to a navigation satellite-supported position determination device) and/ or used to control and/or regulate other on-board devices (e.g. devices for outputting optical, acoustic and/or haptic information and/or warnings).

Further advantages result if - as is provided according to yet another advantageous development of the invention - the computing device is further set up to enter or leave the coordinates in the problem area database and/or the coordinates entered or in the road problem area database left road sections with data relating to a terrestrial or atmospheric condition given at the time of the respective recording for the respective coordinates or road sections, but limited in time, and in the event that entered or left coordinates and/or road sections change or are no longer available at the time of the respective recording of the given terrestrial or atmospheric condition, it is to be expected that the real measurement error is equal to or smaller than the measurement error to be expected from the data regarding the measurement accuracy of the received signals, and/or there is no longer an apparent jump in the position of the vehicle, the relevant coordinates ten in the coordinate problem spots database and/or to provide the relevant road sections in the road problem spots database with a validity marking that is limited in time or specific to the state of the atmosphere.

Furthermore, according to the present invention, it can advantageously be provided that the computing device is also set up to store coordinates in the coordinate problem area database and/or road sections in the road problem area database that are provided with a time-limited validity mark after the end of the to delete the respective period of validity from the problem area database.

Once detected, problem areas of navigation satellite-supported position determination can exist over a very long period of time (e.g. due to natural conditions, for example in the area of mountain valleys) or only for a limited period of time.

A construction site can be mentioned as an example of a problem area with only a temporary validity (existence) where, for example, the erection of one or more cranes results in a special, temporary "terrestrial condition" (i.e. a condition that is on earth takes place there or arises there, whereby a certain area above the ground, up to about 100, 200 or 300 m above the ground is still considered "terrestrial" here), since cranes cause shadowing or multipath propagation of the signals of the navigation satellites can cause or increase. After the crane(s) has/have been removed from the construction site after the end of the construction work, it is also to be expected that the "problem area" caused by the construction site will no longer exist. If data regarding the location and the time frame during which the construction site is known, according to the present invention, the problem areas located in the database or databases can be compared with the "construction site data" and the problem area or problem areas that are on the terrestrial status "construction site" is or are provided with a time-limited validity mark (i.e. validity ends when the status "construction site" is ended) and can optionally be deleted from the problem area database after the end of the respective period of validity.

Whether a problem area arose due to a construction site can be determined, for example, by comparing the time when the problem area was first identified and the time when the construction site was set up (e.g. the crane or cranes were set up). become. The "time stamp" required for this for the individual problem areas can be stored in the database or databases together with the problem areas.

Similarly, problems with navigation satellite-based positioning can also be caused by an atmospheric condition (i.e. a condition that exists at a distance of about 300 m or more above the ground) such as rain, snowfall, thunderstorms, storms, etc. If data are known with regard to the location and the length of time during which such a special "atmospheric condition" existed, according to the present invention the problem areas located in the database(s) can be compared with the "atmosphere data" ("weather data") and the problem area or problem areas that can be traced back to such an “atmospheric condition” are provided with an atmospheric condition-specific validity marking. For this purpose, the temporal occurrence and disappearance of problem areas can be compared with the occurrence and decay of an atmospheric condition (e.g. rain, snowfall, thunderstorm, storm, etc.).

If - as described below - data from the database or databases (coordinate problem area database, road problem area database) is transferred to vehicles, only currently valid "problem areas" can be transferred or the problem areas concerned can be assigned a time-limited or atmosphere state-specific validity marking are transmitted.

In order to bring about a transmission of data from the database or databases to the position determination device or devices, it can be provided according to a further advantageous development of the invention that the position determination device is set up or the position determination devices are set up to, at the beginning of a journey of the respective vehicle, the coordinates of the current position of the respective vehicle together with a request for a transmission of data from the coordinate problem location database and/or the roads -Send problem areas database to the computing device, and the computing device can be set up to send such coordinates contained in the coordinates problem areas database and/or those in the road prob to the respective vehicle by means of its communication device lemstellen database contained road sections to transmit, which include the current position of the vehicle and a predetermined area around the current position of the vehicle.

This ensures that the "problem area knowledge" required at the moment is always up-to-date in the end device. At the same time, the memory requirement (e.g. in the form of a working memory, random access memory) in the end device (e.g. the position determination device) can be kept small, since only those problem areas are transmitted to the end device that are currently and in the near future for the vehicle are relevance. Even in the event that the problem areas of a few request/response processes (e.g. 2, 3, 4) are to be kept available in the vehicle, there is only comparatively little main memory - for example in comparison with a national, continental or even worldwide problem area database required for this.

