NO20190620A1 - Method and system for high accuracy GNSS localization of transponders - Google Patents
Method and system for high accuracy GNSS localization of transponders Download PDFInfo
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- NO20190620A1 NO20190620A1 NO20190620A NO20190620A NO20190620A1 NO 20190620 A1 NO20190620 A1 NO 20190620A1 NO 20190620 A NO20190620 A NO 20190620A NO 20190620 A NO20190620 A NO 20190620A NO 20190620 A1 NO20190620 A1 NO 20190620A1
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- 238000000034 method Methods 0.000 title claims description 47
- 230000004807 localization Effects 0.000 title claims description 28
- 238000012545 processing Methods 0.000 claims description 94
- 238000005259 measurement Methods 0.000 claims description 37
- 238000004891 communication Methods 0.000 claims description 32
- 238000012937 correction Methods 0.000 claims description 23
- 230000033001 locomotion Effects 0.000 claims description 21
- 238000004364 calculation method Methods 0.000 claims description 19
- 238000012544 monitoring process Methods 0.000 claims description 11
- 230000001419 dependent effect Effects 0.000 claims description 8
- 238000013523 data management Methods 0.000 claims description 4
- 241001061257 Emmelichthyidae Species 0.000 description 11
- 230000000875 corresponding effect Effects 0.000 description 5
- 238000007726 management method Methods 0.000 description 3
- 241001061260 Emmelichthys struhsakeri Species 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 2
- 238000012805 post-processing Methods 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000003416 augmentation Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- LIWAQLJGPBVORC-UHFFFAOYSA-N ethylmethylamine Chemical compound CCNC LIWAQLJGPBVORC-UHFFFAOYSA-N 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000009532 heart rate measurement Methods 0.000 description 1
- 239000005433 ionosphere Substances 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000007619 statistical method Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 239000005436 troposphere Substances 0.000 description 1
Classifications
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- 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
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- 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
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
- G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
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- Radar Systems Or Details Thereof (AREA)
Description
Method and system for high accuracy GNSS localization of transponders
The present invention is related to a method for high accuracy GNSS localization of transponders according to the preamble of claim 1 and a system for high accuracy GNSS localization of transponders according to the preamble of claim 8.
The present invention is especially related to a method and system for high accuracy GNSS localization of multiple moving transponders/rovers inside a local processing environment.
Background
There exist several different approaches for GNSS localization which will be discussed below.
The first and most common conventional way to monitor a transponder ́s location in real time is illustrated in Fig. 1. Several transponders will compute their position using available navigation services in an onboard GNSS receiver and will further transmit this data position (NMEA protocolling) on a standard (or proprietary) wireless radio link. The accuracy may vary, typically ranging from one to several meters – depending on number of satellites that are available and the satellite signal quality.
Another method, but still a conventional way of computing the transponder positions involve satellite data correction services to achieve higher precision in the observations.
The satellite data signal is been disturbed when travelling through the ionosphere and the troposphere which then introduce errors in the onboard GNSS receiver when calculating the pseudo ranges to the satellites. The deviation in the internal receiver clocks is further source for inaccurate measurements.
Consequently, to achieve a high accurate measurement, added services will be required to provide correction of such processing errors. Global services are then made available through the so-called SBAS (Satellite Based Augmentation Systems) satellites, which broadcast messages to be used in real time kinematic (RTK) algorithms, making cm or even mm accuracy possible. SBAS signals are captured by local GNSS base stations, which further transmit correction services to be used for final position computing. This is well known and a globally settled standard.
A standard and conventional way of involving correction services in computing high accurate coordinates is illustrated in Fig.2. A GNSS base station captures and transmits the correction data to be monitored and processed by the transponder(s) in the system. This means that a separate wireless radio service and interface in each transponder will be needed to be able to receive the data from the base station and to enable corrected positions in real time. The internal processing in the transponders will be vulnerable for weaknesses in this radio link and added radio repeating stations might consequently be needed, increasing the complexity of the infrastructure. Commercially, an additional radio interface and a RTK service in each transponder will further result in a high cost GNSS receiver which make such a solution difficult to adopt for the mass market.
Fig. 2 illustrates the overall configuration principles of such a GNSS high accuracy positioning system where each moving transponder is able to make correction for the errors in the raw satellite signals, further transmitting completed positions to the stationary receiver, again on a standard or proprietary wireless data link.
