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
  • G01S19/22—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
  • G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
• • 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
  • G01S19/396—Determining accuracy or reliability of position or pseudorange measurements
• • 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
  • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
• • 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
  • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
  • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
• • 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
• • 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
• • 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
  • G01S19/485—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 optical system or imaging system

Definitions

• the invention relates to a method for error and integrity assessment when determining a position, as well as a control device and a
• GNSS Global Navigation Satellite Systems
• IMU inertial
• OEO odometry
• the GNSS system enables the receiver position to be measured using transit time measurements, also known as code ranging. Second, it enables the receiver speed to be measured using Doppler shifts.
• GNSS As part of a sensor fusion, GNSS, IMU and ODO measurements can be merged in order to obtain more precise and more readily available position determinations.
• the sensor fusion is usually realized with Kalman or particle filters.
• RAIM Receiver Autonomous Integrity Monitoring
• FDE Fault Detection and Exclusion
• GNSS measurement usually more than the necessary four satellite signals are available. At least six satellites must be available for fault detection and exclusion. There are also the code-minus carrier method and the double-delta correlator for the detection of GNSS multipath propagation.
• GNSS measurements in the vehicle cause sporadic errors that cannot be detected with the current state of the art. This limits that Level of trust and thus the integrity of the data determined using GNSS
• NLOS non-line-of-sight
• GNSS satellites such as random hardware and software errors, such as exceptionally fast clock drifts.
• the NLOS signals mentioned arise from reflection and scattering of the radio signal in the immediate vicinity of the receiver, such as buildings.
• LOS line-of-sight
• NLOS signals of the GNSS drift and offset in inertial sensors, and offsets in odometry should be mentioned as possible causes of errors.
• Kalman filter solutions show the undesired time error propagation.
• GNSS error detectors RAIM and FDE are basically limited to an isolated consideration of the GNSS signals, which limits the detection of errors of the same type (common mode failure). Furthermore, RAIM and FDE show detection weaknesses if several satellites are disturbed at the same time.
• the invention is therefore based on the object of achieving an improved error and integrity assessment when determining a position. It should preferably also be achieved that quickly changing errors in the GNSS measurement, in particular caused by multipath propagation and / or by errors in measurements of the inertial sensor system or odometry, can be detected and the integrity of the determined vehicle position is thus increased.
• Position values and calculation of clock errors of a receiver through time-discrete runtime measurements using a satellite navigation system preferably include a position specification in a three-dimensional coordinate system for each of the individual measurements, which is obtained by measuring the transit time of the GNSS signal and multiplying with the
• the speed of light is determined.
• the history of the position values is
• a transit time measurement is preferably understood to mean that the time difference is measured between the transmission of a GNSS signal from the phase center of the satellite antenna and the reception of the signal in the phase center of the
• the GNSS signal includes a code which is also contained in the receiver and which the receiver shifts so to speak that it is synchronized with the code received from the satellite. This shift corresponds to the measured transit time.
• a pseudorange generally refers to the distance that results from a measurement between a satellite and a receiver, if decisive inaccuracy factors are included. Due to the large value of the speed of light, even small clock errors lead to large deviations in a run-time measurement, which also applies to the position values recorded by time-discrete run-time measurements. Mathematically, a
• the error e_RecClock is mathematically calculated or estimated in the receiver after each pseudorange measurement.
• the error terms can have both positive and negative values.
• a further step of the method according to the invention includes the recording of a first pseudorange at a later, preferably the current, point in time by time-discrete transit time measurement using the
• the clock error can be determined in a known manner, for example, provided that four GNSS satellites are available. Clock errors are preferably converted into a distance that results from the
• a predicted variable, the second pseudorange is provided.
• a position value of the receiver which is assigned to the later point in time, is extrapolated based on a trajectory, that is to say the trajectory is logically continued for a magazine.
• the trajectory reproduces the previous movement path of the receiver continuously or for discrete points in time.
• the clock error for the later point in time is also extrapolated using the previous history of the clock errors. This is done based on a number of clock errors calculated before the later point in time, whereby the number can be variable or set once.
• the method also includes determining a distance between the extrapolated position value of the receiver and the position of a satellite of the satellite navigation system at the later point in time.
• the basis for the extrapolated position value is formed by the position values recorded by time-discrete transit time measurements.
• Position value i.e. the estimated value assigned to the later point in time
• Position value thus forms one end of an actual distance, the other end of which is formed by the satellite, the position of which is known, for example, from the transmitted ephemeris data.
• the satellite is a preferably arbitrarily selected satellite from the satellites available for direct signal transmission.
• the extrapolated clock error that is to say the estimated clock error associated with the later point in time, is determined for the
• the extrapolated clock error is expediently expressed as a distance.
• the second pseudorange thus obtained is then compared with the first pseudorange.
• Estimated value or a predication of the receiver position and the clock error of the receiver is formed and the associated pseudo-distance is calculated.
• This predicted pseudorange is compared with the measured pseudorange in order to obtain a better quality measure for errors and integrity of the transit time measurement of the specific satellite in a simple, inexpensive and efficient manner and, in particular, to detect errors that can be changed quickly.
• the method is preferably used for other satellites of the
• Integrity assessment in the method according to the invention take place before solving the position equation system, in which the position of the receiver is calculated with the aid of the data from several satellites, so that there is less computational effort.
