EP2483709A1 - Procédé pour la création informatisée et/ou pour la mise à jour d'une carte de référence pour une localisation d'un objet assistée par satellite - Google Patents

Procédé pour la création informatisée et/ou pour la mise à jour d'une carte de référence pour une localisation d'un objet assistée par satellite

Info

Publication number
EP2483709A1
EP2483709A1 EP10751847A EP10751847A EP2483709A1 EP 2483709 A1 EP2483709 A1 EP 2483709A1 EP 10751847 A EP10751847 A EP 10751847A EP 10751847 A EP10751847 A EP 10751847A EP 2483709 A1 EP2483709 A1 EP 2483709A1
Authority
EP
European Patent Office
Prior art keywords
satellite
distance
correction
determined
object position
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Withdrawn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
EP10751847A
Other languages
German (de)
English (en)
Inventor
Joachim Bamberger
Marian Grigoras
Andrei Szabo
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.)
Siemens AG
Original Assignee
Siemens AG
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 Siemens AG filed Critical Siemens AG
Priority to EP10751847A priority Critical patent/EP2483709A1/fr
Publication of EP2483709A1 publication Critical patent/EP2483709A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/22—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
    • G01S19/38—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

Definitions

  • the invention relates to a method for the computer-aided creation and / or updating of a reference map for a satellite-based location of an object and a satellite-based positioning method.
  • the position of the object on the earth's surface is determined based on corresponding signals from Satelli ⁇ th.
  • the position determination is based on a transit time measurement a plurality of satellite signals and a entspre ⁇ sponding multilateration the determined therefrom distances between the satellites and the object.
  • Satellite-based alignment systems usually have very high accuracy in undeveloped areas. However, there is a problem that in built-up areas, due to the reflection of the satellite signals on buildings, the distance measurements are falsified, thereby deteriorating the accuracy of location.
  • the object of the invention is therefore to improve the accuracy of a satellite-based location. This object is achieved by the method according to claim 1 or according to claim 12 and the device according to claim 16 or according to claim 18. Further developments of the invention are defined in the dependent claims.
  • a reference map for a satellite-supported location of an object is created or updated, wherein a correction is made in the reference map is stored for a predetermined spatial area, are corrected with the locating an object in the given space area distance measures from which the object position is determined, wherein a distance measure is determined from a satellite satellite of a satellite, via a satellite-based receiver at the location of Object is received.
  • a distance measures in this case represents the distance of the Sa ⁇ telliten to the object, that is, the distance measure may be either the distance itself, or a parameter dependent thereon, such as the duration of the signal.
  • a satellite-based receiver which e.g. may be a GPS receiver or a receiver based on another system (e.g., Galileo) on one
  • the individual distance measures Wus ⁇ sen not be determined with the same receiver, but the distance measures may be determined, where appropriate, be ⁇ arbitrary, moving in the space domain receivers.
  • step b) of the process an object position for egg NEN respective locations of the plurality of locations is set, wherein the predetermined object position may be for example a prior art object position and an estimated object position, which, for example without using the Refe ⁇ ence card with the satellite receiver was determined.
  • step c) The satellites from which the satellite signals are received in step a) at the respective location, distance measures is in a step c) then from the predetermined object position and the satellite positions recalculated corresponding to the given object prior ⁇ position.
  • step d) of the procedural ⁇ proceedings is based on the difference between the distance measures, which are determined in step a) at each location, and the corresponding back-calculated distance measures the correction for deposited at least a portion of the predetermined space area to the predetermined object position and / or aktua ⁇ linstrument.
  • the deposit or update of the correction can be done with known methods.
  • known processes are used in the prior art for the field strength-based positioning, which are analogous also to satellite-based method on ⁇ portable.
  • the methods described in references [1] to [3] can be used, the entire disclosure content of these documents being incorporated by reference into the content of the present application.
  • the way in which the updating of a reference map for field strength-based location methods described in these documents can be transferred to satellite-based location methods will be explained by means of an exemplary embodiment in the detailed description.
  • the reference map is represented by corrective ⁇ tur coloringen at a plurality of sampling points in the predetermined spatial region, said deposited in step d) the correction factors for one or more nodes in spatial proximity to the predetermined object position and / or updated become.
  • the neighborhood can be defined in any way.
  • the neighborhood can be defined by a corresponding function, the values of which decrease with increasing distance between the interpolation point and the given object position, so that, starting at a specific distance between the interpolation point and the given object position, jektposition no update of correction factors more occurs.
  • the predetermined object position in step b) is determined based on the distance measurements determined in step a) and corrected with the correction of the reference map. In this way, an unsupervised learning of the reference map can be achieved, in which the object position used for learning need not be known exactly.
  • the correction factors of one or more support points in spatial proximity to an estimated object position are used in the determination of the predetermined object position.
