JP6815078B2 - Gnss信号の提供方法 - Google Patents
Gnss信号の提供方法 Download PDFInfo
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- JP6815078B2 JP6815078B2 JP2015548372A JP2015548372A JP6815078B2 JP 6815078 B2 JP6815078 B2 JP 6815078B2 JP 2015548372 A JP2015548372 A JP 2015548372A JP 2015548372 A JP2015548372 A JP 2015548372A JP 6815078 B2 JP6815078 B2 JP 6815078B2
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- 238000000034 method Methods 0.000 claims description 34
- 230000000903 blocking effect Effects 0.000 claims description 12
- 230000002093 peripheral effect Effects 0.000 claims description 9
- 238000001914 filtration Methods 0.000 claims description 8
- 230000007613 environmental effect Effects 0.000 claims description 7
- 238000012937 correction Methods 0.000 description 8
- 230000004927 fusion Effects 0.000 description 8
- 238000001514 detection method Methods 0.000 description 7
- 230000001133 acceleration Effects 0.000 description 5
- 238000004590 computer program Methods 0.000 description 5
- 238000005259 measurement Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000000052 comparative effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000000342 Monte Carlo simulation Methods 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 238000005352 clarification Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000006731 degradation reaction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 239000002245 particle Substances 0.000 description 1
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Images
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
-
- 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
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/28—Satellite selection
-
- 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
-
- 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
- G01S19/49—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 inertial position system, e.g. loosely-coupled
Description
・センサー信号の検出、
・比較センサー信号の検出、
・少なくとも一つのセンサー信号の、予測されるエラーに基づく重みづけ、そして、
・センサー信号の、重みづけに従い測定信号を出力するための、比較センサー信号に基づくフィルタリング、
というステップを含んでいる。
・すべてのGNSS信号12を完全に遮断するトンネル、
・GNSS信号12の一部を遮断する建物10、または
・GNSS信号12の一部を部分的に遮断する木々。
Claims (5)
- 車両の位置(30)の決定の為の、以下ではGNSS信号(54)と称される、グローバルナビゲーション衛星システム信号(54)の提供の為の方法であって、
・フィルタリングされていないGNSS信号(12)が受信されることと、
・車両(2)の移動方向における周辺条件(20)に基づいて、フィルタリングされていないGNSS信号(12)がフィルタリングされることと、
・フィルタリングされたGNSS信号(54)が出力されることとを含み、
当該GNSS信号(12)は、周辺条件(20)としてのオブジェクト(10)によるGNSS信号(12)の将来予想される遮断に基づいてフィルタリングされ、
さらに、当該方法は、
・車両(2)の参照位置データ(30)が、ストラップダウンアルゴリズム(42)によって走行ダイナミクスデータ(28)から取得されることと、
・当該参照位置データが、カルマンフィルタ内で検出された位置(40)と比較され、参照位置データ(30)のためのエラーバジェット(46)と位置(40)のためのエラーバジェット(48)とが予測されることによって、車両(2)の検出された位置(40)が、参照位置データ(30)に基づいて補正されることとを含み、
周辺条件(20)が、車両(2)の環境センサー(18)によって検出され、
複数のGNSS信号(12)は、フィルタリングの為に環境センサー(18)の出力信号、つまり周辺条件(20)に基づいて重みづけされ、そしてエラーを有するGNSS−衛星(14)が先見的に検出されるように選択され、
個々の信号の重みづけファクターが、エラーバジェット(48)によって決定され、
環境センサー(18)による周辺条件(20)に基づいて、間近に迫っているGNSS信号(12)のオブジェクト(10)による遮断がエラーとして検出され、このエラーを有するGNSS衛星(14)が先見的に検出され、GNSS信号(12)の重みづけを行うことにより、重みづけのためのエラーバジェット(48)がフィードバックされて利用可能となるまでの無駄時間が埋められることを特徴とする方法。 - 出力信号、つまり周辺条件(20)が、車両(2)が走行する道路(4)上のオブジェクト(10)を表すことを特徴とする請求項1に記載の方法。
- GNSS信号(54)に基づく車両の位置(40)の決定の為の方法であって、
・請求項1または2に記載の方法によって、GNSS信号(54)が提供されることと、・提供されたGNSS信号(54)に基づいて、車両(2)の位置(40)が決定されることとを含むことを特徴とする方法。 - 車両(2)内における参照位置データ(30)の出力方法であって、
・請求項1又は2に記載の方法によって、GNSS信号(54)が提供されることと、
・参照位置データ(30)が検出されることと、
・位置(40)が検出されることと、
・周辺条件(20)に基づいて、位置(40)が重みづけされることと、
・参照位置データ(30)が、当該参照位置データ(30)を出力する為に重みづけされた位置(40)に基づいてフィルタリングされることとを含むことを特徴とする方法。 - 請求項1〜4のいずれか一項に記載の方法を実施するように設けられた制御装置(50,24,22)。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102012224104.3 | 2012-12-20 | ||
DE102012224104.3A DE102012224104A1 (de) | 2012-12-20 | 2012-12-20 | Verfahren zum Bereitstellen eines GNSS-Signals |
PCT/EP2013/076359 WO2014095558A2 (de) | 2012-12-20 | 2013-12-12 | Verfahren zum bereitstellen eines gnss-signals |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2016504584A JP2016504584A (ja) | 2016-02-12 |
JP2016504584A5 JP2016504584A5 (ja) | 2020-11-12 |
JP6815078B2 true JP6815078B2 (ja) | 2021-01-20 |
