KR102856482B1 - 차량의 gnss 센서의 작동 방법 - Google Patents

차량의 gnss 센서의 작동 방법

Info

Publication number
KR102856482B1
KR102856482B1 KR1020207016478A KR20207016478A KR102856482B1 KR 102856482 B1 KR102856482 B1 KR 102856482B1 KR 1020207016478 A KR1020207016478 A KR 1020207016478A KR 20207016478 A KR20207016478 A KR 20207016478A KR 102856482 B1 KR102856482 B1 KR 102856482B1
Authority
KR
South Korea
Prior art keywords
vehicle
operating
satellite
gnss sensor
satellite data
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.)
Active
Application number
KR1020207016478A
Other languages
English (en)
Korean (ko)
Other versions
KR20200097259A (ko
Inventor
마를론 라몬 에베르트
Original Assignee
로베르트 보쉬 게엠베하
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 로베르트 보쉬 게엠베하 filed Critical 로베르트 보쉬 게엠베하
Publication of KR20200097259A publication Critical patent/KR20200097259A/ko
Application granted granted Critical
Publication of KR102856482B1 publication Critical patent/KR102856482B1/ko
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • G01S19/20—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
    • G01S19/21—Interference related issues ; Issues related to cross-correlation, spoofing or other methods of denial of service
    • 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
    • G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
    • 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
    • G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single 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
    • G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
    • G01S19/426—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system by combining or switching between position solutions or signals derived from different modes of operation in a single system
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Computer Security & Cryptography (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
KR1020207016478A 2017-12-11 2018-12-06 차량의 gnss 센서의 작동 방법 Active KR102856482B1 (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102017222356.1A DE102017222356A1 (de) 2017-12-11 2017-12-11 Verfahren zum Betreiben eines GNSS-Sensors eines Fahrzeugs
DE102017222356.1 2017-12-11
PCT/EP2018/083846 WO2019115357A1 (de) 2017-12-11 2018-12-06 Verfahren zum betreiben eines gnss-sensors eines fahrzeugs

Publications (2)

Publication Number Publication Date
KR20200097259A KR20200097259A (ko) 2020-08-18
KR102856482B1 true KR102856482B1 (ko) 2025-09-09

Family

ID=64870402

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020207016478A Active KR102856482B1 (ko) 2017-12-11 2018-12-06 차량의 gnss 센서의 작동 방법

Country Status (7)

Country Link
US (1) US12061269B2 (https=)
EP (1) EP3724689B1 (https=)
JP (1) JP7060691B2 (https=)
KR (1) KR102856482B1 (https=)
CN (1) CN111448479A (https=)
DE (1) DE102017222356A1 (https=)
WO (1) WO2019115357A1 (https=)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111186388A (zh) * 2019-12-19 2020-05-22 合肥博略文化传播有限公司 一种基于智能定位的车辆全景展示系统
DE102020213318A1 (de) * 2020-10-22 2022-04-28 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zur Bereitstellung von GNSS-Sensordaten
JP7237121B1 (ja) 2021-08-26 2023-03-10 三菱電機株式会社 測位装置

