Classifications

• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
  • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
  • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
  • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments

Definitions

• the invention relates to the formation of a total position information, which total position information is determined using a first position determination system and a second position determination system.
• Formation of total position information is known from [1] and is used there in a navigation system for determining position information for a motor vehicle and for navigating the motor vehicle.
• the navigation system known from [1] comprises two redundant position determination systems, a first and a second position determination system.
• first and the second position determination system uses the first and the second position determination system to determine the first and the second position of the motor vehicle.
• current position information, first position information and second position information are printed out for a current position of the motor vehicle, in each case printed out by a distance traveled by the motor vehicle and an orientation of the motor vehicle.
• An overall position information which describes the current position of the motor vehicle, is determined using the first position information and the second position information.
• the motor vehicle is navigated using the overall position information.
• the first position determination system of this navigation system consists of an odometer, with which the traveled te route of the vehicle is determined, and from a gyroscope, with which the orientation of the vehicle is determined.
• the second position determination system is a so-called global positioning system (GPS), with which the distance traveled and the orientation of the motor vehicle are determined, just as with the first position determination system.
• GPS global positioning system
• [3] discloses other different types of GPS-type systems which differ in the type of position information they determine.
• the current position information is used both by the first position determination system (first position information) and by the second position determination system (second position information).
• the two redundant position information are compared with one another in such a way that a position difference between the first and the second position information is determined.
• the current position is determined in such a way that the first position information is corrected using the second position information and the overall position information for the current position of the motor vehicle is determined therefrom.
• the total position information for the current position of the motor vehicle is formed only from the first position information.
• a caiman filter is known from [2].
• the invention is based on the problem of specifying a method and an arrangement with which position information of a system can be determined with improved accuracy than in the method described above.
• first position information of the system is determined using the first position determination system for predetermined times.
• second position information of the system is determined using the second position determination system.
• error information is determined using the first and the second position information of the respective time.
• a measure of a statistical dependency between the error information is determined, and the overall position information is determined using the measure of the statistical dependency.
• the arrangement for forming total position information for a system which total position information is determined using a first position determination system and a second position determination system, has a processor which is set up in such a way that - for predetermined times, first position information of the system can be determined using the first position determination system .
• second position information of the system can be determined for the predetermined times using the second position determination system,
• a missing information can be determined using the first and the second position information of the respective time
• a measure for a statistical dependency between the missing information can be determined and the total position information can be determined using the measure for the statistical dependency.
• the arrangement is particularly suitable for carrying out the method according to the invention or one of its further developments explained below.
• a measure for a statistical dependency in the broader sense also means a statistical measure for an error. Furthermore, a measure is not just a discrete number or a discrete one
• the invention and / or any further development described below can also be implemented by a computer program product which has a storage medium on which a computer program which carries out the invention and / or further development is stored.
• error information is preferably determined for all predetermined times.
• the first and the second position information each comprise a distance covered by the system and an orientation of the system.
• the first and the second position information can also each include a speed of the system.
• the predetermined times describe a time series.
• the first position information and / or the second position information for a future point in time is / are determined using the measure for the statistical dependency. Using the first and / or the second position information for the future point in time, the first and / or the second position information is corrected for one of the predetermined points in time and the total position information is thereby formed.
• the measure for the statistical is preferred.
• the measure for the statistical dependency is derived from a covariance matrix, which is formed using the error information.
• a reliability check is carried out for the first and / or the second position information.
• a development is used in a navigation system with which a position of the system to be navigated is determined.
• the first position determination system preferably consists of an odometer and a gyroscope.
• a Global Positionmg System (GPS) is preferably used as the second position determination system.
• Figure 1 is a sketch of a navigation system with components in a motor vehicle
• FIG. 2 shows a sketch which describes the interaction of components of a navigation system
• FIG. 3 shows a sketch of method steps of a method for determining position information.
• Figure 4 is a sketch of process steps according to an alternative to the exemplary embodiment.
• Exemplary embodiment navigation system in a motor vehicle
• FIG. 1 shows a motor vehicle 100 which is equipped with a navigation system 110.
• FIG. 1 and FIG. 2 Components of this navigation system 110 are shown in FIG. 1 and FIG. 2 and are described below.
• F g.2 shows the components of navigation system 110 schematically and their interaction.
• the components of the navigation system 200 are each connected to one another in such a way that data which are determined or measured in the individual components can be transmitted to the other components and are available there for further processing.