  • the spatial neighborhood can be set here such that in the He ⁇ averaging the predetermined object position correction factors that only support point are used, which have the slightest overall distance to an estimated object position.
  • this estimated object position can be, for example, the position of the object located without the use of the reference map or a position which was determined additionally or alternatively with other sensors, eg via odometric or gyroscopic sensors.
  • step b) a known object position specified differently and in step d) the correction of the known object position and / or for one or more reference points of the reference map in spatial proximity to the known Whether ⁇ jektposition deposited and / or updated.
  • a supervised learning method for creating or updating a reference map based on known object positions is provided.
  • the distance measure is received over a running time measurement of the corresponding received Satellite signal detected.
  • the Sa ⁇ tellitenposition of each satellite used in the process is encoded suitably in the received satellite signal and / or derivable from the received satellite signal, in particular based on a time stamp in the satellite signal, which specifies the transmission time of the signal, and the terme ⁇ known path of the corresponding satellite ,
  • step d) the correction depending on the present in the Or ⁇ tion satellite positions deposited, wherein in step d) the correction for those satellite positions is created and / or updated for which satellite ⁇ signals are received in step a) ,
  • correction factors for a plurality of satellite positions are stored and / or updated for a respective interpolation point of the reference map.
  • the deposit or updating the correction in step d) is carried out such that a corrective ⁇ turcrest for a support point, which the Satellitenpositi- on corresponding, for which a measure of distance in step a) is ⁇ telt ermit, added to a correction term or is withdrawn, the in step a) it depends ⁇ mediated distance measure and the back-calculated in step c) distance measure of the difference between. Whether adding or subtracting the correction term is given depends on the sign even Defi nition ⁇ the correction term.
  • the distance measure kor rigiert ⁇ by adding the correction factor, the correction term as the difference between the back-calculated distance measure and the distance measure is determined finiert de-.
  • the correction term can be defined in analogy to the methods described in the publications [1] to [3], wherein instead of a difference of Field strength values a difference of distance measures is used.
  • the correction term from the distance between the support point and the predetermined in step b) cyclo ⁇ sition is dependent and decreases with increasing distance.
  • the correction term can include a function dependent on the distance between the interpolation point and the object position predefined in step b), for example a triangular function or a Gaussian function.
  • the functions described in documents [1] to [3] can be used.
  • Dis ⁇ dance mass are first one or more satellite receivers for a plurality of locations of an object based on step a), whereby the distance measurements are transmitted to a central processing unit which then for each location performs steps b) to d) and thereby creates and / or updates a reference map.
  • ⁇ ante data over any receivers are TOTAL ⁇ melt in advance, with the data of any user can come with normal receivers. In the case of unsupervised learning, not even the exact positions of the users need to be known. After sufficient data has been collected, the reference card can be closed or updated.
  • the invention further relates to a method for satellite-assisted locating of an object, wherein the locating takes place with the aid of a reference map, which is created or updated with the method described above.
  • the distance measurements are then corrected with a correction corrected from the reference map and based on these corrected distance measures the object position is determined.
  • the correction of a respective Distanzma ⁇ SLI is preferably carried out by the correction factor that support point which has the shortest distance to an estimated object position.
  • the correction factor is added to or subtracted from the distance measure.
  • the reference map to a central Rechenein ⁇ integrated is stored, wherein at least a part of the reference card is transferred to the object and the object, the repo- sitions of the distance measures, which of the correction of the at least one part Reference card to be corrected, determined and / or wherein the measures determined at the location of the object distance measures are a ⁇ mediated to the central processing unit, which then determines the object position using the reference card and transmits to the object over ⁇ .
  • the invention also includes a device for computer-aided creation
  • the device comprises one or more means with which during operation of the device:
  • the device is preferably designed such that each variant of the method described above can be carried out with the device.
  • the invention further relates to a device for satellite-supported location of an object, the location being carried out with the help of the reference map created or updated via the above-described method.
  • the device comprises one or more means with which during operation of the device: with a satellite-based receiver on the
  • a respective distance measure represents the distance of a satellite to the object
  • the distance measures are corrected with the correction of the reference map
  • the object position is determined.
  • This device is preferably designed such that each variant of the positioning method described above can be carried out with the device.
  • Figure 1 is a schematic diagram of a satellite-supported locating ⁇ for explaining the problem of the invention.
  • FIG. 2 is a schematic representation of the location of an object in combination with the updating of a
  • Fig. 1 shows in side view a sa ⁇ tellitenge
  • a GPS receiver 1 the position on the ground surface above Sa- tellitensignale is to be determined from multiple satellites.