It is to be mentioned that such a computing scheme is normally addressed to rovers which is operated manually and where it is a need to monitor a correct geo-coordinates for the person or machine, which is physically located close to the rover.
Data from an external GNSS base station is now being introduced, which might either be supplied by the system vendor or be a service to be subscribed for from a separate provider, such as from e.g. Kartverket (covering most regions in Norway).
Fig.2 illustrates an optional radio Link 1, if it, alternatively, should be needed a service where the positions is to be monitored from remote.
From US2014043187 it is known a low-latency centralized RTK system utilizing an RTK server to perform matched updates using base station GNSS measurements from one or more base stations and GNSS measurements from one or more rovers, and the one or more rovers produce RTK solutions based on the results of the matched updates. The RTK server includes one or more processors that perform the matched updates and a transmitter that transmits at least the ambiguities to the rovers. The respective rovers, which have processing power that is sufficient to quickly calculate RTK baselines, utilize the received ambiguities, the base station GNSS measurements received from either the RTK server or the base stations, known base station positions and instantaneous GNSS measurements at the rovers to readily determine and update their RTK baselines and their precise positions.
A considerable disadvantage with the prior art solutions is that they requires a complex/advanced processing capability in the transponder/rover, something that results in expensive transponders/rovers. The need for accurate timing and synchronisation of the GNSS satellite signals and base station signals introduce critical parameters in the internal signal processing algorithms in the transponders, which cause risk for inaccuracies. This is typical in situations with high dynamics and requirement for high resolution/sampling rate of positions. The distributed fixed processing algorithms in the transponders will further cause limited access for individual personalization of each transponder for optimisation with respect to operation and type of use.
Object
The main object of the present invention is to provide a method and system for high accuracy GNSS localization of transponders partly or entirely solving the drawbacks of prior art.
An object of the present invention is to provide a method and system for high accuracy GNSS localization of transponders providing less complex transponders.
It is an object of the present invention to provide a method and system for high accuracy GNSS localization of transponders wherein the accurate localization is performed by a central processing device.
An object of the present invention is to provide a method and system for high accuracy GNSS localization of transponders providing individual and dynamic adaption of processing algorithms for calculating the GNSS location for each of the transponders.
It is an object of the present invention to provide a method and system for high accuracy GNSS localization of transponders wherein the calculation of the GNSS location of the transponder may be optimized according to actual working conditions for each transponder.
An object of the present invention is to provide a method and system for high accuracy GNSS localization of transponders enabling the use of less advanced transponders and thus less expensive transponders, while still achieving high accuracy localization.
An object of the present invention is to provide a method and system for high accuracy GNSS localization of transponders enabling methods for control and management of the involved processing engines from a centralized location.
Further objects of the present invention will appear from the following description, claims and attached drawings.
The invention
A method for high accuracy GNSS localization of transponders according to the present invention is disclosed in claim 1. Preferable features of the method are disclosed in the dependent method claims.
A system for high accuracy GNSS localization of transponders according to the present invention is disclosed in claim 8. Preferable features of the system are disclosed in the dependent system claims.
The present invention is related to high accuracy GNSS localization of at least one transponder. The term transponder also covers rovers (moving transponders).
The present invention is based on a centralized high accuracy calculation of the GNSS location for the transponders.
The present invention is especially suitable for calculating high accuracy location for multiple moving transponders/rovers inside a local processing environment. A local environment is according to the present invention typical a football pitch, a horse race course, a baseball arena, etc.
The present invention is specifically addressed to systems where it is not vital or needed for the person itself or object that carries a transponder to know its position, but the location data is only to be required at a central stationary place in the surroundings.
According to the present invention at least one active transponder is used, wherein the transponder is provided with a GNSS receiver unit comprising a GNSS receiver connected to a GNSS antenna, wherein the GNSS receiver is in communication with plural GNSS satellites. The transponder according to the present invention is arranged to provide raw satellite data, including pseudo range, phase carrier and Doppler measurements/calculations.
The present invention further makes use of at least one GNSS base station provided with a GNSS receiver unit comprising a GNSS receiver connected to a GNSS antenna, wherein the GNSS receiver unit is in communication with plural GNSS satellites. The GNSS base station is according to the present invention arranged to provide satellite correction data.
A method for high accuracy GNSS localization of the transponder comprises using a central processing device for calculating high accuracy GNSS location for the at least one active transponder based on raw satellite data from the at least one transponder and satellite correction data from at least one GNSS base station.
