DE102018202982A1 - Method for checking a position determination of a motion and position sensor - Google Patents

Abstract

The invention relates to a method for checking a position determination of a motion and position sensor and an arrangement. The method comprises the following steps:
a) determining the respective eigenposition and self-orientation of a first and a second motion and position sensor,
b) calculating a relative position and relative orientation that the first and the second motion and position sensors have relative to one another based on the results from step a),
c) comparing the relative position and relative orientation calculated in step b) with a known or measured relative position and relative orientation which the first and the second movement and position sensors have relative to one another.

Description

The invention relates to a method for checking a position determination of a motion and position sensor and an arrangement comprising a vehicle and a motion and position sensor. The invention is particularly suitable for autonomous driving, particularly when testing a GNSS sensor, such as a GNSS based position and orientation sensor, for autonomous driving.

State of the art

An autonomous vehicle is a vehicle that manages without a driver. The vehicle drives autonomously, for example, by independently recognizing the road, other road users or obstacles and calculates the corresponding control commands in the vehicle and forwards them to the actuators in the vehicle, so that the driving course of the vehicle is correctly influenced. The driver is not involved in a fully autonomous vehicle on the ride.

Currently available vehicles are not yet able to act autonomously. For one, because the technology is not fully developed yet. On the other hand, because it is still required by law today that the driver must be able to intervene in the driving process at any time. This complicates the implementation of autonomous vehicles. However, there are already systems of various manufacturers that represent autonomous or semi-autonomous driving. These systems are in intensive testing. Even today, it is foreseeable that fully autonomous vehicle systems will be launched in a few years once the hurdles mentioned above have been removed.

Among other things, a vehicle for autonomous operation requires a sensor system capable of determining a highly accurate vehicle position, in particular by means of navigation satellite data (GPS, GLONASS, Beidou, Galileo). For this purpose, GNSS (Global Navigation Satellite System) signals are currently received via a GNSS antenna on the vehicle roof and processed by means of a GNSS sensor. In addition, GNSS correction data can be taken into account to increase the location result.

To provide such GNSS correction data and / or to evaluate the accuracy of a location calculation, stationary reference stations may contribute. By means of such reference stations, which are located at known geodesic positions, correction data for a so-called. Differential GPS system (DGPS) or comparison data for testing a movable GNSS sensor can be determined, for example.

Disclosure of the invention

1. a) Ermitteln der jeweiligen Eigenposition und Eigenorientierung eines ersten und eines zweiten Bewegungs- und Positionssensors,
2. b) Berechnen einer Relativposition und Relativorientierung, die der erste und der zweite Bewegungs- und Positionssensor zueinander aufweisen, auf Basis der Ergebnisse aus Schritt a),
3. c) Vergleichen der in Schritt b) berechneten Relativposition und Relativorientierung mit einer bekannten oder gemessenen Relativposition und Relativorientierung, die der erste und der zweite Bewegungs- und Positionssensor zueinander aufweisen.

According to claim 1, a method for checking a position determination of a motion and position sensor is proposed, comprising the following steps:

1. a) determining the respective eigenposition and self-orientation of a first and a second motion and position sensor,
2. b) calculating a relative position and relative orientation that the first and the second motion and position sensors have relative to one another based on the results from step a),
3. c) comparing the relative position and relative orientation calculated in step b) with a known or measured relative position and relative orientation which the first and the second movement and position sensors have relative to one another.

The method is used in particular for testing or increasing the accuracy of a motion and position sensor. For this purpose, the method offers a reliable reference measurement based on a comparison of calculated relative data with known or measured relative data. In other words, the known or measured relative data serve as a reference. This may allow a supplement or alternative to fixed reference stations. In addition, the method can contribute to the calibration of the tested measuring system and / or its components. When determining the measured relative position and relative orientation, no GNSS system or satellite signal is usually used. This advantageously makes it possible to provide a reference that is not disturbed by the same phenomena (eg, multipath effects) that can disturb GNSS systems and, in particular, allow for higher accuracy than GNSS measurements. Advantageously, the method is such as for checking a position determination of a motion and position sensor of a vehicle. The vehicle may be an automobile. Preferably, the vehicle is an autonomous vehicle. Preferably, at least the first movement and position sensor is arranged in or on the vehicle. Further preferably, at least one GNSS antenna is arranged in or on the vehicle, which is connected to the (first) motion and position sensor. The first and second motion and position sensors are generally spaced from each other.