Family Cites Families (40)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6480788B2 (en) * 1999-07-12 2002-11-12 Eagle-Eye, Inc. System and method for fast acquisition reporting using communication satellite range measurement
US7286592B2 (en) * 2004-02-24 2007-10-23 Nokia Mobile Phones, Ltd. Method and apparatus for receiving a signal
US7642958B2 (en) * 2005-06-21 2010-01-05 Motorola, Inc. Satellite positioning system receivers and methods
WO2008108788A2 (en) * 2006-05-31 2008-09-12 Trx Systems, Inc. Method and system for locating and monitoring first responders
DE102007030430B4 (de) * 2006-06-30 2024-12-05 Continental Automotive Technologies GmbH Verfahren und Vorrichtung zur Übertragung von fahrzeugrelevanten Informationen im und aus einem Fahrzeug
US8504119B2 (en) * 2007-01-09 2013-08-06 Qualcomm Incorporated Method for efficient assessment of communication service levels in a mobile station having multiple communication interfaces
WO2008143497A1 (en) 2007-05-24 2008-11-27 Tele Atlas B.V. Positioning device and method to determine a position using an absolute positioning system and a relative positioning system, computer program and a data carrier
CN100582670C (zh) * 2007-12-04 2010-01-20 北京科技大学 一种车辆自组网系统的定位子系统及定位方法
US8761133B2 (en) * 2008-01-14 2014-06-24 Nokia Corporation Use of movement information about a wireless client
US8412093B2 (en) * 2008-10-22 2013-04-02 Mediatek Inc. Receiver applying channel selection filter for receiving satellite signal and receiving method thereof
US8169366B2 (en) * 2008-11-25 2012-05-01 Qualcomm Incorporated Reconfigurable satellite positioning system receivers
FR2947342B1 (fr) * 2009-06-30 2012-05-25 Thales Sa Procede de determination de la position d'un mobile a un instant donne et de surveillance de l'integrite de la position dudit mobile
US9715004B2 (en) * 2009-10-05 2017-07-25 Bae Systems Plc Radio positioning of a mobile receiver using a virtual positioning reference
US20110181465A1 (en) * 2010-01-26 2011-07-28 Rongsheng Li Multi-constellation global navigation satellite system augmentation and assistance
JP5423652B2 (ja) 2010-03-22 2014-02-19 株式会社デンソー 受信装置
JP5576172B2 (ja) * 2010-04-23 2014-08-20 株式会社日立製作所 位置情報発信機、位置情報受信機、および位置測位システム
KR101147852B1 (ko) * 2010-08-18 2012-05-24 건국대학교 산학협력단 위성항법시스템 단말기를 통한 사용자 위치 신뢰도 검증 방법
US8610624B2 (en) * 2011-07-06 2013-12-17 Honeywell International Inc. Satellite navigation system fault detection based on biased measurements
KR101952746B1 (ko) * 2011-12-23 2019-02-27 엘지전자 주식회사 이동 단말기 및 그의 측위 위성 선택 방법
US9244172B2 (en) * 2012-06-20 2016-01-26 Topcon Positioning Systems, Inc. Selection of a subset of global navigation satellite system measurements based on prediction of accuracy of target parameters
JP6241045B2 (ja) 2013-03-06 2017-12-06 株式会社デンソー 通信システム、車載装置及び配信装置
KR101535873B1 (ko) * 2013-11-29 2015-07-24 현대모비스 주식회사 위성측위시스템과 추측 항법을 융합한 차량 위치 추정 시스템 및 방법
US10215862B2 (en) * 2014-04-07 2019-02-26 Honeywell International Inc. Systems and methods for a code carrier divergence high-pass filter monitor
JP6363462B2 (ja) * 2014-10-03 2018-07-25 シャープ株式会社 自律走行装置
EP3217702A4 (en) * 2014-11-07 2017-11-01 Ntt Docomo, Inc. User device, base station, and uplink carrier aggregation communication method
US10147008B1 (en) * 2015-01-13 2018-12-04 State Farm Mutual Automobile Insurance Company Apparatuses, systems and methods for determining whether a vehicle system is distracting to a vehicle operator
CN104808682B (zh) * 2015-03-10 2017-12-29 成都优艾维智能科技有限责任公司 小型旋翼无人机自主避障飞行控制方法
US9885788B2 (en) * 2015-03-16 2018-02-06 Honeywell International Inc. Satellite subset selection for use in monitoring the integrity of computed navigation solutions
US9904286B2 (en) * 2015-10-13 2018-02-27 Nokia Technologies Oy Method and apparatus for providing adaptive transitioning between operational modes of an autonomous vehicle
US10054688B2 (en) * 2015-11-03 2018-08-21 Samsung Electronics Co., Ltd Method and apparatus for saving power during synthetic positioning in GNSS receivers
US10495761B2 (en) * 2015-11-13 2019-12-03 Honeywell International Inc. Smart satellite distribution into ARAIM clusters for use in monitoring integrity of computed navigation solutions
US9964949B2 (en) * 2015-12-18 2018-05-08 Gm Global Technology Operation Llc Operating modes for autonomous driving
US20180373243A1 (en) * 2016-01-01 2018-12-27 USDrobotics Inc. System and Method for Safe Utilization of Unmanned Automated Vehicles in Entertainment Venues
US10502840B2 (en) * 2016-02-03 2019-12-10 Qualcomm Incorporated Outlier detection for satellite positioning system using visual inertial odometry
CN105807301B (zh) 2016-03-03 2018-05-15 东南大学 一种基于增强型数字地图的车辆优化选星定位方法
US9952330B2 (en) 2016-03-23 2018-04-24 Autolive Asp, Inc. Automotive dead reckoning with dynamic calibration and/or dynamic weighting
FR3053779B1 (fr) * 2016-07-07 2018-06-29 Thales Dispositif et methode de calcul de prediction de performance de navigation estimee
EP3494738A4 (en) * 2016-08-05 2020-06-24 Honeywell International Inc. SYSTEM INCLUDING BASE STATIONS PROVIDING INFORMATION FROM WHICH A MOBILE STATION MAY DETERMINE ITS POSITION
US10613233B2 (en) * 2016-09-21 2020-04-07 Honeywell International Inc. ARAIM clustering distribution improvement
US10416315B2 (en) * 2017-03-07 2019-09-17 Honeywell International Inc. False alarm distribution in advanced receiver autonomous integrity monitoring