  • the receiver 1 is located in a narrow built-up area, which is indicated by two reproduced as rectangles building 2 and 3.
  • the GPS receiver 1 receives for locating its three-dimensional position, the signals from four satellites, the principle of GPS measurement is explained for clarity, however, based only on the satellite S shown in Fig. 1, the locating in a position PO and in a position PO 'reproduced is.
  • the satellite-supported location by the receiving device 1 is such that the receiving device evaluates information contained in received satellite signals.
  • a time stamp is coded on the one hand, which determines the time of transmission of the signal.
  • the time stamp can be used to calculate the so-called pseudo range, which represents an embodiment of a distance measure according to claim 1.
  • the pseudo-distance is determined in the GPS receiver by a time-of-flight measurement of the signal and represents the distance between the satellite S and the GPS receiver 1.
  • the satellite position can be back-calculated by methods known per se using the time stamp. Receives a GPS receiver now from four satellites corresponding signals, it can determine its position on the fact he ⁇ mediated pseudoranges, referred to as distances, as well as the corresponding ones on Satellitenpositi ⁇ multilateration.
  • the error in the satellite position PO ' is smaller than in the satellite position PO, since the difference between the direct line of sight and the correspondingly reflected signal paths for the position PO' is less than for the position PO.
  • a reference map is proposed in the embodiment of the invention explained below, which is known per se from the field-strength-based locating of objects.
  • a known from the field strength ⁇ based positioning method for locating and simultaneous updating of the reference card is analogously transmitted to a satellite-based location.
  • 2 shows a perspective view of a satellite-supported location of an object 0, which comprises a corresponding GPS receiver, with the aid of the above-mentioned reference map.
  • the reference card is in this case repre- sented in a predetermined spatial region through a multi ⁇ plurality of supporting points, said supporting points are indicated in Fig.
  • FIG. 2 a scenario is shown in which the object 0 receives Sa ⁇ tellitensignale from four satellites Sl, S2, S3 and S4 corresponding satellite positions PI, P2, P3 and P4. Based on these satellite signals, the corresponding distances d1, d2, d3 and d4 between the respective satellites S1, S2, S3 and S4 and the object 0 are first determined by running time measurement. Subsequently, based on an estimated position of the object 0, which may correspond, for example, to the object position determined without correction, that interpolation point of the reference map is determined which closest to this estimated object position. For this support point, that correction factor is taken which corresponds to the satellite position for which a respective distance was determined.
  • the distance is then corrected by addition or subtraction with the correction factor.
  • the reference map with the Be ⁇ reference numbers RM is designated and stored in a central processing unit SE in the form of a server, wherein the relevant for locating part of the reference map RM from the server over an appropriate (preferably wireless)verbin - tion is transferred to the object 0.
  • the object 0 it is also possible for the object 0 to transmit its measurement data to the server SE, which then uses the reference map RM stored there to determine a corrected object position, which it in turn transmits to the object 0.
  • FIG. 2 0 takes place in addition to the location of the object at the same time an update of entspre ⁇ sponding correction factors in the reference map based on the newly added object position. This is done in the object 0 in that from about the reference map Corridor ⁇ alloyed object position, the distances between the object 0 and the respective satellites are recalculated using the known satellite positions, the back-calculated distances in Fig. 2 with you, d2r, d3r and D4R are designated.
  • the corresponding correction factor is updated at reference point nodes in the vicinity of the object position OP.
  • the correction terms described in references [1] to [3] can be used in the form of Aktualtechnischsflä ⁇ chen.
  • the updating is carried out analogously based on the update area according to equation (7) of document [3].
  • the Dorti ⁇ ge term ⁇ is replaced by the difference between the respective determined and back-calculated distance.
  • the function f (r) of equation (7) can in this case as in equation (9) of the reference [3] to be selected, where r is the distance of a speaking ent ⁇ support point to the located object position.
  • ei of the corresponding distance of FIG dl 2 may be an updated correction factor ei newly determined in this way, which is as follows:.
  • Ei new ei + (you - dl) - f (r), where f (r) can be selected analogously to the equation (9) or (10) of the document [3].
  • f (r) can be selected analogously to the equation (9) or (10) of the document [3].
  • the correction factors for the distances of the other satellite positions S2 to S4 can be corrected.
  • an improved positioning accuracy for the object 0 can be achieved by taking into account the corresponding correction factors.
  • the corresponding updated Cor ⁇ rekturiety in the reference map RM is stored in the central processing unit SE, which central arithmetic unit SE can optionally also perform the calculation of the correction factor.
  • the reference card may already be pre-learned about suitable GPS measurements and subsequently be aktuali ⁇ Siert while locating the object 0 again.
  • an unsupervised learning is performed, whereby first GPS measurements of belie ⁇ -lived, moving in the space area of the reference map objects are collected with GPS receivers automatically. These measurements, which contain the corresponding distances to the satellites as well as the satellite positions, can be performed by any user with commercially available GPS receivers. The receivers need only be able to store the measurement information until it is finally transmitted to the central processing unit SE in a suitable manner. If appropriate, the transmission can also take place online via a corresponding data connection between the GPS receiver and the computing unit SE.