GNSS stands for Global Navigation Satellite System. GNSS is a system for determining and / or navigating the earth and / or in the air by receiving signals from navigation satellites, referred to herein as satellite data. GNSS is a collective term for the use of existing and future global satellite systems, such as GPS (NAVSTRAR GPS), GLONASS, Beidou and Galileo. Thus, a GNSS sensor is a sensor that is suitable for receiving and processing navigation satellite data, for example, to evaluate it. Preferably, the GNSS sensor is able to determine a highly accurate vehicle position using navigation satellite data (GPS, GLONASS, Beidou, Galileo).

The motion and position sensors are preferably each a GNSS sensor. The motion and position sensor may be a position and orientation sensor. Accordingly, the first movement and position sensor as well as the second movement and position sensor may each be designed as a position and orientation sensor. In addition, the GNSS sensor can be designed as a GNSS-based position and orientation sensor. GNSS or (vehicle) motion and position sensors are needed for automated or autonomous driving and calculate a highly accurate vehicle position using navigation satellite data (GPS, GLONASS, Beidou, Galileo), also referred to as GNSS (Global Navigation Satellite System) data be designated. The calculation is basically based on a transit time measurement of (electromagnetic) GNSS signals from at least four satellites. In addition, correction data from so-called correction services in the sensor can be used to calculate the position of the vehicle even more accurately. Together with the received GNSS data, a high-precision time (such as Universal Time) is regularly read in the sensor and used for the exact position determination. Further input data into the position sensor may be wheel speeds, steering angles, as well as acceleration and rotation rate data. Preferably, the motion and position sensors are each adapted to determine an eigenposition, self-orientation and airspeed based on GNSS data. Further preferably, at least the first movement and position sensor is configured to determine a vehicle position, vehicle orientation and / or vehicle speed.

In step a), the eigenposition and self-orientation of a first motion and position sensor is determined. This can be done on the basis of GNSS data and / or on the basis of an inertial navigation or inertial measurement method. In addition, the eigenposition and self-orientation of a second motion and position sensor is determined. This can also be done on the basis of GNSS data and / or based on an inertial navigation or inertial measurement method (starting from a last known position). In principle, the sensors can determine their own data (eigenposition and self-orientation) by means of the same or different methods. For example, the first movement and position sensor can determine its own data by means of GNSS data and the second movement and position sensor its own data by means of inertial navigation or an inertial measurement method. Moreover, it is advantageous if the first and the second motion and position sensor also determine their own speed. Furthermore, more than two motion and position sensors can be provided, each of which determines its own data.

In step b), a relative position and relative orientation that the first and the second movement and position sensors have relative to one another are calculated on the basis of the results from step a). If more than two motion and position sensors are provided, the respective relative positions and relative orientations in step b) can be calculated. In step b), a relative speed is also preferably calculated, in particular if the intrinsic speed of the respective sensors was determined in step a). Advantageously, a matrix is formed in step b) which can image or map five, particularly preferably six degrees of freedom.

In step c), the relative position and relative orientation calculated in step b) are compared with a known or (parallel or simultaneously) measured relative position and relative orientation which the first and the second movement and position sensors have relative to one another. The relative position and the relative orientation can be known, for example, by virtue of the fact that the first and the second movement and position sensors are firmly connected to one another. When determining the measured Relative position and relative orientation usually no GNSS system or no satellite signal is used. Particularly preferably, the relative position and relative orientation calculated in step b) are compared with an optically measured relative position and relative orientation. If a relative speed was calculated in step b), then this can also be compared with a known or measured relative speed. The same applies to a relative acceleration, in particular if in step a) natural accelerations were determined. In particular, if the first and the second movement and position sensors are movably connected to each other, it is further preferred that the relative values (relative position and relative orientation) to be compared relate to the same point in time (or were detected at the same time).

According to an advantageous embodiment, it is proposed that in step b) the position and orientation of the second motion and position sensor is calculated in relation to the first motion and position sensor. The calculation is preferably carried out by the first or second motion and position sensor itself or by a higher-level motion and position sensor. Preferably, the position and orientation of the second motion and position sensor computed in relation to the first motion and position sensor are mapped into a positional and orientation matrix.

According to an advantageous embodiment, it is proposed that in step c) a known or measured position and orientation of the second motion and position sensor in relation to the first motion and position sensor is used. Preferably, the measurement of the position and orientation of the second motion and position sensor in relation to the first motion and position sensor using an environment sensor. Preferably, the position and orientation of the second motion and position sensor known or measured in relation to the first motion and position sensor is mapped into a (known or measured) position and orientation matrix.