The method for high accuracy GNSS localization of the transponder further comprises using dedicated and personal real time kinematic algorithms for each active transponder calculating the high accuracy GNSS location for each of the active transponders.
According to a further embodiment of the method, it comprises performing pseudo range, phase carrier and Doppler measurements/calculations in the at least one active transponder.
According to a further embodiment the method, it comprises adapting and changing state dependent parameters of the dedicated and personal real time kinematic algorithms for the active transponders according to actual working conditions and parameters for the respective active transponder.
The method according to a further embodiment of the present invention comprises provide local sensor data, such as from an inertial measurement unit or biometrical measurement device, such as heart rate measurements, for the transponder and forwarding them to the central processing device together with the raw satellite data.
According to a further embodiment of the method according to the present invention it comprises real time comprises calculation of high accuracy GNSS location for the at least one active transponder, or post calculation of high accuracy GNSS location for the at least one active transponder based on raw satellite data and local sensor data, if present, stored in the respective transponder and stored satellite correction data of correct time from the at least one GNSS base station.
Real time calculation of the high accuracy GNSS location for the at least one active transponder requires that the central processing device and at least one transponder are communicating over secure, stable and robust communication links, as well as securing high quality satellite correction data from a local GNSS base station or from a network service. In this way the raw satellite data and local sensor data, if present, as well as satellite correction data may be directly used as input to the dedicated and personal real time kinematic algorithms for the respective transponders. By this a real time monitoring of the at least one transponder is achieved.
In the alternative post processing of the high accuracy GNSS location for the at least one active transponder, stored raw satellite data from each transponder is downloaded to the central processing device after a logging session is completed, and downloading a stored log file of correct time related satellite correction data from the at least one GNSS base station to the central processing device, and using the stored files as input to the dedicated and personal real time kinematic algorithms for the respective transponders. By this a post tracking of the at least transponder may be achieved.
According to a further embodiment of the method according to the present invention, the method comprises using at least one portable GNSS base station and monitoring motions thereof by an inertial measurement unit arranged in association with the GNSS base station, and wherein if a change in the measurements is detected, performing a recalibration of the GNSS base station geo coordinates.
A system for high accuracy GNSS localization of at least one active transponder according to the present invention is provided with a GNSS receiver unit in communication with plural GNSS satellites, and at least one GNSS base station provided with as GNSS receiver unit in communication with plural GNSS satellites.
The system for high accuracy GNSS localization according to the present invention is further comprising a central processing device provided with means and/or software for calculating high accuracy GNSS location for the at least one active transponder based on raw satellite data from the at least one transponder and satellite correction data from at least one GNSS base station.
According to one embodiment of the system according to the present invention the central processing device comprises a real time kinematic processing module comprising dedicated and personal real time kinematic processing engines for each active transponder arranged for calculating the high accuracy GNSS location for each of the active transponders.
According to a further embodiment of the system, the at least one active transponder is provided with a processing unit provided with means and/or software for performing pseudo range, phase carrier and Doppler measurements/calculations and thus providing raw satellite data.
In a further embodiment of the system according to the present invention the central processing device comprises a system coordinator provided with means and/or software for automatic/dynamic assignment of a dedicated and personalized real time kinematic processing engine to all wireless radio connected active transponders.
According to a further embodiment of the system according to the present invention the system coordinator is provided with means and/or software for adapting and changing state dependent parameters of the dedicated and personal real time kinematic processing engines for the active transponders according to actual working conditions and parameters for the respective active transponder.
In a further embodiment of the system according to the present invention the at least one transponder is provided with a radio module and the central processing device is provided with radio front end module for communication there between.
According to a further embodiment of the system according to the present invention the GNSS base station is provided with a wired or wireless communication device and the central processing device is provided with a wired or wireless communication device for communication there between.
In accordance with a further embodiment of the system according to the present invention the central processing device is provided with a wired or wireless communication device for communication with at least one system for location data management and/or external data monitoring and storage units.
According to a further embodiment of the system according to the present invention the transponder is provided with at least one sensor to provide local sensor data for the transponder, and arranged to forward the local sensor data to the central processing device together with the raw satellite data.
According to a further embodiment of the system according to the present invention it is arranged for real time calculation of high accuracy GNSS location for the at least one active transponder. To achieve this it is a requirement that the at least one transponder and central processing device communicates on a secure, stable and robust communication links, as well as that high quality is provided from a local base station or from a network service. By this a real time monitoring of the at least one transponder is achieved.