  • the reference card in the server SE is first initialized by Cor ⁇ rekturcresten be stored from zero for all nodes. Based on the collected measurements, which are then run step by step in any order, then the Updating the correction factors at the support points of the respective reference map, wherein the update is analogous to the above-described update based on corresponding update surfaces with which correction factors based on a function f (r) and depending on the difference between a recalculated and updated distance to be updated.
  • the server SE can before the start of learning of the reference map RM also includes a verification step imple ⁇ reindeer, in which checks whether the collected readings re ⁇ are presentative for the area in which the reference card is to learn, that is, whether the measurements also cover substantially the entire area to be learned and on the one hand lie close enough to each other and on the other a variety of
  • the learning of the reference card can first be reset and further measurements can be awaited.
  • other known methods for learning of the reference card is ⁇ sets can be, in particular instead of the learning of reference points in the reference map, a suitable correction function may optionally be learned so that the reference map is represented in the learned region by such a function, which, depending on whether an estimated ⁇ jektposition (for example, a particular without correction ropo- sition) indicating the corresponding correction factor to be used.
  • suitable optimization methods such as maximum expectation or genetic algorithms, with suitably defined cost functions can be used to determine the correction function.
  • the correction factors for the reference map nodes using the unsupervised learning described above After having learned the correction factors for the reference map nodes using the unsupervised learning described above, they must be based on the ones for localization used GPS receivers are distributed by corresponding objects. As described above, there is the possi ⁇ probability that when locating the relevant object retrieves the re ⁇ relevant part of the reference card from the server SE and processed in a suitable manner. Likewise, the measurement data of a GPS location in the object 0 can be transmitted to the server SE, which then determines the object position corrected with the reference map and sends it to the object 0.
  • the advantage of the last-mentioned variant is that the calculations for determining the corrected object position do not have to be performed by the object 0 itself, which has only a few computational resources compared to the central processing unit SE.
  • the disadvantage of the last-mentioned variant is that a data transfer must be carried out at every location.
  • the above-described methods for locating or learning a reference card can be improved, if necessary, by using further information during the locating or during learning, if such information is available.
  • Such further information can include, for example, the positions of objects and in particular buildings in the region of the reference card to be learned, which can be taken, for example, from cartographic maps.
  • This information can be used, for example ⁇ to that an area is determined to be learned in the Korrekturfakto ⁇ ren the reference card, as is to be expected here with errors due to reflections. In other areas, a corresponding correction with the reference card is then dispensed with.
  • a corresponding sensed movement of the object with ⁇ means of additional sensors may be used as a further Informa ⁇ functions.
  • This information may in particular ⁇ sondere also serve to better estimate a position of the object, which estimated position eg for
  • Recalculating the appropriate distances to the satellites can be used.
  • the estimated positions from their localization systems are used, such as based on field strength based localization systems that estimate the position of an object via the field strength of corresponding radio networks, such as WLAN and / or DECT.
  • the calculation in which a reference card is learned should have a certain minimum size to ⁇ , thereby avoiding problems in learning at the edge of the reference card.
  • the study area should be at least ten times greater than the accuracy of satellite-based positioning ⁇ ranging from built-up areas.
  • this exact Po ⁇ sition can be taken from a map or determined by corresponding odometry or gyroscopic sensors ⁇ to. Not more an estimated Whether ⁇ jektposition or the determined without correction crapositi ⁇ on, but the known object position are used to determine or update the corresponding correction factor from the analog to the above described method, the distances to the corresponding satellites are calculated back. Based on the difference of the measured and recalculated distances, the correction factor is determined or updated.
  • An accurate calibration of a reference card for subsequent location is achieved by this method. however the method is associated with greater effort, since not ⁇ any GPS measurements can be used to create the reference card, but only those measurements in which the object position is already known. As a rule, therefore, the area of the reference card to be calibrated must be passed manually by a person who performs a GPS measurement for correspondingly known positions.
  • the methods described in the foregoing for creating or updating a reference map and the subsequent basie ⁇ Rende satellite positioning have a number of advantages.
  • the location in narrow built-up areas, such as in inner cities can be significantly improved.
  • Such improved positioning can be used in particular by official authorities in inner cities, such as fire brigades, police and the like, for faster reaching of accident or danger spots.
  • private persons or companies, such as taxi companies can use the improved location.
  • Another advantage of the method is that when performing the location, the correction in the reference map can also be improved continuously via a simultaneous online learning.
  • the constantly updated reference map also takes account of changed development conditions in a built-up area.