According to an advantageous embodiment, it is proposed that a position error and / or an orientation error is determined on the basis of the comparison from step c). This error can contribute to the generation of GNSS correction data. The correction data can be formed on the vehicle side or with the aid of a higher-level management system. The management system may be a so-called cloud that provides GNSS correction data to a plurality of GNSS users.

According to an advantageous embodiment, it is proposed that in step c) the measured relative position and relative orientation is measured using an environment sensor. It is preferred that the environment sensor is associated with the first movement and position sensor. Such an assignment may be such that a certain (fixed) relative position and / or relative orientation is or are provided between the first movement and position sensor and the surroundings sensor. The determined (fixed) relative position and / or relative orientation can, for example, be stored in a transformation matrix and taken into account in the measurement. The environmental sensor system comprises at least one surroundings sensor which is provided and arranged for this purpose, at least a partial area of the surroundings around the first motion and position sensor and / or at least a partial area of the surroundings around a vehicle having the first motion and position sensor to capture. In this case, the environment sensor can have scanning means which are set up to scan the corresponding surroundings in particular optically, magnetically and / or acoustically.

According to an advantageous embodiment, it is proposed that in step c) the measured relative position and relative orientation is measured using an optical sensor. Preferably, the optical sensor uses at least one laser beam. In addition, at least one transit time measurement (of a laser beam) can take place between the sensor and an optical reference device. Very particularly preferred are all methods in which optical markers are measured in order to determine the relative positioning of an object to a sensor. Most preferably, these methods are based on infrared. Further preferably, the optical sensor can be equipped with a camera. In particular, the optical sensor is associated with the first motion and position sensor, such as by providing a certain (fixed) relative position and / or relative orientation between the first motion and position sensor and the optical sensor. Preferably, the optical sensor interacts with an optical reference device. Advantageously, the optical sensor and the optical reference device cooperate in the manner of an optical tracking system. The optical reference device is preferably associated with the second motion and position sensor, such as by providing a certain (fixed) relative position and / or relative orientation between the second motion and position sensor and the optical reference device.

According to an advantageous embodiment, it is proposed that in step c) the measured relative position and relative orientation be measured using a magnetic, ultrasonic, LIDAR, RADAR or mechanical sensor.

Preferably, the first movement and position sensor and the second movement and position sensor are movably connected to each other. According to an advantageous (alternative) embodiment, however, it is proposed that the first motion and position sensor and the second motion and position sensor are firmly connected to each other. For example, a rigid (lever) arm could be provided between the first and second motion and position sensors. A fixed connection results, in particular, in a known and constant relative position and relative orientation of the two motion and position sensors relative to one another.

• - ein Fahrzeug mit einem ersten Bewegungs- und Positionssensor und einer Umfeldsensorik, sowie
• - einen zweiten Bewegungs- und Positionssensor, der mit dem Fahrzeug verbunden ist.

According to a further aspect, an arrangement is proposed, comprising:

• - A vehicle with a first movement and position sensor and environment sensors, as well
• a second motion and position sensor connected to the vehicle.

Advantageously, the first movement and position sensor is arranged in or on the vehicle. In addition, the environment sensor system can be arranged in or on the vehicle. In particular, the environmental sensor system is associated with the first movement and position sensor, for example by providing a specific (fixed) relative position and / or relative orientation between the first movement and position sensor and the surroundings sensor. The environmental sensor system may include a magnetic, ultrasonic, LIDAR, RADAR or mechanical sensor. The environment sensor system preferably comprises an optical sensor. Particularly preferably, an optical sensor arranged in or on the vehicle interacts with an optical reference device. Advantageously, the optical sensor and the optical reference device cooperate in the manner of an optical tracking system. The optical reference device is preferably associated with the second motion and position sensor, such as by providing a certain (fixed) relative position and / or relative orientation between the second motion and position sensor and the optical reference device.

According to an advantageous embodiment, it is proposed that the second movement and position sensor is arranged at a distance from the vehicle. Preferably, the second movement and position sensor is arranged in or on a trailer, wherein the trailer is coupled to the vehicle. Here, the trailer may represent a testing device for testing the first motion and position sensor. If an optical reference device is associated with the second motion and position sensor, then this is preferably also arranged on the trailer. As an alternative to an arrangement at a distance from the vehicle, it may be provided that the second movement and position sensor is likewise arranged in or on the vehicle.