According to a further embodiment of the system according to the present invention it is arranged for post calculation of high accuracy GNSS location for the at least one active transponder. The at least one transponder for this alternative is provided with a local memory for storing raw satellite data and local sensor data, if present, during a logging session. The GNSS base station is further arranged for storing satellite correction data. When the calculation of high accuracy GNSS location for the at least one active transponder is to be performed, the stored raw satellite data and local sensor data, if present, is downloaded from the at least one transponder, and downloading a stored log file of correct time related satellite correction data and using these downloaded data as input to the dedicated and personal real time kinematic processing engines for each active transponder in the real time kinematic processing module for calculating the high accuracy location for each active transponder. By this a post tracking of the at least transponder may be achieved.
In a further embodiment of the system according to the present invention the GNSS base station is portable and provided with at least one motion sensor, such as an inertial measurement unit, wherein the central processing device is provided with means and/or software for monitoring motion measurements of the at least one motion sensor and if a change in the motion measurements is detected, instructing the GNSS base station to perform a recalibration of the GNSS base station geo coordinates.
Further preferable features and advantageous details of the present invention will appear from the following example description, claims and attached drawings.
Example
The present invention will below be described in further details with references to the attached drawings, where:
Fig.1-2 are illustrations of prior art methods for GNSS localization,
Fig.3 is a principle drawing of a transponder according to the present invention,
Fig.4 is a principle drawing of a GNSS base station according to the present invention,
Fig.5 is a principle drawing of a central processing device according to the present invention, Fig.6 is a principle drawing of a method/system for GNSS localization according to the present invention,
Fig.7 is a principle drawing showing processing details of a processing scheme in transponder according to the present invention,
Fig.8 is a principle drawing showing details of the central processing device according to the present invention, and
Fig.9 is a principle drawing of the use of a portable GNSS base station according to the present invention.
The present invention is related to a method and system for high accuracy GNSS localization. The present invention is especially related to providing high accuracy location services (high accuracy location computing GNSS system) for multiple moving transponders/rovers inside a local processing environment. A local environment is according to the present invention typically a football pitch, a horse race course, a baseball arena, etc.
A system according to the present invention comprises as main components at least one transponder 100a-n (the letter a is corresponding to an integer number 1 and n is corresponding to an integer number higher than 1), at least one GNSS base station 200 and at least one central processing device 300.
Reference is made to Fig. 3 which is a principle drawing of a transponder 100a-n according to the present invention. A transponder 100a-n according to the present invention comprises a GNSS receiver unit 110 comprising a GNSS receiver connected to a GNSS antenna receiving signals from navigation satellites 10a-n (the letter a is corresponding to an integer number 1 and n is corresponding to an integer number higher than 1), such as GPS, GLONAS, GALILEO and/or BEIDOU for collection of satellite navigation signals.
The transponder 100a-n is further provided with a processing unit 120 provided with means and/or software for performing at least but not limited to, raw pseudo range, phase carrier and Doppler measurement/calculations, accordingly providing raw satellite data (RS-data).
According to a further embodiment of the present invention, the transponder 100a-n is provided with an Inertial Measurement Unit 130 (IMU) providing data from one or more of: accelerometer, gyroscope or magnetometer, integrated therein.
The transponder 100a-n is, according to a further embodiment provided with an interface 140 to external sensors 150 of a user or unit the transponder is arranged to, such as a biometrical measurement device, such as a heart rate monitor, or similar.
The transponder 100a-n will further be provided with a radio module 160 arranged for transmitting collected satellite data and, if present, sensor data, as a data packet 170 provided by the processing unit 120, to an external unit, which in the present invention will be the central processing device 300, further described below. The transponder 100a-n may be arranged to transmit the satellite data and, if present, sensor data, to the central processing device 300 in real time. In an alternative embodiment the transponder 100a-n is provided with an internal memory 180 for storage of satellite data and, if present, sensor data. When the transponder 100a-n is provided with an internal memory 180 the satellite data and, if present, local sensor data, may be transmitted to the central processing device 300 and post-processed. By that the transponder 100a-n is provided with an internal memory 180 is further provided a combination of real time processing and post-processing, where the transponders 100a-n both performs storage of the satellite data, and if present, sensor data, and transmits data in real time to the central processing device 300 over a local network data link or radio link, when this link is within reach.