Also Published As

Publication number Publication date
DE102017222356A1 (de) 2019-06-13
WO2019115357A1 (de) 2019-06-20
US12061269B2 (en) 2024-08-13
EP3724689B1 (de) 2024-07-03
JP7060691B2 (ja) 2022-04-26
EP3724689A1 (de) 2020-10-21
CN111448479A (zh) 2020-07-24
KR20200097259A (ko) 2020-08-18
JP2021505897A (ja) 2021-02-18
US20210018631A1 (en) 2021-01-21

Similar Documents

Publication Publication Date Title
KR102384216B1 (ko) 통신 시스템에서 사용자 단말의 애플리케이션을 통해 원격으로 농기계에 대한 자율 주행을 제어하기 위한 장치 및 방법
CN106660560B (zh) 用于车辆的自主的导引的车辆控制系统
KR102856482B1 (ko) 차량의 gnss 센서의 작동 방법
EP3498560A1 (en) Vehicle controller, vehicle control method, and non-transitory storage medium storing vehicle control program
US10771937B2 (en) Emergency notification apparatus
EP3243088B1 (en) Automotive ad hoc real time kinematics roving network
JP7038830B2 (ja) 車両ポジションの衛星支援型特定方法
US11035927B2 (en) Apparatus and method for determining a geographical position of a vehicle
US11412363B2 (en) Context-adaptive RSSI-based misbehavior detection
CN116325873B (zh) 电波图更新装置、以及通信质量确定装置
JP2015075380A (ja) リアルタイムキネマティックシステム及び位置測定方法
JP6398759B2 (ja) 車両用通信機
JP6323016B2 (ja) 管制センタ及び自動走行システム
EP3171202B1 (en) System and method of sharing vehicle location information
JP2012168113A (ja) 情報処理装置および情報処理方法
KR20200002221A (ko) Gnss/dr 시스템이 적용된 차량의 위치 보정 방법 및 장치
US11340357B2 (en) Method and apparatus for detecting a position of a vehicle having a high level of automation
US20250123402A1 (en) Motion control for heavy-duty vehicles using real-time kinematic positioning
US10743139B2 (en) Wireless system device and wireless communication control method
RU2604872C2 (ru) Улучшенные время первого определения местоположения, ttff, чувствительность и точность для устройства определения положения с помощью глобальной навигационной спутниковой системы
US11647366B2 (en) Adaptive RSSI adjustment
JP7596162B2 (ja) 整合性レベルを有する位置決めデータを提供するテレマティクス制御エンティティ
KR102274402B1 (ko) 실시간 교통정보 제공장치 및 방법
EP4309310A1 (en) Adaptive rssi adjustment
KR20210007715A (ko) V2x 및 센서 기반 포지셔닝 장치 및 방법