According to an advantageous embodiment, it is proposed that an evaluation device is provided, which is provided and set up for carrying out a method proposed here. The evaluation device may for example be part of an on-board computer of the vehicle or the navigation system of the vehicle. Alternatively, the evaluation device can be part of a superordinate management system, such as a cloud, which provides GNSS correction data for a large number of GNSS users.

The details, features and advantageous embodiments discussed in connection with the method can accordingly also occur in the arrangement presented here and vice versa. In that regard, reference is made in full to the statements there for a more detailed characterization of the features.

• 1: eine Anordnung, umfassend ein Fahrzeug und einen Bewegungs- und Positionssensor, und
• 2: ein schematisches Ablaufdiagramm des beschriebenen Verfahrens.

The solution presented here and its technical environment are explained in more detail below with reference to the figures. It should be noted that the invention should not be limited by the embodiments shown. In particular, unless explicitly stated otherwise, it is also possible to extract partial aspects of the facts explained in the figures and to combine them with other components and / or findings from other figures and / or the present description. It shows schematically:

• 1 an arrangement comprising a vehicle and a motion and position sensor, and
• 2 : A schematic flow diagram of the described method.

1 schematically shows an arrangement with a vehicle 1 , Here is an example in the vehicle 1 a first motion and position sensor 2 integrated. This serves to locate and navigate the vehicle 1 , which is an example of an autonomous automobile. In addition, the vehicle points 1 an environment sensor 3 on, as shown by 1 on the roof of the vehicle 1 is arranged. The environment sensor 3 here includes, for example, an optical sensor 3 ,

In addition, the arrangement has a second movement and position sensor 4 on that with the vehicle 1 connected is. The second motion and position sensor 4 is in 1 spaced to the vehicle 1 arranged. This is the second movement and position sensor 4 exemplary in a trailer 6 arranged to the vehicle 1 is coupled. In the example shown is the trailer 6 a test device for testing the first motion and position sensor 2 ,

The second motion and position sensor 4 is an optical reference device 5 assigned. This optical reference device 5 is as shown 1 on the trailer 6 arranged. The optical sensor 3 interacts here with the optical reference device 5 so that they can interact in the manner of an optical tracking system.

Further, the optical sensor 3 the first motion and position sensor 2 assigned by a specific (fixed) relative position and relative orientation between the first motion and position sensor 2 and the optical sensor 3 are provided. This particular relative position and relative orientation is stored here by way of example in a transformation matrix, which is a conversion between the coordinate system of the optical sensor 3 and the coordinate system of the first motion and position sensor 2 allows.

In addition, the optical reference device 5 the second motion and position sensor 4 assigned by a certain (fixed) relative position and relative orientation between the second motion and position sensor 4 and the optical reference device 5 are provided. This particular relative position and relative orientation is stored here by way of example in a transformation matrix, which is a conversion between the coordinate system of the optical reference device 5 and the coordinate system of the second motion and position sensor 4 allows.

To explain a method presented here for checking a position determination of a motion and position sensor on the basis of in 1 In the example shown, the following can be carried out:

First, determine the first motion and position sensor 2 and the second motion and position sensor 4 their own position and self-orientation. This is done here, for example, using GNSS data from GNSS satellites. Then the position and orientation of the second movement and position sensor is determined from the determined self-data 4 in relation to the first motion and position sensor 2 calculated. The in relation to the first motion and position sensor 2 calculated position and orientation of the second motion and position sensor 4 is mapped in a (calculated) position and orientation matrix. An exemplary (calculated) position and alignment matrix is shown below. $$R_{\mathrm{<figure-callout\; id="2"\; label="B\; P\; S"\; filenames="DE102018202982A1\_0020.png"\; state="\{\{state\}\}">B\; </figure-callout>}PS2}=\left[\begin{array}{cccc}{R}_{11}& R_{12}& R_{13}& P_x\\ R_{21}& R_{22}& R_{23}& P_y\\ R_{31}& R_{32}& R_{33}& P_z\\ 0& 0& 0& 1\end{array}\right]$$

Den Einheitsvektor entsprechend der x-Achse des lokalen Koordinatensystems des zweiten Bewegungs- und Positionssensors (relativ zum ersten Bewegungs- und Positionssensor). $${\overrightarrow{\text{R}}}_{\text{y}}=\left[{\text{R}}_{21},{\text{ R}}_{22},{\text{ R}}_{23}\right]$$