• the connections between the components of the navigation system 200 are represented by arrows in FIG. 2, wherein an arrow direction illustrates a direction of transmission of the data between two interconnected components.
• the navigation system 200 comprises a position determination system 210, which in turn has three independent position determination systems, a GPS system 220, a gyroscope 230 and an odometer 240.
• a second current position information which is redundant to the first position information, is determined.
• an improved, because more accurate, current position information for the current position of the motor vehicle 100 is determined.
• a digital map 250 is stored in the navigation system 200.
• the digital map 250 is a digitized image of an environment of the motor vehicle 100, in which traffic connections and other traffic-relevant information, for example cities, are entered.
• the current position of the motor vehicle m of the digital map 250 is determined using the digital map 250 and the improved current position information of the motor vehicle 100.
• the navigation system 200 has an input device 260 with which a destination position of the motor vehicle 100 can be entered by the driver of the motor vehicle 100 m the navigation system 200.
• a route calculation unit 270 of the navigation system 250 uses the entered target position and the improved, current position of the motor vehicle to determine a shortest route to the target position.
• an optimal route can also be determined with regard to another criterion, for example travel time.
• the navigation system 200 has a display unit 280.
• the display unit 280 which comprises an optical output means 290 and an acoustic output means 291
• the driver of the motor vehicle 100 is acoustically and optically shown the shortest route (or other optimal) route to the entered target position.
• 1 shows the gyroscope 120, the odometer 121 and the GPS 122, which are each connected to a computing unit 130 via data lines 123.
• a data line can also be a radio link or other medium.
• the digital map and a first software program described below are stored in the computing unit 130, using which the improved, current position information of the motor vehicle is determined.
• a second software program is stored in the computing unit 130, with which the current position of the motor vehicle is determined on the digital map and the shortest route to the predetermined target position is determined using the current position.
• FIG. 1 shows the input means 140 for inputting the target position of the motor vehicle and the output means for outputting the shortest route to the target position.
• FIG. 3 shows method steps 300 for determining the improved current position information for the current position of the motor vehicle.
• a first method step 310 the first position information of the motor vehicle 100 is determined or measured for predetermined times k of a time series using the first position determination system, the gyroscope and the odometer.
• the gyroscope measures a measured value vGyro (k). This can be used to describe the following formal relationships:
• pl (k) + l pl (k) (4)
• the odometer measures a measured value v ⁇ do (k). This can be used to describe the following formal relationships:
• the first position information thus includes the large Wl (k) and the large w ⁇ do (k).
• a second method step 320 the second position information of the motor vehicle 100 is determined for the predetermined times k of the time series using the second position determination system.
• the GPS measures the following values at time k: W2 (k): orientation, wGPS (k): speed.
• error information is determined for all predetermined times k of the time series using the first and the second position information of the respective time in such a way that a difference between the respective first and second position information is determined.
• a measure for a statistical dependency between the defect information is determined.
• the improved current position information for the current position of the motor vehicle is determined.
• the third 330, the fourth 340 and the fifth 350 process steps are based on formal relationships using a Kalman filter and a Kalman filter, respectively. which or which m [2] is or are realized.
• an index z identifies an estimate or prediction of the associated quantity denoted by the index z.
• an index T denotes a transposed size of the size identified thereby.
• the measure for the statistical dependency in this case for a temporal error statistic, is an error covariance matrix P (k).
• R covariance matrix for noise.
• the vector y (k) has the improved current overall position information, which is further used for navigation of the motor vehicle 100 using the navigation system 110.
• the use of the navigation system is not limited to a motor vehicle, but that the navigation system with an appropriate adaptation also for any other mobile but also non-mobile system, for example a maritime vehicle, an airplane or a building, can be used.
• position determination systems other than those which are described in the exemplary embodiment can also be used for an overall position determination according to the method having the features according to the independent claim or one of the developments mentioned.
• a sixth method step 460 is provided, which is carried out between the second 320 method step and the third 330 method step and with which the second position information GPS (k) is checked for reliability.
• the reliability is checked according to the following logic:
• Sw, Adop, Ssat, St threshold values, can also be time-dependent
• DOP geometry of a current satellite constellation
• Tas Time period for AS (k)> Ssat. If all four inequalities (19) - (22) are satisfied, the second position information GPS (k) is rated as reliable.
• the subsequent method steps, the third 330, the fourth 340 and the fifth 350 method step are only carried out if the second position information has been assessed as reliable.
• the first position information is adopted as the improved current overall position in a seventh method step 470.
• an initialization step 480 is provided, which is carried out before the first method step 310 and with which size of the method are initialized.
• Zhao Yilin “Vehicle Location and Navigation Systems", Artech House Publishers, p.43-104, p.239-264, 1997, ISBN 0-89006-8621-5.
• Zhao Yilin “Vehicle Location and Navigation Systems", Artech House Publishers, pp. 63-75, 1997, ISBN 0-89006-8621-5.

Landscapes

• Engineering & Computer Science (AREA)
• Radar, Positioning & Navigation (AREA)
• Remote Sensing (AREA)
• Automation & Control Theory (AREA)
• Physics & Mathematics (AREA)
• General Physics & Mathematics (AREA)
• Navigation (AREA)
• Position Fixing By Use Of Radio Waves (AREA)

Applications Claiming Priority (3)

Publications (1)

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• 2000
  • 2000-12-21 CN CN00819447A patent/CN1452714A/zh active Pending
  • 2000-12-21 EP EP00991554A patent/EP1257785A1/de not_active Withdrawn
  • 2000-12-21 WO PCT/DE2000/004604 patent/WO2001063209A1/de not_active Application Discontinuation
  • 2000-12-21 US US10/204,281 patent/US20030149524A1/en not_active Abandoned
  • 2000-12-21 JP JP2001562131A patent/JP2003524170A/ja not_active Withdrawn

Non-Patent Citations (1)

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