• Integrity assessment regardless of the type of error in the NLOS propagation path, e.g. multipath propagation that only occurs or
• Multipath propagation that occurs in addition to a direct signal path.
• the receiver is preferably a vehicle or the
• Receiver is arranged in a vehicle or permanently installed.
• trajectory by a number of times before the later point in time through time-discrete transit time measurements by means of a
• Satellite navigation system recorded position values is formed and / or is extracted from data from surroundings detection sensors, in particular camera, radar and / or lidar.
• surroundings detection sensors in particular camera, radar and / or lidar.
• the use of surroundings detection sensors is possible because, starting from a known absolute position, they can update this by detecting the movement.
• the later point in time preferably corresponds to the present point in time.
• the recording of position values and the calculation of clock errors of the receiver is carried out at an earlier point in time, that is to say in the past before the later point in time.
• the points in time are preferably evenly spaced, that is to say the time-discrete runtime measurements and, preferably, the later point in time are each equally distant from the previous point in time.
• the later point in time is therefore preferably the next step following a specific cycle after a series of measurement points in time.
• the clock preferably corresponds to the sampling rate of the receiver. According to a preferred embodiment, to extrapolate the
• the extrapolation of the position value of the receiver is additionally based on inertial modeling, measurements of inertial sensors (IMU), measurements of odometry sensors, and / or Doppler measurements of satellite navigation.
• IMU inertial sensors
• odometry sensors normally include sensors that measure accelerations and rotation rates, while odometry allows you to determine your own position by measuring data from a propulsion system, such as wheel speeds and / or steering movements.
• the extrapolation of the receiver's clock error is also based on temperature measurements, stored information about a clock drift and / or about the clock quartz, so that the clock error can be determined even more precisely.
• the extrapolation of the receiver's clock error takes place, as already explained above, in the form of a distance value which is equivalent to the clock error.
• the position of the satellite is derived from the
• the comparison of the second pseudo range with the first pseudo range preferably includes a difference formation.
• the difference can be saved as Variable can be saved or sent or preferably directly as a
• the starting point for further measures can be used with which to react to the currently ascertained defectiveness or integrity of the satellite's transit time measurement. In the case of a large difference, it can make sense, for example, to initially relieve the satellite from determining the receiver position
• a small difference amount has a high quality measure and a large difference amount a small one
• Quality measure is assigned and a corresponding quality measure is established. This provides a uniform measure of quality.
• Change in the quality measure is evaluated as an indication of indirect signal reception.
• a control device is designed to carry out a method as described.
• the control device preferably has a memory and a processor, the method being stored in the memory in the form of a computer program and the processor being designed to execute the method when the computer program is loaded from the memory into the processor.
• the computer program of the control device preferably includes
• Program code means to carry out all steps of the method when the computer program is on a computer or one of the aforementioned
• a computer program product comprises a program code which is stored on a computer-readable data carrier and which, when it is executed on a data processing device, carries out one of the specified methods.
• FIG. 1 shows a schematic representation of a two-dimensional exemplary representation of the movement of a receiver and a satellite, as well as their distances to determined ones, spanned along the spatial axes X, Y
• the reference symbols each contain a time index i, i denoting the sampling time.
• -N, -2 and -1 denote times in the past at which measurements were carried out. A later point in time corresponds to
• the satellite shown is representative of any satellite and occupies the positions S-N, S-2, S-I, SO at the various times i.
• the position values correspond to the receiver position, where P is described by P-N, P-2, P-I. They are obtained through time-discrete runtime measurements using a satellite navigation system, for example NAVSTAR GPS, Galileo, GLONASS or Beidou.
• the vectors u-i, u-2, corresponding to u- (N-i) describe the changes in position, which each represent the difference between two position values. From change of position to change of position change in
• Embodiment also the distances G-N, r-2, r-i between receiver and satellite.
• a first pseudo-distance is determined as the measured distance. Based on the previous position changes, an estimated value u'o for the position change of the following, i.e. current or
• the history of the last measured clock errors is used to extrapolate the corresponding time difference At'o, which, however, is expressed as a distance equivalent for easier further calculation.
• the actual distance r'o between the satellite and the receiver is calculated from this estimated information, the term actual distance being understood to mean that this distance does not contain any clock, ionospheric or other errors common in satellite measurements is that this distance is calculated as the distance between two points.
• a second pseudorange is provided by adding the clock error At'o, which is also estimated.
• further error variables can be added to form the estimated, i.e. the second, pseudo-distance in order to conform to the first pseudo-distance, which may also contain further error variables, such as ionospheric errors.
• the size of the difference is a quality measure for errors
• Integrity of the time of flight measurement of the specific satellite With a multiple repetition of the method or with a higher number of time steps or measurements used for the estimation, a higher informative value can be achieved, but it is fundamentally sensible to seek a compromise with regard to the necessary computing power.
• the method or a corresponding control device can be used in any systems, for example in motor vehicles, drones,

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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)
• Computer Security & Cryptography (AREA)
• Position Fixing By Use Of Radio Waves (AREA)

Priority Applications (5)

Applications Claiming Priority (2)

Publications (1)

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Citations (3)

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• 2019
  • 2019-06-18 DE DE102019208874.0A patent/DE102019208874A1/de not_active Withdrawn
• 2020
  • 2020-06-17 WO PCT/DE2020/200048 patent/WO2020253922A1/de not_active Ceased
  • 2020-06-17 DE DE112020002918.2T patent/DE112020002918A5/de active Pending
  • 2020-06-17 JP JP2021569949A patent/JP7406570B2/ja active Active
  • 2020-06-17 CN CN202080044406.3A patent/CN114008487B/zh active Active
  • 2020-06-17 US US17/620,543 patent/US12111403B2/en active Active
  • 2020-06-17 EP EP20735475.4A patent/EP3987310B8/de active Active

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