Den Einheitsvektor entsprechend der y-Achse des lokalen Koordinatensystems des zweiten Bewegungs- und Positionssensors (relativ zum $${\overrightarrow{\text{R}}}_z=\left[{\text{R}}_{31},{\text{ R}}_{32},{\text{ R}}_{33}\right]$$

ersten Bewegungs- und Positionssensor). Den Einheitsvektor entsprechend der z-Achse des lokalen Koordinatensystems des zweiten Bewegungs- und Positionssensors (relativ zum ersten Bewegungs- und Positionssensor). $${\text{P}}_{\text{x}},{\text{ P}}_{\text{y}},{\text{ P}}_{\text{z}}$$

Die Position des zweiten Bewegungs- und Positionssensors im Koordinatensystem des ersten Bewegungs- und Positionssensors (relativ zum ersten Bewegungs- und Positionssensor). BPS2 stands for the second motion and position sensor. Describe here: $${\overrightarrow{\text{R}}}_{\text{x}}=\left[{\text{R}}_{11}.{\text{R}}_{12}.{\text{R}}_{13}\right]$$

The unit vector according to the x Axis of the local coordinate system of the second motion and position sensor (relative to the first motion and position sensor). $${\overrightarrow{\text{R}}}_{\text{y}}=\left[{\text{R}}_{21}.{\text{R}}_{22}.{\text{R}}_{23}\right]$$

The unit vector according to the y -Axis of the local coordinate system of the second motion and position sensor (relative to $${\overrightarrow{\text{R}}}_z=\left[{\text{R}}_{31}.{\text{R}}_{32}.{\text{R}}_{33}\right]$$

first motion and position sensor). The unit vector according to the z Axis of the local coordinate system of the second motion and position sensor (relative to the first motion and position sensor). $${\text{P}}_{\text{x}}.{\text{P}}_{\text{y}}.{\text{P}}_{\text{z}}$$

The position of the second motion and position sensor in the coordinate system of the first motion and position sensor (relative to the first motion and position sensor).

Zudem wird die Position des optischen Sensors 3 mittels einer Transformationsmatrix $T_{optSen}^{BPS1}$

so transformiert, dass sie mit der Position des ersten Bewegungs- und Positionssensors 2 korrespondiert.The same position of the second motion and position sensor 4 in relation to the first motion and position sensor 2 is (parallel) with the optical tracking system, comprising the optical sensor 3 and the optical reference device 5 , measured. In this case, in a first step, the coordinate system of the optical reference device 5 in the coordinate system of the second motion and position sensor 4 transferred. For this purpose, its position and orientation are multiplied by a transformation matrix $T_{OptRef}^{BPS2},$

In addition, the position of the optical sensor 3 by means of a transformation matrix $T_{OptSen}^{\mathrm{<figure-callout\; id="1"\; label="B\; P\; S"\; filenames="DE102018202982A1\_0020.png"\; state="\{\{state\}\}">B\; </figure-callout>}PS1}$

transformed so that it matches the position of the first motion and position sensor 2 corresponds.

Thus, the position and orientation of the second motion and position sensor 4 in relation to the first motion and position sensor 2 calculated simultaneously and monitored or measured by means of the optical tracking system. The tracking system is used here as a reference system that allows a check of the motion and position sensor by means of an optical reference measurement.

The measurements with the optical tracking system can be imaged with the following exemplary (measured) position and orientation matrix. $$R_{BPSO}=\left[\begin{array}{cccc}{R}_{11O}& R_{12O}& R_{13O}& P_{xO}\\ R_{21O}& R_{22O}& R_{23O}& P_{yO}\\ R_{31O}& R_{32O}& R_{33O}& P_{zO}\\ 0& 0& 0& 1\end{array}\right]$$

Den Einheitsvektor entsprechend der x-Achse des lokalen Koordinatensystems des zweiten Bewegungs- und Positionssensors, gemessen mit dem optischen Trackingsystem. $${\overrightarrow{\text{R}}}_{\text{yo}}=\left[{\text{R}}_{21\text{o}},{\text{ R}}_{22\text{o}},{\text{ R}}_{23\text{o}}\right]$$