• - in einer dem Fahrzeug zugeordneten Speichereinrichtung zu speichern (etwa auf einem Flash-Speicher) und/oder
• - wenigstens einer anderen fahrzeugseitigen Einrichtung zur Verfügung zu stellen.

Furthermore, the position determination device or the position determination devices can also be set up to transmit coordinates from the coordinate problem location database and/or road sections from the road problem location database to them from the computing device

• - to store in a memory device assigned to the vehicle (e.g. on a flash memory) and/or
• - to make available to at least one other vehicle-side device.

The at least one other vehicle-side device can be, for example, a satellite-based navigation system assigned to the vehicle, a device for outputting optical, acoustic and/or haptic information and/or warnings and/or a vehicle-side control device. Of course, the present invention is not limited to the devices mentioned and the methods that can be carried out with them, but the data available in the vehicle with regard to location-related problem areas of navigation satellite-supported position determination can be used for all devices and methods in which a person skilled in the art is familiar with the use of such data or appears possible and sensible on the basis of his specialist knowledge. Of course, the received data can also be used by the position determination device or the position determination devices themselves.

Furthermore, according to the present invention, it can advantageously also be provided that in the system the position determination device is set up or the position determination devices are set up to replace the coordinates and/or road sections that are present in the respective vehicle and have been transmitted by the computing device , which are transmitted to the respective position determination device after a request from the computing device.

In this way it can be achieved that the requirement for working memory and/or storage capacity in the end device for the "problem areas" can be kept particularly small and that the complete replacement of the respectively newly transmitted data with the previously available data ensures that only the most up-to-date data is available "Troubleshooting Data" present and used on the vehicle.

The present invention also includes a method for determining and storing location-based problem areas of navigation satellite-supported position determination using a navigation satellite-supported position determination device assigned to a vehicle with a sensor for receiving signals emitted by navigation satellites of a global navigation satellite system, and a vehicle-external , Digital computing device, wherein the position determination device and the computing device each have a communication device or are connected to it, with which they can transmit data via mobile radio.

1. a) durch die Positionsbestimmungseinrichtung
   1. a1) Durchführen einer Mehrzahl an aufeinanderfolgenden, in vorgegebenen Zeitabständen oder nach vorgegebenen zurückgelegten Streckenlängen erfolgenden Erfassungen der von dem Sensor empfangenen Signale von Navigationssatelliten während einer Fahrt des Fahrzeugs, und
   2. a2) Ermitteln der sich aus den bei jeder Erfassung empfangenen Signalen ergebenden Koordinaten des Fahrzeugs, und Übertragen der ermittelten Koordinaten zusammen mit Daten bezüglich der Messgenauigkeit der empfangenen Signale, Daten bezüglich des Zeitpunkts einer jeden Erfassung sowie wahlweise Daten zur eindeutigen Zuordnung der übertragenen Daten zu der Positionsbestimmungseinrichtung durch die Positionsbestimmungseinrichtung mittels Mobilfunk zu der Recheneinrichtung, und
2. b) durch die Recheneinrichtung
   1. b1) Überprüfen der an sie übertragenen Koordinaten durch die die Recheneinrichtung
      • - unter Abgleich mit digitalen Straßendaten dahin, ob der reale Messfehler bei wenigstens einer der Erfassungen größer als der aus den Daten bezüglich der Messgenauigkeit der empfangenen Signale zu erwartende Messfehler ist, und/oder
      • - unter Abgleich mit digitalen Straßendaten, ob während den Erfassungen ein scheinbarer Positions-Sprung des Fahrzeugs erfolgt ist, und
   2. b2) Eintragen oder Belassen der Koordinaten, bei denen der reale Messfehler größer als der aus den Daten bezüglich der Messgenauigkeit der empfangenen Signale zu erwartende Messfehler ist, und/oder bei denen ein scheinbarer Positions-Sprung des Fahrzeugs erfolgt ist, in eine bei der Recheneinrichtung vorgesehene oder damit in Verbindung stehende Koordinaten-Problemstellen-Datenbank, und/oder Zuordnen der im vorstehenden Abschnitt von b2) genannten Koordinaten Straßenabschnitten einer digitalen Straßenkarte und Eintragen oder Belassen der betreffenden Straßenabschnitte in eine bei der Recheneinrichtung vorgesehene oder damit in Verbindung stehende Straßen-Problemstellen-Datenbank.