Reference is now made to Fig.4 which is a principle drawing of a GNSS base station 200 according to the present invention. The GNSS base station 200 according to the present invention is provided with a GNSS receiver unit 210 comprising a GNSS receiver connected to a GNSS antenna receiving signals from navigation satellites 10a-n, such as GPS, GLONAS, GALILEO and/or BEIDOU. The GNSS base station 200 is further provided with a processing unit 220 provided with means and/or software for performing calculation or extraction of satellite correction data, and a wired or wireless communication device 230, such as WLAN or radio, providing a communication interface for communication with the central processing device 300, for transfer of the satellite correction data to the central processing device 300.
Reference is now made to Fig. 5 which is a principle drawing of a central processing device 300 according to the present invention. The central processing device is provided with a central radio front end module 310 for creating a wireless interface 320 (Fig. 8) with the active transponders 100a-n for communication there between.
The central processing device 300 according to the present invention is further provided with a real time kinematic processing module 330 (RTK-module) comprising real time kinematic processing engines 331a-n (RTK-processing engine), further described below. Real time kinematic processing engines is also known as real time kinematic algorithms or real time kinematic services and are well described in the art, and needs no further detailed description herein. At e.g. www.rtklib.com open source libraries for RTK is found that may be used in the present invention. The RTK-module 330 comprises at least one dedicated and personalized RTK-processing engine 331a-n for each active transponder 100a-n in the system.
The central processing device 300 is further provided with a system coordinator 340 (signal coordinator) provided with means and/or software for automatic/dynamic assignment of a dedicated and personalized RTK-processing engine 331a-n (service) to all wireless radio connected active transponders 100a-n.
The central processing unit 300 is further provided with a transponder controller radio 350 provided with means and/or software controlling the communication with the active transponders 100a-n over the radio interface 320.
The central processing unit 300 is further provided with a wired or wireless communication device 360 for communication with the GNSS base station 200 via the communication device 230 thereof for receiving of satellite correction data to be used by the RTK-module 330.
The central processing device 300 is further provided with at least one wired or wireless communication device 370 for communication with at least one system for location data management 400 and possibly external data monitoring and storage (cloud) units 500.
The location data management involves handling and coordination of all incoming data streams from each transponder 100a-n, providing individual RTK instances for each transponder 100a-n, addressing data filtering parameters, file and/or database management, addressing command set for wireless control of each transponder 100a-n.
Captured data is organized in a database or sent to Cloud for statistical analysis. Laptops or a handheld device can be connected and monitor the resulting data (comprising of distances, accelerations, high intensity moves, accelerations etc.) in real time or post session over a wireless data link ( WLAN, LTE/4G) or wired network connection.
Reference is made to Figure 7 which is a principle drawing of how a method/system according to the present invention works. The present invention is based on that instead of having a dedicated radio module in the at least one transponder 100a-n interfacing GNSS correction signals from a GNSS base station 200, the at least one transponder 100a-n is arranged to only perform a raw pseudo range, phase carrier and Doppler measurement/calculations, accordingly providing raw satellite data (RS-data). These RS-data is according to the present invention included in a radio protocol which is transmitted on air via the radio modules 160, 310 to the central processing device 300 provided with the dedicated and personalized RTK (real time kinematic) processing engines 331a-n, further described below. Alternatively or in addition, the RS data is stored locally in the transponders own memory section.
According to the present invention the central processing device 300 is simultaneously receiving satellite correction data from the GNSS base station 200 by means of the communication devices 230, 360 to be used in the dedicated processing tasks, which will further described below.
Reference is now also made to Figures 7 and 8 which are principle drawings showing further details of the components of the system according to the present invention and how the invention works.
All the paralleled active transponders 100a-n and their incorporated GNSS receiver units 110, will then provide a processing scheme as shown in Figure 7 and transmit the resulting data frames 120 on a wireless link by means of the incorporated radio module 160, wherein the data frames 120 incorporating all raw data pseudo range measurements/calculations (as well as other local sensor data, such as IMU 130 or biometrical measurement device 150 values, if available).
The transponder data packet 120 will then include a header with transponder ID, number of satellites included in the package, timestamps, pseudo range measurements, phase carrier measurements, Doppler measurement, Carrier to noise values and other specific data for each included satellite 10a-n. In addition, data from the local sensors, such as an IMU 130 (accelerometer, gyroscope, magnetometer) and other externally connected biometrical measurement devices 150, are included in the protocol.