Den Einheitsvektor entsprechend der y-Achse des lokalen Koordinatensystems des zweiten Bewegungs- und Positionssensors, gemessen mit dem optischen Trackingsystem. $${\overrightarrow{\text{R}}}_{\text{zo}}=\left[{\text{R}}_{31\text{o}},{\text{ R}}_{32\text{o}},{\text{ R}}_{33\text{o}}\right]$$

Den Einheitsvektor entsprechend der z-Achse des lokalen Koordinatensystems des zweiten Bewegungs- und Positionssensors, gemessen mit dem optischen Trackingsystem. $${\text{P}}_{\text{xo}},{\text{ P}}_{\text{yo}},{\text{ P}}_{\text{zo}}$$

Die Position des zweiten Bewegungs- und Positionssensors im Koordinatensystem des ersten Bewegungs- und Positionssensors, gemessen mit dem optischen Trackingsystem. Describe here: $${\overrightarrow{\text{R}}}_{\text{xo}}=\left[{\text{R}}_{11\text{O}}.{\text{R}}_{12\text{O}}.{\text{R}}_{13\text{O}}\right]$$

The unit vector according to the x -Axis of the local coordinate system of the second motion and position sensor, measured with the optical tracking system. $${\overrightarrow{\text{R}}}_{\text{yo}}=\left[{\text{R}}_{21\text{O}}.{\text{R}}_{22\text{O}}.{\text{R}}_{23\text{O}}\right]$$

The unit vector according to the y Axis of the local coordinate system of the second Motion and position sensor, measured with the optical tracking system. $${\overrightarrow{\text{R}}}_{\text{zo}}=\left[{\text{R}}_{31\text{O}}.{\text{R}}_{32\text{O}}.{\text{R}}_{33\text{O}}\right]$$

The unit vector according to the z -Axis of the local coordinate system of the second motion and position sensor, measured with the optical tracking system. $${\text{P}}_{\text{xo}}.{\text{P}}_{\text{yo}}.{\text{P}}_{\text{zo}}$$

The position of the second motion and position sensor in the coordinate system of the first motion and position sensor, measured by the optical tracking system.

The simplest possible calculation of the position of the second motion and position sensor 4 in relation to the first motion and position sensor 2 and the simplest possible comparison of the calculated and the measured relative data are made possible by the fact that the two motion and position sensors as well as the optical tracking system work with the same, six-degree-of-freedom coordinate systems. However, this is not mandatory. Alternatively, at least one movement and position sensor and / or the optical tracking system can be imaged with a five degrees of freedom Coordinate systems work. Six degrees of freedom typically include three degrees of freedom of movement and three degrees of freedom of orientation. Five degrees of freedom typically include three positions of freedom of freedom and two degrees of freedom of orientation. A usable here, five degrees of freedom imaging coordinate system is reduced by the rotation about its own axis. Conventional GPS sensors do not calculate the rotation around its own axis. Therefore, especially when using such in one of the motion and position sensors, the use of a five degrees of freedom imaging coordinate system for this motion and position sensor may be useful.

A comparison of the calculation of the position of the second motion and position sensor 4 in relation to the first motion and position sensor 2 with the optical measurement of the position of the second motion and position sensor 4 in relation to the first motion and position sensor 2 can provide the following error data that should be minimized to increase the accuracy of the motion and position sensor:

First, a position error can be specified as a vector in space: $$\overrightarrow{\text{e}}={\overrightarrow{\text{d}}}_{\text{opt}}-{\overrightarrow{\text{d}}}_{\text{BPS}}$$

Abstandvektor zwischen dem ersten und dem Bewegungs- und Positionssensor, gemessen mit dem optischen Trackingsystem. $$\begin{array}{l}{\overrightarrow{\text{d}}}_{\text{BPS}}=\left[{\text{P}}_{\text{x}},{\text{ P}}_{\text{y}},{\text{ P}}_{\text{z}}\right]\\ \overrightarrow{\text{e}}\end{array}$$

Berechneter Abstandvektor zwischen dem ersten und dem Bewegungs- und Positionssensor. Positionsfehler als Vektor im Raum. Describe here: $${\overrightarrow{\text{d}}}_{\text{opt}}=\left[{\text{P}}_{\text{xo}}.{\text{P}}_{\text{yo}}.{\text{P}}_{\text{zo}}\right]$$

Distance vector between the first and the motion and position sensor, measured with the optical tracking system. $$\begin{array}{l}{\overrightarrow{\text{d}}}_{\text{BPS}}=\left[{\text{P}}_{\text{x}}.{\text{P}}_{\text{y}}.{\text{P}}_{\text{z}}\right]\\ \overrightarrow{\text{e}}\end{array}$$