The method according to the present invention comprises the following steps:

1. a) by the positioning device
   1. a1) carrying out a plurality of successive acquisitions of the signals received by the sensor from navigation satellites during a journey of the vehicle at predetermined time intervals or after predetermined distances covered, and
   2. a2) Determination of the coordinates of the vehicle resulting from the signals received with each detection, and transmission of the determined coordinates together with data regarding the measurement accuracy of the received signals, data regarding the time of each detection and optionally data for the clear assignment of the transmitted data to the Position determination device by the position determination device by means of mobile radio to the computing device, and
2. b) by the computing device
   1. b1) checking the coordinates transmitted to them by the computing device
      • - by comparison with digital road data to determine whether the real measurement error in at least one of the acquisitions is greater than the measurement error to be expected from the data regarding the measurement accuracy of the received signals, and/or
      • - under comparison with digital road data, whether an apparent jump in position of the vehicle occurred during the acquisitions, and
   2. b2) Entering or leaving the coordinates for which the real measurement error is greater than the measurement error to be expected from the data regarding the measurement accuracy of the received signals, and/or for which an apparent position jump of the vehicle has occurred, in a near the computing device provided or associated coordinate problem area database, and/or assigning the coordinates mentioned in the above section of b2) to road sections of a digital road map and entering or leaving the relevant road sections in a road problem area provided in the computing device or associated therewith -Database.

The present invention also includes all other methods that are based on the claims directed to the system of the present invention and its advantageous developments, the description of the system and its advantageous developments and refinements, the following description of a preferred exemplary embodiment and the figures and the Description of figures for a person skilled in the art.

The present invention is explained in more detail with reference to the accompanying drawings.

• 1 Eine beispielhafte Erfassung eines Bewegungspfades eines Fahrzeugs durch eine Aneinanderreihung der Positionen aus den GNSS-Messungen;
• 2 eine beispielhafte Übertragung des erfassten Bewegungspfades vom dem Fahrzeug zu einem Server;
• 3 eine beispielhafte Ermittlung von Problemstellen beim Server;
• 4. eine beispielhafte und graphisch aufbereitete Aggregation von Straßen-Problemstellen in einer Straßen-Problemstellen-Datenbank;
• 5 eine beispielhafte Übermittlung eines relevanten Problemstellen-Gebiets durch Online Anfrage eines fahrzeugseitigen Endgeräts und Übertragung des relevantem Problemstellen-Gebiets durch den Server.

show:

• 1 An exemplary detection of a movement path of a vehicle by lining up the positions from the GNSS measurements;
• 2 an exemplary transmission of the detected movement path from the vehicle to a server;
• 3 an exemplary identification of problem areas at the server;
• 4 . an exemplary and graphically processed aggregation of road problems in a road problem database;
• 5 an exemplary transmission of a relevant problem area by online request of a vehicle-side terminal and transmission of the relevant problem area by the server.

The representations in the figures are purely schematic and not true to scale. Within the figures, the same or similar elements are provided with the same reference symbols.

The exemplary embodiments explained below represent preferred embodiments of the present invention. The present invention is of course not limited to these embodiments.

The features and combinations of features mentioned in the above description and the features and combinations of features mentioned in the following description of embodiments, exemplary embodiments and the description of the figures and/or shown alone in the figures are not only in the combination specified in each case, but also in other combinations or in Can be used alone without departing from the scope of the present invention.

The present invention is described below using a motor vehicle 1 as an example. However, the present invention is not limited to motor vehicles 1 (such as passenger cars, motorized two-wheelers and three-wheelers, trucks, buses, tracked vehicles, etc.), but can be used in all known, non-rail land and water vehicles. For example, it is conceivable (and also covered by the scope of the claims) that the present invention can be used on a bicycle with a mobile navigation device attached to it or carried by the operator of the bicycle or a mobile end device with a navigation function (e.g. mobile phone, smartphone, tablet -PC, PDA) is used. Also, the present invention can be applied to a watercraft such as a boat moving in a canal system of a city.

The description given below in relation to a "motor vehicle" therefore also applies accordingly to all other land and water vehicles that are not rail-bound. Of course, insofar as “several vehicles” are spoken of according to the present invention, several different types of vehicles are also included. For example, according to the present invention, coordinates of motor vehicles 1, bicycles, and boats can be transmitted to the same computing device 5, and data from the computing device 5 to different types from vehicles, etc. Of course, it can also be provided that the computing device 5 only transmits data to the respective vehicle type that is relevant for the respective vehicle type (for example, for a bicycle, "problematic data" from Motorways unimportant and a normal boat does not need "problem spot data" away from waterways).

In a simple case, the present invention is based on a system which has a navigation satellite-supported position determination device 2 assigned to a motor vehicle 1 and has a sensor 3 for receiving signals 14, 14' transmitted by navigation satellites 4, 4' of a global navigation satellite system. and a vehicle-external, digital computing device 5, wherein the position determination device 2 and the computing device 5 each have a communication device 6, 6' for the transmission of data by means of mobile radio (e.g. by means of a GSM radio standard, one of its further developments, UMTS, HSDPA, LTE, etc. ) have or are connected thereto.

