DE102019208874A1 - Fehler- und Integritätsbewertung durch Bewegungsprädikation - Google Patents

Fehler- und Integritätsbewertung durch Bewegungsprädikation Download PDF

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Publication number
DE102019208874A1
DE102019208874A1 DE102019208874.0A DE102019208874A DE102019208874A1 DE 102019208874 A1 DE102019208874 A1 DE 102019208874A1 DE 102019208874 A DE102019208874 A DE 102019208874A DE 102019208874 A1 DE102019208874 A1 DE 102019208874A1
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Germany
Prior art keywords
time
receiver
later point
satellite
clock
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
DE102019208874.0A
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German (de)
English (en)
Inventor
Bernd Kubina
Roland Burghardt
Robert Bodenheimer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Continental Teves AG and Co OHG
Original Assignee
Continental Teves AG and Co OHG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Continental Teves AG and Co OHG filed Critical Continental Teves AG and Co OHG
Priority to DE102019208874.0A priority Critical patent/DE102019208874A1/de
Priority to EP20735475.4A priority patent/EP3987310B8/de
Priority to PCT/DE2020/200048 priority patent/WO2020253922A1/de
Priority to JP2021569949A priority patent/JP7406570B2/ja
Priority to US17/620,543 priority patent/US12111403B2/en
Priority to CN202080044406.3A priority patent/CN114008487B/zh
Priority to DE112020002918.2T priority patent/DE112020002918A5/de
Publication of DE102019208874A1 publication Critical patent/DE102019208874A1/de
Withdrawn legal-status Critical Current

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Classifications

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

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Security & Cryptography (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
DE102019208874.0A 2019-06-18 2019-06-18 Fehler- und Integritätsbewertung durch Bewegungsprädikation Withdrawn DE102019208874A1 (de)

Priority Applications (7)

Application Number Priority Date Filing Date Title
DE102019208874.0A DE102019208874A1 (de) 2019-06-18 2019-06-18 Fehler- und Integritätsbewertung durch Bewegungsprädikation
EP20735475.4A EP3987310B8 (de) 2019-06-18 2020-06-17 Fehler- und integritätsbewertung durch bewegungsprädikation
PCT/DE2020/200048 WO2020253922A1 (de) 2019-06-18 2020-06-17 Fehler- und integritätsbewertung durch bewegungsprädikation
JP2021569949A JP7406570B2 (ja) 2019-06-18 2020-06-17 挙動予測による誤差及びインテグリティ評価
US17/620,543 US12111403B2 (en) 2019-06-18 2020-06-17 Error and integrity evaluation via motion prediction
CN202080044406.3A CN114008487B (zh) 2019-06-18 2020-06-17 通过运动预测进行误差和完整性评估
DE112020002918.2T DE112020002918A5 (de) 2019-06-18 2020-06-17 Fehler- und Integritätsbewertung durch Bewegungsprädikation

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102019208874.0A DE102019208874A1 (de) 2019-06-18 2019-06-18 Fehler- und Integritätsbewertung durch Bewegungsprädikation

Publications (1)

Publication Number Publication Date
DE102019208874A1 true DE102019208874A1 (de) 2020-12-24

Family

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Family Applications (2)

Application Number Title Priority Date Filing Date
DE102019208874.0A Withdrawn DE102019208874A1 (de) 2019-06-18 2019-06-18 Fehler- und Integritätsbewertung durch Bewegungsprädikation
DE112020002918.2T Pending DE112020002918A5 (de) 2019-06-18 2020-06-17 Fehler- und Integritätsbewertung durch Bewegungsprädikation

Family Applications After (1)

Application Number Title Priority Date Filing Date
DE112020002918.2T Pending DE112020002918A5 (de) 2019-06-18 2020-06-17 Fehler- und Integritätsbewertung durch Bewegungsprädikation

Country Status (6)

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

Citations (2)