While a fixed system with hardcoded algorithms in the transponder ́s GNSS receiver unit 110 suffer from not being able to dynamically change its operation/working defined parameters on the fly, the centralized RTK processing engines 331a-n of the RTK-module 330 in the system according to the present invention can continuously adapt and change its state dependent parameters optimally to the actual working conditions, managed by the system coordinator 340 in the central processing device 300.
The RTK processing engines 331a-n includes a significant amount of adjustable parameter and filter settings correlated to usage and what kind of environment that is involved. Parameterization of the RTK processing engine 331a-n will address setting of variables for the Kalman filters, setting of ambiguity resolution, type of satellites 10a-n to be incorporated, state vector values of the estimation filters, covariance matrix of the estimation filters, setting of signal to noise ratio threshold for satellite rejection, defining the dynamic model for the transponder 100a-n, as well as other controllable parameters in the RTK processing engine 331a-n. Management of these RTK processing engines 331a-n is important to be able to compute high accuracy GNSS localization of each of the active transponders 110a-n.
The distributed transponders 100a-n may be assigned to different purposes, such as, but not limited to: a transponder 100a-n monitoring high dynamic situations, a static, normally not moving transponder 100a-n used for reference position measurement, a vehicle mounted transponder 100a-n for higher speed, a transponder 100a-n following a predefined tracking route etc.. Based on the assigned modus of the transponder 100a-n, the relevant parameters of the RTK processing engines 331a-n can be set to achieve best possible accuracy in the position data. This is specifically relevant when the transponders 100a-n are given challenging working conditions with limited angle of view to satellites 10a-n and/or in reflective environment causing multipath and reduced signal to noise ratio in the satellite signals.
Reference is made to Figure 8 showing a principle drawing of the unique core of the system architecture of the present invention, where the centrally assigned RTK processing engines 330a-n comprising algorithms makes a vital and crucial part. Each of the RTK processing engines 331a-n will according to the present invention be individually and dynamically parameterized, dependent on how each transponder 100a-n may be operated.
According to a further embodiment of the present invention one transponder 100a-n may be used as a stationary reference unit while others may be connected to moving objects or humans, where each have possible moving boundaries. To achieve best possible positioning results for all transponders 100a-n, it is a need for personalization of each of the RTK processing engines 331a-n, something the present invention provides. In an environment where the transponders 100a-n follow a predefined trace (as for instance on a horse trotting course), the parameterisation of the Kalman filters will for instance be different from a system monitoring the movement of football players.
Reference is now made to Figure 9 which is a principle drawing of a further embodiment of the system according to the present invention, showing how one may achieve safeguarding processing of data from a portable GNSS base station 200.
In the shown embodiment the GNSS base station 200 is arranged/mounted on a tripod 600, normally at a convenient place with free sight to the sky and close to where the transponders 100a-n are carried.
When the system is installed and made ready for use, the initialization process involves a calibration process, where the GNSS base station 200 finds its own geo coordinates through an averaging process. Due to the situation that all active devices will have their individual geo coordinates referenced to the GNSS base station 200 data, this calibration is an important task to perform.
However, by accident or for some reason, the GNSS base station tripod 600 may be manually moved slightly or tilted during an active session. This may result in a corresponding error/movement in the computed transponder 100a-n data.
To prevent such errors to occur in the positioning data, the GNSS base station 200 according present invention is provided with at least one motion sensor 240, such as an inertial measurement unit (IMU), in a cabinet 250 of the GNSS base station 200. The GNSS base station 200 is further arranged to report the motion measurements of the at least one motion sensor 240 to the central processing device 300 which is provided with means and/or software for detecting a change in the motion measurements of the at least one motion sensor 240 indicating misbehaviour, i.e. movement.
If a situation where the tripod 600 is tilted or moved during or after the GNSS base station 200 has completed a calibration process, resulting in a signal change in the at least one motion sensor 240, the central processing device 300 is arranged to instruct the GNSS base station 200 to automatically enter a new calibration process. A new set of geo-coordinates will then be generated for the GNSS base station 200 removing the previous errors in the transponder 100a-n data.
Claims (17)
1. Method for high accuracy GNSS localization of at least one active transponder (100a-n) provided with a GNSS receiver unit (110) in communication with plural GNSS satellites (10a-n), wherein the method comprises using a central processing device (300) for calculating high accuracy GNSS location for the at least one active transponder (100a-n) based on raw satellite data from the at least one transponder (100) and satellite correction data from at least one GNSS base station (200).