Insofar as it is mentioned in the present application that the position determination device 2 is "assigned" to the motor vehicle 1, this does not only mean a position determination device 2 permanently installed in or on the motor vehicle 1, but also, for example, a mobile navigation device that is located in or on the motor vehicle 1 is located. This also includes other mobile end devices, such as a mobile phone, a smartphone, a PDA (Personal Digital Assistant), a tablet PC, a netbook, a notebook, etc., which have the ability to receive navigation satellites 4, 4' of a global navigation satellite system and are located in the motor vehicle 1.

The position determining device 2 is set up to carry out a plurality of consecutive acquisitions of the signals 14, 14' received by the sensor 3 from the navigation satellites 4, 4' at predetermined time intervals or after predetermined distances covered while the motor vehicle 1 is being driven to determine the coordinates 9 of the motor vehicle 1 resulting from the signals 14, 14' received with each detection, and the determined coordinates 9 together with data regarding the measurement accuracy of the received signals 14, 14' and data regarding the time of each detection by means of mobile radio to the computing device 5 to transfer. The transmission to the computing device 5 can take place continuously or after a predefinable number of acquisitions (e.g. 5, 10, 20 or 30) as a “discrete data packet”. A (possibly also encrypted) network connection (e.g. an Internet connection) can be established between the vehicle (or the position determination device 2) and the computing device 6 by means of the mobile radio devices 6, 6′ and the data can be transmitted via this network.

In the simplest case, the plurality of consecutive detections can be two consecutive detections, but - as in 1 is shown schematically - a larger number of detections are made, up to a large number of detections in the course of a trip or during an entire trip of the motor vehicle 1.

So far in the 1 , 2 and 3 a dashed line is shown between the determined coordinates 9 (of which only two are provided with the reference number 9 in the figures for the sake of clarity), this dashed line is only intended to emphasize the apparent movement sequence of the motor vehicle 1 determined by means of the GNSS measurements more clearly , so that deviations from the real vehicle path (“ground truth”) 10 are more easily recognizable for the viewer of the figures. According to the invention, however, it is not necessary (but optionally possible) for the position determination device 2 to calculate not only the coordinates 9 but also an apparent movement sequence and transmit it to the computing device 5 . Provision can also be made for an apparent movement sequence to be determined by the computing device 5 .

If the vehicle 1 is at a problem location or in a problem zone, in which only signals from so few (or no) navigation satellites can be received during a detection process, or only signals with such poor "quality" that the position determination device 2 cannot determine the coordinates of the can calculate or estimate the vehicle 1 assigned to it, it can be provided or is advantageously provided that instead of coordinates, corresponding information (“measurement failure”) with regard to the respective detection is transmitted from the position determination device 2 to the computing device 5.

The temporal or spatial intervals of the acquisitions are not subject to any particular restriction and provision can be made for continuous acquisition or quasi-continuous acquisitions to take place. In order to keep the amount of data to be transmitted from the motor vehicle 1 to the vehicle-external, digital computing device 5 as small as possible, the position determination is Detection device 2 is advantageously set up for this purpose, or if there are a plurality of motor vehicles 1 involved, the position determination devices 2 are set up for this purpose, during a journey of the respective motor vehicle 1 two or more consecutive, at a constant time interval of 1, 2, 3, 4, 5, 6, 7, 8, 9 or 10 seconds or after every 2, 3, 4, 5, 6, 7, 8, 9, 10, 15, 20, 25, 30, 40, 50, 60 distance travelled , 70, 80, 90 or 100 meters of the signals 14, 14' received by the respective sensor 3 from navigation satellites 4, 4', i.e. after a discrete time or space interval, and the data arising from this to the computing device 5 transferred to. Alternatively, however, it can also advantageously be provided that the position determination device(s) 2 continuously or quasi-continuously (ie at very short time intervals of, for example, 0.1 s, 0.2 s, 0.3 s, 0.4 s, 0. 5s or very short sections of e.g. 0.1m, 0.2m, 0.3m, 0.4m, 0.5m, 0.6m, 0.7m, 0.8m, 0.9m, 1.0m) recordings are made and only the data of the acquisitions are transmitted to the computing device 5 which correspond to the time intervals indicated above or the distances traveled indicated above.

With a plurality of position determination devices 2 involved, it can also be provided that the temporal or spatial distance between the acquisitions, the data of which are transmitted to the computing device 5, is different for the various position determination devices 2.

The data can also be transmitted from the motor vehicle 1 to the external computing device 5 at discrete time intervals (e.g. at intervals of 30 seconds, 1 minute, 2 minutes, 3 minutes, 4 minutes, 5 minutes, etc.). then, if necessary, the data relating to a plurality of acquisitions can be transmitted by means of a "data package" in each case. In the case of a majority of position determination devices 2, it can of course be provided that the data transmission is different for the individual position determination devices 2, for example after different time intervals.

