WO2023118959A1 - Atténuation dynamique d'erreur de postionnement de système mondial de navigation par satellite (gnss) - Google Patents

Atténuation dynamique d'erreur de postionnement de système mondial de navigation par satellite (gnss) Download PDF

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Publication number
WO2023118959A1
WO2023118959A1 PCT/IB2021/062372 IB2021062372W WO2023118959A1 WO 2023118959 A1 WO2023118959 A1 WO 2023118959A1 IB 2021062372 W IB2021062372 W IB 2021062372W WO 2023118959 A1 WO2023118959 A1 WO 2023118959A1
Authority
WO
WIPO (PCT)
Prior art keywords
gnss
information
posterior
fault
adj ustment
Prior art date
Application number
PCT/IB2021/062372
Other languages
English (en)
Inventor
João Rafael DA SILVA CARVALHO
Stefan Kaulmann
Marco Paulo VIEGAS ARAUJO
Yu Wang
Helder David MALHEIRO DA SILVA
André Filipe GONÇALVES FERREIRA
Original Assignee
Bosch Car Multimedia Portugal, S.A.
Universidade Do Minho
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 Bosch Car Multimedia Portugal, S.A., Universidade Do Minho filed Critical Bosch Car Multimedia Portugal, S.A.
Publication of WO2023118959A1 publication Critical patent/WO2023118959A1/fr

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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
    • G01S19/38—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
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
    • 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
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
    • 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
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]

Definitions

  • the present application describes a method for dynamically decrease and mitigate Global Navigation Satellite System positioning fault errors .
  • GNSS Global Navigation Satellite System
  • Patent application CN104835353 describes a scheme to improve the accuracy of in-between-vehicles relative positioning results by sharing the accelerated speed information via V2V (vehicle to vehicle ) communications .
  • the herein disclosed invention provides navigation users who are connected to the common online data center an opportunity to be alerted of faulty GNSS signals or even to receive corrections of those faulty ones , in between a certain area, in a direct V2V communication or via a transmission from the Data center .
  • the present invention describes a method for dynamically decrease and mitigate Global Navigation Satellite System positioning fault errors in GNSS systems , comprising the steps of : identi fy a fault or error in a received GNSS signal ; generate a posterior adj ustment information based on the received GNSS signal ; transmit the posterior adj ustment information to a remote data center to further broadcast said posterior adj ustment information to receiving GNSS systems in the vicinity of the location where the fault was identi fied; receive the posterior adj ustment information; convert the posterior adj ustment information into GNSS corrections ; correct faults or errors based on the GNSS corrections in received GNSS signals .
  • identi fying a fault or error in a received GNSS signal comprises manual processing or automatic processing .
  • the manual processing comprises stationary user pinpointing of the fault location in a map .
  • the automatic processing comprises data fusion of GNSS and inertial data from remote sensors or embedded sensors in the GNSS system .
  • the posterior adj ustment information comprises multiple types of data such as raw GNSS and inertial measurements , navigation filter state information comprising position, velocity and bias estimates , and respective variance-covariance matrix .
  • the posterior adj ustment information is further transmitted directly to surrounding GNSS systems through communication systems properly adapted and configured to ensure security and precision .
  • the data center is configured to process and extract data corrections from the posterior adj ustment information .
  • the present invention also describes a system based on the previously described method and any of the previously described related embodiments , wherein the GNSS systems are comprised in stationary apparatus or moving vehicles or user devices .
  • the GNSS systems comprise V2V communication protocols .
  • GNSS Global Navigation Satellite System
  • NLOS Non- line-of-sight
  • a map navigator device providing a GNSS estimated position, velocity and road lane information.
  • This estimation, and lack of precision is usually due to surrounding environment, which comprises, e.g., skyscrapers, bridges or tunnels.
  • the disturbances caused by the shadowing of buildings, trees, or tunnels cause the signals to be out of sight (NLOS) causing signal-reflections and multipath effects.
  • NLOS out of sight
  • Some of these disturbance effects might be stationary, e.g., buildings or tunnels, and the causefactors might be represented in map features, allowing them to be modelled in advance in specific driving situations.
  • this posterior adjustment information can be performed by manual adjustment of the driver/user, but only under secure conditions, ensuring that the vehicle is stationary, i.e., stopped or parked, or if very low speeds are maintained, assuring the full safety of the driver and surrounding passers-by.
  • Another solution for this known limitation is to provide the vehicle itself the ability to send automatic adjustment information whenever the biases, namely the differences between driving data, i.e., vehicle's speed, heading angles, etc, provided by the vehicle's embedded inertial system and the GNSS navigation system, exceed certain predefined thresholds.
  • each receiving GNSS system be it an end user equipment or vehicle, can be somehow considered as a reference station, receiving information from GNSS signals, comparing it to a real situation, feeding this information back to a central server or sharing it with other GNSS systems to help them to dynamically increase their positioning estimation precision .
  • All the provided posterior adj ustment information is gathered and processed inside a Data center, and appropriate correction data is then broadcast to other users .
  • the ability to mitigate the ef fects of multipath and non-line-of-sight errors in traditional GNSS measurements is a highly complex operation that the present development ensures to improve based on the suggested technique .
  • a central server or cloud service
  • This may need big-data-processing like Arti ficial Intelligence , big data or cloud processing .
  • the second approach can ensure the provision of fault information from surrounding GNSS systems , without the involvement of a remote service , since service providers usually charge large cash amounts for their correction service , being one of today' s marketing-barrier for this technology .
  • the posterior adj ustment information can be identi fied and provided in the form of an alert , or even measurement error correction of certain satellite signals , with clock and location flags attached .
  • This adj ustment information can also be distributed directly via V2V communication to other surrounding users , and it is said users ' task to perform the processing of this information in order to extract the appropriate correction data to improve their location precision .
  • a higher credibility is allocated to vehicles that perform the same run over the same spot several times , e . g . , on a daily, weekly basis . Nevertheless , compared to the employment of a Data Center, this V2V option would require a high-performance calculation capability on each user side instead of j ust one powerful Cloud Center .
  • the faults mitigation is mainly directed to the improvement of GNSS signals in speci fic location coordinates and time of day, particularly when buildings block line-of- sight to satellites at a certain instant in time .
  • the provided information may also be used through learning mechanisms , since satellites have fixed orbit patterns .
  • Fig . 1 - illustrates the overal l method for dynamically decrease and mitigate the GNSS positioning fault errors , where the reference numbers are related to :
  • Presently invention discloses as a method for dynamically decrease and mitigate GNSS positioning fault errors.
  • the proposed method consists in sharing the knowledge acquired by a ground vehicle (20) through its field experience to other nearby surrounding vehicles (21, 22) .
  • all the ground vehicles (20, 21, 22) receive GNSS satellite signals independently (11, 12, 13) from a GNSS satellite (10) which comprise positioning data of said vehicles.
  • the received information related with said position not always corresponds to the true existing reality on the ground, especially when it may undergo occasional last-minute changes, and sometimes only for a few hours, as in the case of field works where temporary traffic deviations occur. Therefore, in these cases, and when the available signal (11, 12, 13) provided by the GNSS satellite (10) comprises errors, faults or even unpredictable blockage from surrounding obstacles, an alternative method to overcome these unpredictable setbacks is described.
  • said adjustment will be analysed and processed by the cloud data center (30) , and the correction information will be then transmitted (31, 32) from the cloud data center (30) to surrounding vehicles (21, 22) , in this case, ground vehicle two (21) and ground vehicle three (22) .
  • This correction information (31, 32) will be shared with the mentioned vehicles in order to provide them with knowledge that will allow them to overcome positioning fault errors from the provided signals (12, 13) from the satellite (10) .
  • This correction information will be useful also because it allows to reduce the exposure of the vehicles (21, 22) only to the knowledge surrounding environment.
  • This sharing of information/knowledge can also be performed in a vehicle to vehicle (V2V) basis, i.e., instead of sharing the posterior adjustment information (15) with the cloud data center (30) , the vehicle that detects the fault (20) will share it directly with nearby vehicles (21, 22) , through V2V correction information transmission from vehicle one to vehicle two (41) , and V2V correction information transmission from vehicle one to vehicle three (42) , allowing said vehicles (21, 22) to acquire full knowledge of the mapping of the road in case of existing fault experience of signals (12, 13) as expected.
  • V2V vehicle to vehicle