2. Method according to claim 1, wherein the method comprises using dedicated and personal real time kinematic algorithms for each active transponder (100a-n) calculating the high accuracy GNSS location for each of the active transponders (100a-n).
3. Method according to claim 1, wherein the method comprising performing pseudo range, phase carrier and Doppler measurements/calculations in the at least one active transponder (100a-n).
4. Method according to claim 2, wherein the method comprises adapting and changing state dependent parameters of the dedicated and personal real time kinematic algorithms for the active transponders (100a-n) according to actual working conditions and parameters for the respective active transponder (100a-n).
5. Method according to claim 1, wherein the method comprises providing local sensor data, such as from an inertial measurement unit (130) or biometrical measurement device (150), for the transponder (100a-n) and forwarding them to the central processing device (300) together with the raw satellite data.
6. Method according to any preceding claim, wherein the method comprises real time calculation of high accuracy GNSS location for the at least one active transponder (100a-n), or post calculation of high accuracy GNSS location for the at least one active transponder (100a-n) based on raw satellite data and local sensor data, if present, stored in the respective transponder (100a-n) and stored satellite correction data of correct time from the at least one GNSS base station (200).
7. Method according to any preceding claim, wherein the method comprises using at least one portable GNSS base station (200) and monitoring motions thereof by at least one motion sensor (240) arranged in association with the GNSS base station (200), and wherein if a change in the motion measurements is detected, performing a recalibration of the GNSS base station (200) geo coordinates.
8. System for high accuracy GNSS localization of at least one active transponder (100a-n) provided with a GNSS receiver unit (110) in communication with plural GNSS satellites (10a-n) and at least one GNSS base station (200) provided with as GNSS receiver unit (210) in communication with plural GNSS satellites (10a-n), wherein the system comprises
a central processing device (300) provided with means and/or software for calculating high accuracy GNSS location for the at least one active transponder (100a-n) based on raw satellite data from the at least one transponder (100) and satellite correction data from at least one GNSS base station (200).
9. System according to claim 8, wherein the central processing device (300) comprises a real time kinematic processing module (330) comprising dedicated and personal real time kinematic processing engines (331a-n) for each active transponder (100a-n) arranged for calculating the high accuracy GNSS location for each of the active transponders (100a-n).
10. System according to claim 8, wherein the at least one active transponder (100a-n) is provided with a processing unit (120) provided with means and/or software for performing pseudo range, phase carrier and Doppler measurements/calculations and thus providing raw satellite data.
11. System according to claim 9, wherein the central processing device (300) comprises a system coordinator (340) provided with means and/or software for automatic/dynamic assignment of a dedicated and personalized real time kinematic processing engine (331a-n) to all wireless radio connected active transponders (100a-n).
12. System according to claim 11, wherein the system coordinator (340) is provided with means and/or software for adapting and changing state dependent parameters of the dedicated and personal real time kinematic processing engines (331a-n) for the active transponders (100a-n) according to actual working conditions and parameters for the respective active transponder (100a-n).
13. System according to claim 8, wherein the at least one transponder (100a-n) is provided with a radio module (160) and the central processing device (300) is provided with radio front end module (310) for communication there between.
14. System according to claim 8, wherein the GNSS base station (200) is provided with a wired or wireless communication device (230) and the central processing device (300) is provided with a wired or wireless communication device (360) for communication there between.
15. System according to claim 8, wherein the central processing device (300) is provided with a wired or wireless communication device (370) for communication with at least one system for location data management (400) and/or external data monitoring and storage units (500).
16. System according to claim 8, wherein the transponder (100a-n) is provided with at least one sensor (130, 150) to provide local sensor data for the transponder (100a-n), and arranged to forward the local sensor data to the central processing device (300) together with the raw satellite data.
17. System according to any preceding claim 8-14, wherein the GNSS base station (200) is portable and provided with at least one motion sensor (240), wherein the central processing device (300) is provided with means and/or software for monitoring motion measurements of the at least one motion sensor (240) and if a change in the motion measurements is detected, instructing the GNSS base station (200) to perform a recalibration of the GNSS base station (200) geo coordinates.
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| WO2024074860A1 (en) | 2022-10-03 | 2024-04-11 | Zxy Sport Tracking As | Systems and methods for tracking objects over a distance |
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