WO2022248151A1 - Verfahren zum betrieb zur bestimmung von navigationsdaten, navigationsmodul, computerprogrammprodukt, maschinenlesbares speichermedium - Google Patents
Verfahren zum betrieb zur bestimmung von navigationsdaten, navigationsmodul, computerprogrammprodukt, maschinenlesbares speichermedium Download PDFInfo
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- WO2022248151A1 WO2022248151A1 PCT/EP2022/061222 EP2022061222W WO2022248151A1 WO 2022248151 A1 WO2022248151 A1 WO 2022248151A1 EP 2022061222 W EP2022061222 W EP 2022061222W WO 2022248151 A1 WO2022248151 A1 WO 2022248151A1
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- gnss
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- 238000004590 computer program Methods 0.000 title claims description 6
- 238000011017 operating method Methods 0.000 title abstract 2
- 238000012937 correction Methods 0.000 claims abstract description 44
- 230000008859 change Effects 0.000 claims abstract description 9
- 230000015654 memory Effects 0.000 claims abstract description 8
- 238000000034 method Methods 0.000 claims description 50
- 230000007613 environmental effect Effects 0.000 claims description 6
- 230000003068 static effect Effects 0.000 claims description 4
- 238000012545 processing Methods 0.000 description 9
- 238000013459 approach Methods 0.000 description 8
- 230000006978 adaptation Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 230000009897 systematic effect Effects 0.000 description 4
- 230000010363 phase shift Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- 239000005433 ionosphere Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000008092 positive effect Effects 0.000 description 2
- 239000005436 troposphere Substances 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000010924 continuous production Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
- 239000000725 suspension 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
- G01S19/01—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
Definitions
- GNSS-based methods for determining navigation data which are carried out in GNSS receivers or in navigation modules comprising GNSS receivers, determine positions based on triangulation using the distances between the GNSS receiver and the GNSS satellites .
- the distances are calculated by determining the propagation times of signals from each individual GNSS satellite to the GNSS receiver, taking into account the propagation speed of the signals on the way from the GNSS satellite to the GNSS receiver.
- the signals received by the GNSS receiver from the GNSS satellites are referred to below as GNSS data.
- the transit times are determined by very precise measurements of the times at which the signals arrive in the GNSS receiver.
- the calculated distances are referred to as "pseudo-distances" or “pseudo-ranges” because the distances are actually falsified by many sources of error and peculiarities and usually only partially correspond to actual distances between the GNSS receiver and the GNSS satellites. These sources of error must be corrected in GNSS-based navigation data determination methods.
- a particularly important source of error to be highlighted here, which should be taken into account in navigation data determination methods, are so-called clock errors, which can occur in the GNSS receiver and/or in GNSS satellites and which affect the time measurement regarding the time at which signals were sent by the GNSS satellites can also affect when signals are received by the GNSS receiver.
- Each of these error correction methods is usually implemented in the form of parameters and/or special correction specifications for processing such correction parameters for correcting the pseudo distances or the navigation data.
- Parameters and correction rules are usually stored as parameters in a GNSS receiver/navigation module and are performed by filters.
- a subgroup of such parameters are the so-called correction data, which are provided from an external correction data source and which relate in particular to orbit data and to data relating to the ionosphere and the troposphere.
- these parameters are determined as a continuous process in parallel with the permanent determination of current navigation data.
- update time intervals for different types of parameters (depending on which error correction affects the individual parameters).
- This can be specified, for example, in the form of an update frequency or an update interval for each parameter and/or for each individual correction rule.
- the update frequency or the update interval can be adjusted individually depending on other data.
- the regular update of parameters is implemented with the help of filters, which take into account historical data as well as newly available information (new correction data and/or update parameters for parameters and/or parameters obtained from observations of GNSS data) and based on this a calculation of enable new parameters for actual use in determining navigation data, taking history into account.
- filters which take into account historical data as well as newly available information (new correction data and/or update parameters for parameters and/or parameters obtained from observations of GNSS data) and based on this a calculation of enable new parameters for actual use in determining navigation data, taking history into account.