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

La présente invention concerne un procédé d'atténuation dynamique d'erreur de positionnement de système mondial de navigation par satellite. Le procédé proposé comprend l'identification d'un défaut ou d'une erreur dans un signal de système GNSS reçu; la génération d'une information de réglage postérieur sur la base du signal GNSS reçu; la transmission de l'information de réglage postérieur à un centre de données distant pour diffuser davantage ladite information de réglage postérieur afin de recevoir des systèmes GNSS au voisinage de l'emplacement où le défaut a été identifié; la réception d'information de réglage postérieur; la conversion de l'information de réglage postérieur dans des corrections de système GNSS; la correction de défauts ou d'erreurs sur la base des corrections de système GNSS dans des signaux de système GNSS reçus.
PCT/IB2021/062372 2021-12-23 2021-12-28 Atténuation dynamique d'erreur de postionnement de système mondial de navigation par satellite (gnss) WO2023118959A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
PT117682 2021-12-23
PT11768221 2021-12-23

Publications (1)

Publication Number Publication Date
WO2023118959A1 true WO2023118959A1 (fr) 2023-06-29

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WO (1) WO2023118959A1 (fr)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060047423A1 (en) * 2004-08-31 2006-03-02 Samsung Electronics Co., Ltd. Navigation system and method for detecting deviation of mobile objects from route using same
CN104835353A (zh) 2015-05-04 2015-08-12 南京邮电大学 Vanet中基于ins和gnss伪距双差的协作相对定位方法
US20200173788A1 (en) * 2017-08-23 2020-06-04 Alibaba Group Holding Limited Correcting location information using map data

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060047423A1 (en) * 2004-08-31 2006-03-02 Samsung Electronics Co., Ltd. Navigation system and method for detecting deviation of mobile objects from route using same
CN104835353A (zh) 2015-05-04 2015-08-12 南京邮电大学 Vanet中基于ins和gnss伪距双差的协作相对定位方法
US20200173788A1 (en) * 2017-08-23 2020-06-04 Alibaba Group Holding Limited Correcting location information using map data

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