If the system according to the present invention comprises only a single position determination device 2, it is not necessary - but optionally possible - that the position determination device 2 is also set up to transmit data for the unambiguous assignment of the transmitted data to the position determination device 2 by means of mobile radio to the computing device 5 transfer.

If the system according to the present invention comprises a plurality of position determination devices 2, it is not necessary - but optionally possible - that the position determination devices 2 are also set up to transmit data for the unambiguous assignment of the transmitted data to the respective position determination device 2 to the computing device 5 by means of mobile radio , if the data relating to at least two acquisitions are transmitted during a transmission process of a position determination device 2, since a plurality of acquisitions made in a temporal and/or spatial sequence are transmitted from each position determination device 2 to the computing device 5, which means that the tasks mentioned can be carried out by the computing device 5 is sufficient.

If the system according to the present invention comprises several position determination devices 2 and if only the data of a single acquisition is transmitted to the computing device during a transmission process, it is necessary for the relevant position determination device(s) 2 to also be set up to transmit data for unequivocal assignment of the transmitted data to the respective position determination device 2 by means of mobile radio to the computing device 5, since this is the only way to assign a plurality of detections to the respective position determination device 2.

The assignment of the transmitted data to a position determination device 2 can, for example for data protection reasons, be carried out anonymously in a manner known to those skilled in the art, for example by means of an anonymous ID.

As in 1 is shown schematically, the coordinates 9 determined by means of the signals 14, 14′ transmitted by satellites 4, 4′ of a global navigation satellite system (ie by means of GNSS measurements) can deviate significantly from the real vehicle path (“ground truth”) 10 in some cases .

Such discrepancies occur at "trouble spots" where GNSS measurements are reported with incorrect measurement error values. For example, along a canyon of houses or a row of houses, many successive detections can be made, in which coordinates of the vehicle 1 can be calculated by the position determination device 2 from the received signals from the navigation satellites 4, 4'. However, in the case of urban canyons or rows of houses, the measurement may deviate from reality due to multipath propagation of the satellite signals (see 3 , Drift 11), ie the real measurement error increases, but the indication of the meas error from sensor 3 remains constant. Such a "drift" is difficult to recognize without comparison with digital road maps, since there appears to be a continuous course of movement, as it corresponds to that along a road.

Driving through tunnel 12 can also be a problem for satellite-based localization, since measurement failures occur due to satellite signal shadowing and/or invalid position jumps (see 3 , invalid position jump 13) occur in the measurements.

Information that is provided by GNSS position determination devices according to known transmission standards (for example the NMEA Standard 0180) can be used to specify the measurement error or the measurement accuracy from the sensor 3 . For example, the aforementioned NMEA Standard 0180 includes the "GBS" data set, which contains the information "Expected error in latitude", "Expected error in longitude" and "Expected error in altitude". The "GSA" data set of the standard mentioned includes the information "PDOP in meters", "HDOP in meters" and "VDOP in meters" (PDOP = Positional Dilution of Precision; HDOP = Horizontal Dilution of Precision; VDOP = Vertical Dilution of Precision ); and the "GSV" data record includes, among other things, the information "satellites in view" and "SNR in dB" (SNR = signal-to-noise ratio, signal-to-noise ratio).

Advantageously, according to the present invention, not only GNSS data from a motor vehicle 1 is recorded and transmitted to the external computing device 5, but from a plurality of motor vehicles 1 Detection of problem areas, but it can also be determined with high quality from the large number of overlapping movement paths of different motor vehicles 1 problem areas. In addition, the problem areas can be validated by new movement paths at short time intervals. This also makes it possible to (re)use so-called FloatingCarData from swarm data functions.

• - unter Abgleich mit digitalen Straßendaten dahin überprüft, ob der reale Messfehler bei wenigstens einer der Erfassungen größer als der aus den Daten bezüglich der Messgenauigkeit der empfangenen Signale 14, 14' zu erwartende Messfehler ist, etwa ob sich aufgrund der empfangenen Signale eine Drift 11 ergibt oder eine unerwartet große Standardabweichung auftritt, und/oder
• - unter Abgleich mit digitalen Straßendaten dahin überprüft, ob während den Erfassungen ein scheinbarer Positions-Sprung 13 des Kraftfahrzeugs 1 erfolgt ist.

According to the present invention, the coordinates 9 transmitted to the computing device 5 are

• - Checked by comparison with digital road data to determine whether the real measurement error in at least one of the acquisitions is greater than the measurement error to be expected from the data regarding the measurement accuracy of the received signals 14, 14', for example whether there is a drift 11 due to the received signals or an unexpectedly large standard deviation occurs, and/or
• - Checked by comparison with digital road data to determine whether an apparent position jump 13 of the motor vehicle 1 has taken place during the acquisitions.