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

Abstract

L'invention concerne un procédé pour la création informatisée et/ou la mise à jour d'une carte de référence (RM) pour une localisation d'un objet (O) assistée par satellite. Une correction est enregistrée dans la carte de référence (RM) pour une zone spatiale prédéfinie, et permet, lors de la localisation d'un objet (O) dans la zone spatiale prédéfinie, de corriger des mesures de distance (d1, d2, d3, d4) à partir desquelles la position de l'objet (OP) est déterminée. Une mesure de distance provenant d'un signal par satellite d'un satellite (S1, S2, S3, S4) est déterminée, laquelle est reçue par le biais d'un récepteur satellite (1) sur le site de l'objet (O), et la mesure de distance représente la distance du satellite (S1, S2, S3, S4) à l'objet (O). Dans le procédé selon l'invention, la mesure de distance est déterminée avec un récepteur satellite sur une pluralité de sites fixes d'un objet situés dans la zone spatiale prédéfinie, à partir de signaux satellites reçus dans chaque cas. On utilise une position d'objet prédéfinie qui peut être d'ores et déjà connue, ou qui peut être estimée de manière appropriée, pour en déduire des mesures de distance qui correspondent à la position prédéfinie de l'objet, en tenant compte des positions des satellites d'où les signaux satellites proviennent. Sur la base de la différence entre les mesures de distance respectivement déterminées et déduites, la correction pour au moins une partie de la zone spatiale prédéfinie autour de la position prédéfinie de l'objet est enregistrée et/ou mise à jour. Le procédé selon l'invention permet d'obtenir une localisation plus précise au moyen d'une carte de référence dont l'apprentissage a été approprié. Le procédé est particulièrement avantageux pour effectuer une localisation dans des zones construites.
EP10751847A 2009-09-29 2010-08-13 Procédé pour la création informatisée et/ou pour la mise à jour d'une carte de référence pour une localisation d'un objet assistée par satellite Withdrawn EP2483709A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP10751847A EP2483709A1 (fr) 2009-09-29 2010-08-13 Procédé pour la création informatisée et/ou pour la mise à jour d'une carte de référence pour une localisation d'un objet assistée par satellite

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
EP09012346 2009-09-29
DE102010011982A DE102010011982A1 (de) 2009-09-29 2010-03-19 Verfahren zum rechnergestützten Erstellen und/oder Aktualisieren einer Referenzkarte für eine satellitengestützte Ortung eines Objekts
EP10751847A EP2483709A1 (fr) 2009-09-29 2010-08-13 Procédé pour la création informatisée et/ou pour la mise à jour d'une carte de référence pour une localisation d'un objet assistée par satellite
PCT/EP2010/061812 WO2011038976A1 (fr) 2009-09-29 2010-08-13 Procédé pour la création informatisée et/ou pour la mise à jour d'une carte de référence pour une localisation d'un objet assistée par satellite

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EP2483709A1 true EP2483709A1 (fr) 2012-08-08

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US (1) US20120182179A1 (fr)
EP (1) EP2483709A1 (fr)
KR (1) KR101451203B1 (fr)
DE (1) DE102010011982A1 (fr)
WO (1) WO2011038976A1 (fr)

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WO2011038976A1 (fr) 2011-04-07
KR101451203B1 (ko) 2014-10-15
US20120182179A1 (en) 2012-07-19
DE102010011982A1 (de) 2011-04-07

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