Calculated distance vector between the first and the motion and position sensor. Position error as a vector in space.

$${\alpha }_y=\frac{{\overrightarrow{\text{R}}}_{\text{y}}\cdot {\overrightarrow{\text{R}}}_{\text{yo}}}{\left|{\overrightarrow{\text{R}}}_{\text{y}}\right|\cdot \left|{\overrightarrow{\text{R}}}_{\text{yo}}\right|}$$

$${\alpha }_z=\frac{{\overrightarrow{\text{R}}}_{\text{z}}\cdot {\overrightarrow{\text{R}}}_{\text{zo}}}{\left|{\overrightarrow{\text{R}}}_{\text{z}}\right|\cdot \left|{\overrightarrow{\text{R}}}_{\text{zo}}\right|}$$

On the other hand, an orientation error can be defined as follows: $${\alpha }_x=\frac{{\overrightarrow{\text{R}}}_{\text{x}}\cdot {\overrightarrow{\text{R}}}_{\text{xo}}}{\left|{\overrightarrow{\text{R}}}_{\text{x}}\right|\cdot \left|{\overrightarrow{\text{R}}}_{\text{xo}}\right|}$$

$${\alpha }_y=\frac{{\overrightarrow{\text{R}}}_{\text{y}}\cdot {\overrightarrow{\text{R}}}_{\text{yo}}}{\left|{\overrightarrow{\text{R}}}_{\text{y}}\right|\cdot \left|{\overrightarrow{\text{R}}}_{\text{yo}}\right|}$$

$${\alpha }_z=\frac{{\overrightarrow{\text{R}}}_{\text{z}}\cdot {\overrightarrow{\text{R}}}_{\text{zo}}}{\left|{\overrightarrow{\text{R}}}_{\text{z}}\right|\cdot \left|{\overrightarrow{\text{R}}}_{\text{zo}}\right|}$$

Den Orientierungsfehler entlang den Achsen R_x , R_y , R_z . Describe here: $${\alpha }_x.{\alpha }_y.{\alpha }_z$$

The orientation error along the axes _Rx . R _y . R _z ,

These errors are only examples. Many other or more types of errors can be detected.

2 shows a schematic flow diagram of the method described. Evident are the process steps a), b) and c), which are carried out sequentially.

In particular, the solution presented here helps to test or even increase the accuracy of a GNSS sensor by using known or measured relative data of several motion and position sensors as reference to calculated relative data. This may help to supplement or replace fixed reference stations (eg DGPS). Normally you only use a better system as a reference.

Claims (11)

Method for checking a position determination of a motion and position sensor, comprising the following steps: a) determining the respective eigenposition and self-orientation of a first and a second motion and position sensor, b) calculating a relative position and relative orientation that the first and the second motion and position sensors have relative to one another based on the results from step a), c) comparing the relative position and relative orientation calculated in step b) with a known or measured relative position and relative orientation which the first and the second movement and position sensors have relative to one another. Method according to Claim 1 , wherein in step b) the position and orientation of the second motion and position sensor is calculated in relation to the first motion and position sensor. Method according to Claim 1 or 2 wherein in step c) a known or measured position and orientation of the second motion and position sensor in relation to the first motion and position sensor is used. Method according to one of the preceding claims, wherein based on the comparison from step c) a position error and / or an orientation error is determined. Method according to one of the preceding claims, wherein in step c) the measured relative position and relative orientation is measured using an environment sensor. Method according to one of the preceding claims, wherein in step c) the measured relative position and relative orientation is measured using an optical sensor. Method according to one of the preceding claims, wherein in step c) the measured relative position and relative orientation using a magnetic, ultrasonic, LIDAR, RADAR or mechanical sensor is measured. Method according to one of the preceding claims, wherein the first movement and position sensor and the second movement and position sensor are firmly connected to each other. Arrangement comprising: - A vehicle (1) with a first movement and position sensor (2) and an environment sensor (3), and - A second movement and position sensor (4) which is connected to the vehicle (1). Arrangement according to Claim 9 wherein the second movement and position sensor (4) is arranged at a distance from the vehicle (1). Arrangement according to Claim 9 or 10 , wherein an evaluation device is provided, which for carrying out the method according to one of Claims 1 to 8th is provided and set up.

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