An “invalid jump in position” 13 can be determined, for example, by the fact that, based on the coordinates 9 transmitted to the computing device 5, a movement sequence appears to be untypical or even impossible for a motor vehicle 1. An example of an "invalid position jump" 13 is given in 3 shown; the motor vehicle 1 apparently suddenly not only moves backwards during an otherwise continuous forward movement, but also moves away considerably from the actually predetermined course of the road. Another example of an “invalid position jump” 13 would be, for example, if the motor vehicle 1 is located in the area of the actually specified road course 10 due to the transmitted data in a first acquisition and a third acquisition, in the second, chronologically between the first and However, the third registration appears to be in a position that deviates significantly from the actually predetermined course of the road 10 .

The checking of the received coordinates 9 for problem areas can take place automatically or semi-automatically in the computing device 5 . With regard to the computer programs and algorithms used for this purpose, there are no particular restrictions and any computer programs and algorithms suitable for this purpose can be used.

Detected problem areas, i.e. those coordinates 9 for which the real measurement error is greater than the measurement error to be expected from the data regarding the measurement accuracy of the received signals 14, 14' (i.e. for which, for example, a drift 11 was detected), and/or at which an apparent position jump 13 of the motor vehicle 1 has taken place, are then entered into a coordinate problem location database 7 provided in the computing device 5 or connected to it, or left there (if a problem location already contained in the database is validated by new data became).

It is also possible that, as an alternative or in addition to the coordinate problem area database 7, a road problem area database 7' is created and/or maintained, and the coordinates 9 mentioned in the immediately preceding paragraph are assigned to road sections of a digital road map and the relevant street road sections are entered into a road problem area database 7' provided in the computing device 5 or connected thereto or left there (a graphically processed example of such a road problem area database 7' or an excerpt from such a road problem area database Database 7' is in 4 shown).

The geographic coverage of the coordinate problem location database 7 and/or the road problem location database 7' is not subject to any particular limitation and can also include all problem locations known worldwide. The database(s) 7, 7' are kept for further use.

An example of a possible use of the database(s) 7, 7' is in 4 shown schematically. For example, a relevant problem area can be transmitted through an online request/response process.

In this case, a position determination device 2 or another vehicle-side terminal 8 (e.g. a vehicle-side, digital computing device, a "head unit") can send a defined section from the problem location database to the computing device 5 (the server) by transmitting its own current position 7, 7' ab. This “defined section” can, for example, include a specific radius around the position of motor vehicle 1 (approximately 50 km, 100 km, 150 km, etc.). This request can, for example, be sent at specified time intervals (e.g. every 10 minutes, 20 minutes, 30 minutes, etc.) or after covering a specified distance (e.g. 10 km, 20 km, 30 km, 40 km, 50 km, etc.). ) take place.

If a request is made by a "different vehicle-side terminal" 8, the system also includes this terminal 8 according to this special embodiment.

Based on the query, the computing device 5 transmits the requested section from the problem location database 7, 7' to the motor vehicle 1 (or the position determination device 2 or the terminal 8). The section from the problem location database 7, 7' can be kept in the motor vehicle 1 (e.g. in a main memory) and/or stored (e.g. in a flash memory, on a hard drive, etc.). Retention/storage can take place for a longer period of time or only for a limited period of time. For example, it can be provided that after another successful request/response process, the section from the problem location database 7, 7' previously present in the motor vehicle 1 is replaced with the newly obtained section from the problem location database 7, 7' . With the latter configuration, the required storage space (in the main memory and/or in the storage device) in motor vehicle 1 can be kept small and at the same time the main memory/storage device contains only a currently valid set of problem locations. As explained above, problem areas can "age", i.e. only occur temporarily, for example due to certain terrestrial (e.g. construction site) or atmospheric conditions (e.g. weather phenomena such as rain, snowfall, thunderstorms, storms).

It can thus be stated that, according to the invention presented here, by transmitting (e.g. at regular time intervals) preferably concatenated GNSS measurements (including measurement accuracy) as a movement path from a vehicle 1 or from a plurality of vehicles 1 to a vehicle-external, digital computing device (server) 5, a (partially) automated analysis for problem areas is carried out on the part of the computing device 5 and detected problem areas are recorded and aggregated (reserved). It is also possible to (re)use FloatingCarData from swarm data functions.

As the number of vehicles 1 that send GNSS movement paths to the computing device 5 increases, the geographic coverage for detecting problem areas and the update frequency of the problem areas increase.

Problem areas can be determined with high quality from a large number of overlapping movement paths of different vehicles 1 and the problem areas can be validated by new movement paths at short time intervals.