Legal Events

Date Code Title Description
PA0105 International application

St.27 status event code: A-0-1-A10-A15-nap-PA0105

PG1501 Laying open of application

St.27 status event code: A-1-1-Q10-Q12-nap-PG1501

A201 Request for examination
P11-X000 Amendment of application requested

St.27 status event code: A-2-2-P10-P11-nap-X000

P13-X000 Application amended

St.27 status event code: A-2-2-P10-P13-nap-X000

PA0201 Request for examination

St.27 status event code: A-1-2-D10-D11-exm-PA0201

E902 Notification of reason for refusal
PE0902 Notice of grounds for rejection

St.27 status event code: A-1-2-D10-D21-exm-PE0902

T11-X000 Administrative time limit extension requested

St.27 status event code: U-3-3-T10-T11-oth-X000

T11-X000 Administrative time limit extension requested

St.27 status event code: U-3-3-T10-T11-oth-X000

E13-X000 Pre-grant limitation requested

St.27 status event code: A-2-3-E10-E13-lim-X000

P11-X000 Amendment of application requested

St.27 status event code: A-2-2-P10-P11-nap-X000

P13-X000 Application amended

St.27 status event code: A-2-2-P10-P13-nap-X000

E902 Notification of reason for refusal
PE0902 Notice of grounds for rejection

St.27 status event code: A-1-2-D10-D21-exm-PE0902

E13-X000 Pre-grant limitation requested

St.27 status event code: A-2-3-E10-E13-lim-X000

P11-X000 Amendment of application requested

St.27 status event code: A-2-2-P10-P11-nap-X000

P13-X000 Application amended

St.27 status event code: A-2-2-P10-P13-nap-X000

E90F Notification of reason for final refusal
PE0902 Notice of grounds for rejection

St.27 status event code: A-1-2-D10-D21-exm-PE0902

P11-X000 Amendment of application requested

St.27 status event code: A-2-2-P10-P11-nap-X000

D22 Grant of ip right intended

Free format text: ST27 STATUS EVENT CODE: A-1-2-D10-D22-EXM-PE0701 (AS PROVIDED BY THE NATIONAL OFFICE)

PE0701 Decision of registration

St.27 status event code: A-1-2-D10-D22-exm-PE0701

F11 Ip right granted following substantive examination

Free format text: ST27 STATUS EVENT CODE: A-2-4-F10-F11-EXM-PR0701 (AS PROVIDED BY THE NATIONAL OFFICE)

PR0701 Registration of establishment

St.27 status event code: A-2-4-F10-F11-exm-PR0701

PR1002 Payment of registration fee

St.27 status event code: A-2-2-U10-U12-oth-PR1002

Fee payment year number: 1

U12 Designation fee paid

Free format text: ST27 STATUS EVENT CODE: A-2-2-U10-U12-OTH-PR1002 (AS PROVIDED BY THE NATIONAL OFFICE)

Year of fee payment: 1

PG1601 Publication of registration

St.27 status event code: A-4-4-Q10-Q13-nap-PG1601

Q13 Ip right document published

Free format text: ST27 STATUS EVENT CODE: A-4-4-Q10-Q13-NAP-PG1601 (AS PROVIDED BY THE NATIONAL OFFICE)

P22-X000 Classification modified

St.27 status event code: A-4-4-P10-P22-nap-X000