Family
ID=49766078
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2015548372A Active JP6815078B2 (ja) | 2012-12-20 | 2013-12-12 | Gnss信号の提供方法 |
Country Status (7)
Country | Link |
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US (1) | US10353076B2 (ja) |
EP (1) | EP2936205A2 (ja) |
JP (1) | JP6815078B2 (ja) |
KR (1) | KR102200624B1 (ja) |
CN (1) | CN104871032A (ja) |
DE (1) | DE102012224104A1 (ja) |
WO (1) | WO2014095558A2 (ja) |
Families Citing this family (7)
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DE102014011092A1 (de) * | 2014-07-25 | 2016-01-28 | Audi Ag | Verfahren zur Bestimmung eines ortsaufgelösten Fehlermaßes für eine Positionsbestimmung mit einem GNSS |
DE102014218703A1 (de) * | 2014-09-17 | 2016-03-17 | Continental Teves Ag & Co. Ohg | Redundante Lokalisierung mittels GNSS-Signal |
DE202015008708U1 (de) * | 2015-12-18 | 2017-03-21 | GM Global Technology Operations LLC (n. d. Ges. d. Staates Delaware) | Fahrzeugpositioniersystem |
KR101764839B1 (ko) * | 2016-03-11 | 2017-08-03 | 재단법인대구경북과학기술원 | 차선 인식 시스템 및 방법 |
DE102017205793A1 (de) * | 2017-04-05 | 2018-10-11 | Continental Teves Ag & Co. Ohg | Verfahren zum Betreiben eines Unfalldatenspeichers für ein Kraftfahrzeug und Unfalldatenspeicheranordnung |
US10725182B2 (en) | 2018-01-04 | 2020-07-28 | Interstate Electronics Corporation | Systems and methods for providing anti-spoofing capability to a global navigation satellite system receiver |
DE102019220051A1 (de) * | 2019-12-18 | 2021-06-24 | Robert Bosch Gmbh | Verfahren zur Bestimmung der Sichtbarkeit eines GNSS-Satelliten und Verfahren zur hochgenauen Positionsbestimmung sowie Computerprogramm, elektronisches Speichermedium und Vorrichtung |
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JPH0755909A (ja) | 1993-08-11 | 1995-03-03 | Mitsui Constr Co Ltd | 衛星監視装置 |
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DE102004027666B4 (de) * | 2004-06-07 | 2006-07-27 | Infineon Technologies Ag | Verbesserung der Zuverlässigkeit und der Genauigkeit von Positionsbestimmungs-Verfahren durch Abschätzung des Rice-Faktors einer Funkverbindung |
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DE102006029148B4 (de) | 2006-06-24 | 2010-08-05 | Lfk-Lenkflugkörpersysteme Gmbh | Verfahren zur Überprüfung einer inertialen Messeinheit von Fahrzeugen, insbesondere von Luftfahrzeugen, im stationären Zustand |
JP2008232761A (ja) | 2007-03-19 | 2008-10-02 | Toyota Motor Corp | 移動体用測位装置 |
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DE102007038697A1 (de) | 2007-08-16 | 2009-02-19 | Björn Steiger Stiftung Service GmbH | Vorrichtung zum Schätzen einer Aufenthaltsposition eines Mobilfunkendgerätes |
DE102007041121B4 (de) * | 2007-08-30 | 2022-05-19 | Volkswagen Ag | Verfahren und Vorrichtung zum Verarbeiten von Sensordaten für ein Fahrerassistenzsystem eines Fahrzeugs |
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DE102010063984A1 (de) | 2010-02-11 | 2011-08-11 | Continental Teves AG & Co. OHG, 60488 | Fahrzeug-Sensor-Knoten |
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-
2012
- 2012-12-20 DE DE102012224104.3A patent/DE102012224104A1/de active Pending
-
2013
- 2013-12-12 JP JP2015548372A patent/JP6815078B2/ja active Active
- 2013-12-12 KR KR1020157019326A patent/KR102200624B1/ko active IP Right Grant
- 2013-12-12 US US14/650,409 patent/US10353076B2/en active Active
- 2013-12-12 CN CN201380066539.0A patent/CN104871032A/zh active Pending
- 2013-12-12 WO PCT/EP2013/076359 patent/WO2014095558A2/de active Application Filing
- 2013-12-12 EP EP13805855.7A patent/EP2936205A2/de not_active Withdrawn
Also Published As
Publication number | Publication date |
---|---|
JP2016504584A (ja) | 2016-02-12 |
WO2014095558A2 (de) | 2014-06-26 |
WO2014095558A3 (de) | 2014-09-12 |
EP2936205A2 (de) | 2015-10-28 |
US20150309181A1 (en) | 2015-10-29 |
US10353076B2 (en) | 2019-07-16 |
CN104871032A (zh) | 2015-08-26 |
DE102012224104A1 (de) | 2014-06-26 |
KR102200624B1 (ko) | 2021-01-08 |
KR20150097712A (ko) | 2015-08-26 |
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