By storing the problem areas, which may even be known worldwide, on the computing device 5 or in a database 7, 7′ to which the computing device 5 has access, and the transmission of only the relevant problem area area through an online request/response process between a vehicle 1 and the arithmetic unit 5 does not have to be provided with an extensive on-board problem location database 7, 7' and there is no need for storage space.

And by transmitting a problem area at regular, in particular regular time intervals, the problem area knowledge of the terminal device (such as the position determination device 2 or another vehicle-side terminal device 8) is always up to date.

Briefly summarized, the present invention relates to a system and method for Determination and storage of location-based problem areas of navigation satellite-supported position determination. According to the method, a position determination device 2 with a sensor 3 of a vehicle 1 while the vehicle 1 is driving makes a plurality of consecutive acquisitions of the signals 14, 14' received by the sensor 3 from navigation satellites 4, 4 'Carried out and, among other things, thus determined coordinates 9 (and also the measurement failures) transmitted by means of a mobile radio device 6 to a vehicle-external computing device 5. The computing device 5 determines problematic coordinates 9 of navigation satellite-supported position determination and enters them into a coordinate problem location database 7 provided for the computing device 5 or is connected to it, or leaves it there, and/or the problematic coordinates 9 road sections of a digital Assigned road map and the road sections in question in a provided in the computing device 5 or associated road problem areas database 7 'entered or left there.

Claims (10)