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US6516021B1 (en) * 1999-09-14 2003-02-04 The Aerospace Corporation Global positioning systems and inertial measuring unit ultratight coupling method
EP1729145A1 (en) * 2005-06-02 2006-12-06 Gmv, S.A. Method and system for providing GNSS navigation position solution with guaranteed integrity in non-controlled environments

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US5714948A (en) 1993-05-14 1998-02-03 Worldwide Notifications Systems, Inc. Satellite based aircraft traffic control system
CN1361409A (zh) * 2000-12-23 2002-07-31 林清芳 增强型导航定位之方法及其系统
US7133772B2 (en) * 2002-07-30 2006-11-07 Global Locate, Inc. Method and apparatus for navigation using instantaneous Doppler measurements from satellites
US20070109185A1 (en) * 2005-11-14 2007-05-17 Doug Kracke Providing GPS pseudo-ranges
US7439907B2 (en) 2006-11-20 2008-10-21 Sirf Technology Holdihgs, Inc. Navigation signal receiver trajectory determination
CN100442077C (zh) * 2007-07-12 2008-12-10 北京航空航天大学 接收机自主完好性监测的可用性预测方法
FR2928741B1 (fr) 2008-03-11 2020-06-26 Thales Dispositif et procede de surveillance d'integrite en temps reel d'un systeme de navigation par satellite
WO2010037416A1 (en) * 2008-10-01 2010-04-08 Nokia Corporation Managing the measurement of signals
US8525727B2 (en) * 2009-12-29 2013-09-03 Texas Instruments Incorporated Position and velocity uncertainty metrics in GNSS receivers
US8416129B2 (en) 2009-04-20 2013-04-09 The Boeing Company Positioning determinations of receivers
JP5460148B2 (ja) * 2009-07-06 2014-04-02 株式会社豊田中央研究所 測位装置及びプログラム
JP5673071B2 (ja) * 2010-03-10 2015-02-18 株式会社豊田中央研究所 位置推定装置及びプログラム
KR101151670B1 (ko) * 2011-12-14 2012-06-08 한국항공우주연구원 기준국 수신기 시계오차 조정 효과를 고려한 ｇνｓｓ 의사거리 보정치 표준편차 설정방법
DE102013016243A1 (de) * 2013-10-01 2014-07-17 Daimler Ag Verfahren und Vorrichtung zur Koppelnavigation eines Fahrzeugs mittels fahrzeugspezifischer Bewegungsparameter
US10353077B2 (en) * 2014-08-06 2019-07-16 Raytheon Company Position and motion informed navigation system
WO2017154131A1 (ja) * 2016-03-09 2017-09-14 三菱電機株式会社 測位装置および測位方法
DE102016215645A1 (de) * 2016-08-19 2018-02-22 Continental Automotive Gmbh Vorrichtung und Verfahren zum Erkennen einer fehlerhaften Bestimmung einer geographischen Position eines Fahrzeuges
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DE102019208872A1 (de) * 2019-06-18 2020-12-24 Continental Teves Ag & Co. Ohg Verfahren zur Fehlerbewertung bei einer Positionsbestimmung
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Patent Citations (2)

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US6516021B1 (en) * 1999-09-14 2003-02-04 The Aerospace Corporation Global positioning systems and inertial measuring unit ultratight coupling method
EP1729145A1 (en) * 2005-06-02 2006-12-06 Gmv, S.A. Method and system for providing GNSS navigation position solution with guaranteed integrity in non-controlled environments

Also Published As

Publication number Publication date
DE112020002918A5 (de) 2022-03-10
EP3987310B1 (de) 2025-11-05
WO2020253922A1 (de) 2020-12-24
JP2022534706A (ja) 2022-08-03
EP3987310B8 (de) 2025-12-10
CN114008487B (zh) 2025-08-01
US20220244399A1 (en) 2022-08-04
JP7406570B2 (ja) 2023-12-27
CN114008487A (zh) 2022-02-01
US12111403B2 (en) 2024-10-08
EP3987310A1 (de) 2022-04-27

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R163 Identified publications notified
R118 Application deemed withdrawn due to claim for domestic priority