- a possible filter concept for such filters is the so-called Kalman filter
- Kalman filter is also implemented in particular in highly integrated navigation modules that include GNSS receivers and are set up for processing GNSS data into navigation data.
- highly integrated navigation modules also evaluate data from other sensor sources to determine navigation data.
- Other sensor sources can be, for example, inertial sensors or wheel speed sensors or other sensors that provide useful information for determining navigation data.
- Such environmental conditions include, in particular, so-called multipath propagations or multiple transmissions of signals (so-called "mutipath environments"), which are caused in particular by the spatial situation in the immediate vicinity of a GNSS receiver.
- multipath propagations or multiple transmissions can result, for example, from surrounding buildings or other objects, which lead to signal reflections or distortions in the vicinity of the GNSS receiver, so that signals are received indirectly and/or multiple times due to partial reflections.
- a new method is to be described below, which is used when determining correction data for determining navigation data in a navigation module:
- a method for operating to determine navigation data based on GNSS data in a navigation module having the following steps: a) receiving GNSS data, b) determining navigation data with the GNSS data using in a memory of the navigation module stored parameters that were determined from GNSS data (1) with at least one filter (2.3), c) extracting a criterion from the navigation data or from another data source, which makes a special situation recognizable in which a reception of GNSS - data is influenced by an error situation, which is constant at least temporarily or has at least a constant proportion, d) performing updates and/or corrections of stored parameters for subsequent determinations of navigation data according to step b), wherein at least for parts of stored parameters, which are generally slower in operation edges than other stored parameters, the updating and/or correction is slowed down or even suspended if the criterion extracted in step c) indicates such a special situation.
- the method is particularly advantageous if the special situation is one in which unfavorable environmental conditions for the reception of GNSS data are present as an error situation.
- a constant at times present error situation or an error situation that has at least a constant component it means that the error does not occur temporarily and then goes away again or possibly even errors that cancel each other out again.
- a constant error situation occurs, for example, due to a reception obstacle that is uniformly present on a specific side of a GNSS antenna.
- it is sufficient, for example, if the error situation changes only slowly (possibly first building up and then breaking down again).
- Such a situation with unfavorable environmental conditions as a special situation can be identified using values contained in the navigation data and/or at least a probability can be determined that such a situation exists.
- the navigation data can contain position information relating to the current position of the navigation module/of the GNSS receiver as a value, and this position information can then be used to identify that a situation with unfavorable environmental conditions is likely to be present.
- the method described increases the robustness and the accuracy of the determination of stored parameters, particularly in complex environments (for example environments with multipath propagations).
- the method is also particularly suitable in situations in which systematic errors occur in correction data, which have a major effect on the accuracy of the determination of position data.
- the method described here can also be used for applications in which the fusion of GNSS data with other data takes place (e.g. with sensor data such as wheel speed sensor data and/or data from one or more inertial sensors). In such applications, the fusion can often generate much more precise navigation data.
- the stored parameters used to determine navigation data usually have special inherent properties, which are, for example, noise components, error probabilities, possible or expected rates of change and similar variables. These properties of the stored parameters are normally taken into account when determining navigation data.
- the concept of the method described here relates in particular to a set of stored parameters that a navigation module uses to determine the position. The slowing down or even suspension of the update and/or correction in step d) affects only part of these stored parameters
- the concept of the method described here is a special treatment or a special determination of those stored parameters that fundamentally change more slowly over time (ie are only subject to minor changes) compared to other correction data.
- An example of such slowly changing correction data is a time shift (a "time offset") between different GNSS satellites of two GNSS satellite constellations (e.g. between GPS satellites and Galileo satellites).
- Such a time shift changes, for example, very slowly or very little compared to a time shift between GNSS satellites and the respective GNSS receiver.
- time offset a time shift
- Such error situations there is an increased risk that a systematic error will be imposed on such parameters, which will then only level out again later after a longer period of operation when the error situation is no longer present.
- Such error situations can be predicted using special situations. If a special situation is, for example, starting from a standstill or driving slowly in the city, then there is, for example, an increased probability that certain situations of multipath signal propagation are present, which represent an error situation.