System for determining and storing location-related problem areas of navigation satellite-supported position determination, comprising a navigation satellite-supported position determination device (2) assigned to a vehicle (1) and having a sensor (3) for receiving from navigation satellites (4, 4') of a global navigation satellite system transmitted signals (14, 14'), and a vehicle-external, digital computing device (5), wherein the position determining device (2) and the computing device (5) each have a communication device (6, 6') for transmitting data via mobile radio or are connected thereto are characterized in that a) the position determination device (2) is set up to record a plurality of consecutive acquisitions of the signals ( 14, 14') of navigation satellites (4, 4') to determine the coordinates (9) of the vehicle (1) resulting from the signals (14, 14') received with each detection, and the determined coordinates (9) together with data regarding the measurement accuracy of the received signals (14, 14') and data regarding the time of each detection to the computing device (5) by means of mobile radio, and b) the computing device (5) is set up to b1) the to they transmitted coordinates (9) - to check, by comparison with digital road data, whether the real measurement error in at least one of the acquisitions is greater than the measurement error to be expected from the data regarding the measurement accuracy of the received signals (14, 14'), and/ or - by comparing it with digital road data, to check whether an apparent position jump (13) of the vehicle (1) occurred during the acquisition, and b2) the coordinates (9) for which the real measurement error is greater than that from the Data relating to the measurement accuracy of the received signals (14, 14') is expected measurement errors and/or where there has been an apparent position jump (13) of the vehicle (1) into a position provided in the computing device (5) or therewith to enter or leave in the associated coordinates problem area database (7) and/or - to assign the coordinates (9) mentioned in the above section of b2) to road sections of a digital road map and to enter the road sections in question into a computer system (5) enter or leave in the road problem area database (7') provided for or connected thereto. system according to claim 1 , characterized in that it comprises a plurality of navigation satellite-supported position determination devices (2), each having a sensor (3) for receiving signals (14, 14') emitted by navigation satellites (4, 4') of a global navigation satellite system, wherein Each of the position determination devices (2) is assigned to a different vehicle (1) and wherein a) each position determination device (2) is set up to record a plurality of consecutive distances covered at predetermined time intervals or according to predetermined route lengths during a journey of the vehicle (1) assigned to it to carry out subsequent detections of the signals (14, 14') received from its sensor (3) from navigation satellites (4, 4'), which result from the signals (14, 14') received with each detection of the coordinates (9) of the assigned satellite to determine the vehicle (1) and to transmit the determined coordinates (9) together with data relating to the measurement accuracy of the received signals (14, 14') and data relating to the time of each detection to the computing device (5) by means of mobile radio, and b ) the computing device (5) is set up to b1) check the coordinates (9) of each vehicle (1) transmitted to it - by comparing them with digital road data - to determine whether the real measurement error in at least one of the recordings is greater than that from the Data regarding the measurement accuracy of the received signals (14, 14') is the measurement error to be expected, and/or - by comparing it with digital road data, to check whether an apparent jump in position of the respective vehicle (1) occurred during the acquisition, and b2) the coordinates (9 ), in which the real measurement error is greater than the measurement error to be expected from the data regarding the measurement accuracy of the received signals (14, 14'), and/or in which an apparent position jump (13) of the respective vehicle (1) occurs is to be entered into a coordinates problem area database (7) provided in the computing device (5) or connected thereto, or left there, and/or - the coordinates (9) of road sections of a digital road map mentioned in section b2) above and to enter the relevant road sections into a road problem database (7') provided in the computing device (5) or connected thereto, or to leave them there. system according to claim 1 or 2 , characterized in that the position determination device (2) is further set up or the position determination devices (2) are further set up to transmit data for the unambiguous assignment of the transmitted data to the respective position determination device (2) by means of mobile radio to the computing device (5). System according to one of the preceding claims, characterized in that the computing device (5) is further set up to transmit data from the coordinate problem location database (7) and/or the road problem location database (7') to the position determination device (2) to be able to transmit the position determination devices (2) and/or another vehicle-side terminal (8) by means of their communication device (6'). System according to one of the preceding claims, characterized in that the computing device (5) is further set up to use the coordinates (9) entered or left in the problem area database and/or those entered in the road problem area database (7'). or left road sections with data relating to a terrestrial or atmospheric condition given at the time of the respective recording for the respective coordinates (9) or road sections, but limited in time, and in the event that entered or left coordinates (9) and/or road - Outside sections, in the event of a change or absence of the terrestrial or atmospheric state at the time of the respective acquisition, it is to be expected that the real measurement error will be equal to or smaller than the measurement error to be expected from the data regarding the measurement accuracy of the received signals (14, 14'). and/or there is no apparent position jump (13) of the vehicle (1) anymore, the relevant coordinates (9) in the coordinate problem area database (7) and/or the relevant road sections in the street problem area -Database (7') to be provided with a validity marking that is limited in time or that is specific to the state of the atmosphere. system according to claim 5 , characterized in that the computing device (5) is set up to look up coordinates (9) provided with a time-limited validity mark in the coordinate problem area database (7) and/or road sections in the road problem area database (7'). deleted from the problem area database at the end of the respective period of validity. System according to one of the preceding claims, characterized in that the position-determining device (2) is set up or the position-determining devices (2) are set up at the beginning of a journey of the respective vehicle (1), during a journey of the respective vehicle (1), after covering a specifiable distance and/or at specifiable time intervals by means of the respective communication device (6), the coordinates of the current position of the respective vehicle (1) together with a request for the transmission of data from the coordinate problem area database (7) and/or the road problem spots database (7') to the computing device (5), and the computing device (5) is set up to send those in the coordinate problem spots database to the respective vehicle (1) by means of its communication device (6'). (7) contained coordinates (9) and / or those contained in the road problem area database (7 ') contained road sections that the current position of the vehicle (1) and a predefinable area around the current position of the vehicle (1) include. system according to claim 7 , characterized in that the position determining device (2) is set up to transmit coordinates (9) from the coordinate problem area database (7) and/or road sections from the road problem area database (7 ') - to store in a memory device assigned to the vehicle (1) and/or - to make available to at least one other vehicle-side device. system according to claim 8 , characterized in that the position determining device (2) is set up to replace the coordinates (9) and/or road sections transmitted to it with those which, according to a request, are claim 7 are transmitted from the computing device (5) to the position determination device (2). Method for determining and storing location-related problem areas of navigation satellite-supported position determination using a navigation satellite-supported position determination device assigned to a vehicle with a sensor for receiving signals emitted by navigation satellites of a global navigation satellite system, and a vehicle-external, digital computing device, the position determination device and the computing device each have a communication device or are connected to it, with which they can transmit data via mobile radio, comprising the following steps: a) by the positioning device a1) carrying out a plurality of consecutive acquisitions of the signals received by the sensor from navigation satellites at predetermined time intervals or after predetermined distances covered while the vehicle is traveling, and a2) determining the coordinates of the vehicle resulting from the signals received with each acquisition, and transmission of the determined coordinates together with data relating to the measurement accuracy of the received signals, data relating to the time of each detection and optionally data for the unambiguous assignment of the transmitted data to the position determination device by the position determination device using mobile radio to the computing device, and b) by the computing device b1) checking the coordinates transmitted to them by the computing device - by comparison with digital road data to determine whether the real measurement error in at least one of the acquisitions is greater than the measurement error to be expected from the data regarding the measurement accuracy of the received signals, and/or - under comparison with digital road data, whether an apparent jump in position of the vehicle occurred during the acquisitions, and b2) Entering or leaving the coordinates for which the real measurement error is greater than the measurement error to be expected from the data regarding the measurement accuracy of the received signals, and/or for which an apparent position jump of the vehicle has occurred, in a near the computing device provided or related coordinate trouble spot database, and/or Assigning the coordinates mentioned in the above section of b2) to road sections on a digital road map and entering or leaving the relevant road sections in a road problem database provided in the computing device or connected thereto.

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