- the updating and/or correction of stored parameters in step d) includes using GNSS data.
- the method is also advantageous if updated correction data and/or update parameters for stored correction data are regularly retrieved from an external source.
- the method described here basically includes two approaches, namely to slow down the adjustment of slowly changing stored parameters when the described special situation is present or to keep these slowly changing stored parameters completely constant in such special situations. If necessary, both approaches can also be combined so that the adjustment for some of the parameters is slowed down and another part of the parameters is kept completely constant.
- the method described is particularly advantageous if, in order to determine the criterion, it is determined whether a start phase of the navigation module is present and a special situation is determined in a start phase of the navigation module.
- the starting phase can either be recognized from the navigation data of the navigation module itself or other data sources can be used for this purpose, such as parameters and/or flags from other control units that are external, i.e. not arranged within the navigation module.
- the method is also advantageous if the criterion is defined in such a way that it describes a special situation that describes a static scenario of the operation of the navigation module.
- a speed is determined at which the navigation module is moving and a special situation is determined if the speed is below a threshold value.
- This particularly advantageous implementation or application of the method described is based on the fact that slowly changing stored parameters (e.g. stored parameters relating to the offset between different GNSS satellite constellations) should only be adapted if the receiver is moving at a speed that is greater is than a certain limit.
- This approach significantly increases the overall robustness of the provision of navigation data with a navigation module and this applies in particular to difficult conditions, such as the situation described above with multipath propagation of the signals, for example in an urban environment. In such an environment, errors due to multipath processing have a very large effect on the accuracy of the determined navigation data. In particular, this effect on the error is greater than in a scenario with high dynamics of the position data, which occurs, for example, at high speeds.
- the method described and the adjustments relating to slowly changing stored parameters also benefit the accuracy of rapidly changing stored parameters, which are usually also determined in parallel and permanently corrected or adjusted. This is the case because both the determination/correction/adaptation of slowly changing parameters and the determination/correction/adaptation of rapidly changing parameters take place parallel to one another and based on one another—possibly even in a common filter.
- the fewer errors that occur when determining slowly changing parameters using the described method also have an at least indirectly positive effect on the determination of rapidly changing parameters. Overall, the entire process for determining navigation data (position data/speed data/etc.) is improved.
- step d It is particularly advantageous to update and/or correct stored parameters in step d), which is done using a filter.
- a filter it is possible to process update data and/or new parameters together with stored, historical parameters in such a way that the parameters used to provide navigation data are continuously adjusted.
- step b) is carried out by a main filter and step d) by a separate filter which is separate from the main filter.
- Separate filters here mean that although the filters influence each other, internal states of the main filter in particular are preferably not taken into account by the separate filter and vice versa.
- the memories can influence each other via their inputs and outputs, with the outputs of one filter being the inputs of the other filter and vice versa. Carrying out with separate filters enables the separate filter to be influenced in a simple, targeted manner.
- the separate filter preferably only processes the slowly changing stored parameters that are affected here.
- At least the main filter and/or the separate filter is a Kalman filter.
- a Kalman filter is particularly suitable for carrying out the method described here, since it contains a history of past observations and, based on this, can provide particularly good estimated values for parameters.
- Slowing down means here in particular a reduction in the speed at which the separate filter makes or can make changes to the parameters.
- a slowdown is a slowdown from a regular processing speed.
- a slowdown can be achieved, for example, by reducing a maximum permissible change (specified as a percentage or as an absolute value) for a parameter.
- the separate filter can then no longer use the parameter as much for each processing step change and the filter is slowed down.
- a slowdown can also be achieved by lengthening a time interval between processing steps of the filter.
- many different concepts for slowing down the filter are possible.
- the adaptation of slowly changing parameters is carried out in a separate filter.
- the main filter which estimates the other parameters and usually also determines navigation data (positions/velocities etc.), is not responsible for updating and/or correcting the slowly changing parameters.
- the updating and/or correction of time deviations between clocks of GNSS satellites of different GNSS constellations can be excluded from the main filter, for example.
- Filters that estimate all necessary stored data and are capable of selectively slowing down updates and/or corrections of individual stored parameters are conceivable.
- the method described is not limited to a specific arrangement of filters.
- GNSS data e.g. GNSS signals in a multipath situation
- GNSS signals in a multipath situation
- a navigation module set up to carry out the described method is also to be described here.
- a computer program product is to be presented, which is set up to carry out the method steps according to the method described, as well as a machine-readable storage medium on which the computer program product is stored.
- the navigation module 7 receives GNSS data 1, which can include GNSS signals in particular, and it provides navigation data 6 based on the GNSS data 1. It is shown by way of example that the navigation module 7 can also process further data 8 which, for example, can come from further sensors 9 (optionally also external to GNSS), such as inertial sensors, rpm-based speed sensors, etc.
- the navigation module 7 has a main filter 2 which takes over the processing of the GNSS data 1 and generates the navigation data 6 .
- the GNSS data 1 are also transmitted to the separate filter 3, which extracts the slowly adapted parameters 4 from the GNSS data and makes them available to the main filter 2.
- the separate filter 3 can be set in such a way that an adaptation/correction of the parameters 4 that are to be adapted slowly is slowed down or even suppressed.
- the separate filter 3 is set up in such a way that it performs the braking and/or suppression of the adaptation/correction itself depending on the criterion 5, which is preferably provided by the main filter 2.
- Criterion 5 is extracted from navigation data 6 and indicates a special situation in which reception of GNSS data 1 could be influenced by an error situation that only changes in a limited way.
- Both filters preferably access a memory 10 in which the stored parameters are, both filters preferably having separate memory areas and in the memory area of the filter 3 the slowly changing stored parameters are stored, while in the memory area of the filter 2 the rest of the data is stored.
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Security & Cryptography (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
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CN202280051877.6A CN117751307A (zh) | 2021-05-26 | 2022-04-27 | 用于确定导航数据的运行方法、导航模块、计算机程序产品、机器可读存储介质 |
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DE102021205330.0A DE102021205330A1 (de) | 2021-05-26 | 2021-05-26 | Verfahren zum Betrieb zur Bestimmung von Navigationsdaten, Navigationsmodul, Computerprogrammprodukt, maschinenlesbares Speichermedium |
DE102021205330.0 | 2021-05-26 |
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Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2011034614A2 (en) * | 2009-09-19 | 2011-03-24 | Trimble Navigation Limited | Gnss signal processing with synthesized base station data |
US20150142311A1 (en) * | 2013-11-18 | 2015-05-21 | General Motors Llc | Vehicular GPS/DR Navigation with Environmental-Adaptive Kalman Filter Gain |
WO2020126795A1 (de) * | 2018-12-20 | 2020-06-25 | Robert Bosch Gmbh | Verfahren zum adaptiven ermitteln eines integritätsbereichs einer parameterschätzung |
WO2021022251A1 (en) * | 2019-08-01 | 2021-02-04 | Swift Navigation, Inc. | System and method for gaussian process enhanced gnss corrections generation |
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2021
- 2021-05-26 DE DE102021205330.0A patent/DE102021205330A1/de active Pending
-
2022
- 2022-04-27 WO PCT/EP2022/061222 patent/WO2022248151A1/de active Application Filing
- 2022-04-27 CN CN202280051877.6A patent/CN117751307A/zh active Pending
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2011034614A2 (en) * | 2009-09-19 | 2011-03-24 | Trimble Navigation Limited | Gnss signal processing with synthesized base station data |
US20150142311A1 (en) * | 2013-11-18 | 2015-05-21 | General Motors Llc | Vehicular GPS/DR Navigation with Environmental-Adaptive Kalman Filter Gain |
WO2020126795A1 (de) * | 2018-12-20 | 2020-06-25 | Robert Bosch Gmbh | Verfahren zum adaptiven ermitteln eines integritätsbereichs einer parameterschätzung |
WO2021022251A1 (en) * | 2019-08-01 | 2021-02-04 | Swift Navigation, Inc. | System and method for gaussian process enhanced gnss corrections generation |
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CN117751307A (zh) | 2024-03-22 |
DE102021205330A1 (de) | 2022-12-01 |
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