• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    According to the invention, a method, a system and a computer program product are provided, with which the position determination with satellite data can be improved, in that reflected signals with different evaluation methods are eliminated and only those satellite data are used that are received without reflection. The method is easy to detect.
    公开号:NL2019768A
    申请号:NL2019768
    申请日:2017-10-20
    公开日:2018-04-26
    发明作者:Weissenmayer Simon
    申请人:Bosch Gmbh Robert；
    IPC主号:
    专利说明:

    Title: Method, system and computer program product for improving positioning through satellite navigation
    State of the art
    Satellite-assisted navigation in the form of GPS (Global Positioning System) or - in preparation - Galileo, its European counterpart, is widespread and is increasingly gaining significance for moving objects, such as automobiles. In particular, it is almost necessary for the determination of position-dependent information and services. Vehicle start-target navigation is already widely used and well established. There is, however, an increasing need for a high accuracy of the location determination of moving objects, since in this way position-dependent information and services can be made available individually. However, in urban regions, where a high concentration of moving objects, such as cars, is often encountered, there is a problem that signals transmitted from satellite are shielded or blocked by buildings. be reflected. Such reflected signals lead to errors in position determination and are therefore undesirable. The Internet encyclopedia Wikipedia states in this regard about GPS technology: “Consideration of avoidable signal disturbances. These disturbances include, in particular, multi-way propagation (Eng. Multipath), which represents a mixing of the direct satellite signal with reflected detour signals from the nearby environment. Such reflections of radio waves arise mainly on buildings and metal surfaces with associated reflection direction, partly also through wet leaves.
    Multipath effects can range from a few centimeters to decimeters, which significantly exceeds the accuracy of precise GPS locations. They make themselves felt in small, semi-periodic jumps from the indicated position and cannot be avoided completely; they are reduced by a suitable location of the antenna and a base plate on which the antenna is mounted.
    At least four satellites are required for positioning the receiver. With more than four satellites received, the calculation changes little, but the comparisons are over-determined, because more comparisons than unknowns are available. Certain weighting systems are treated according to the methods of the compensation calculation ".
    For this reason, precise positioning is often not possible in the range of reflective objects, such as on forest edges and in houses, despite optimum reception conditions. On the basis of non-reflected satellite signals, however, very precise positioning according to the theoretical possibility of the spatial resolution of the GPS would be possible.
    There is therefore a need to improve positioning with the help of satellite signals.
    It is an object of the invention to improve the satellite-assisted navigation and position determination, in view of those errors of position due to reflected signals.
    Revelation of the invention
    This task is solved by a method according to the features of claim 1, by a system according to the features of claim 9 and a computer program product according to the features of claim 12.
    To this end, the method according to the invention for improving positioning by means of satellite navigation comprises at least the steps of identifying a first received signal sent from at least a first satellite, determining a first signal property of the first signal, comparing the first determined signal property of the first signal with a predetermined first signal property, selecting the first signal on the basis of the correspondence with the first predetermined signal property, and using the selected signal for determining the position.
    To this end, the system according to the invention for improving positioning by satellite navigation comprises at least the components a moving receiver for receiving a first and second signal sent from at least one satellite, a sensor for recording movement information of the movement of the receiver , an evaluation unit for carrying out the method according to the invention.
    The computer program product according to the invention has a storage for computer-readable instructions, and is designed for this purpose, when it is read into a computer unit of a system for improving position determination by means of satellite navigation, to activate this computer unit for the method steps of the method according to the invention as process steps.
    Further embodiments of the invention appear from the dependent claims.
    Advantageously, according to a method according to the present invention, two signals are compared with each other, and it is determined in particular whether the signals correspond to a predetermined expectation. Such an expectation could be, for example, a direction from which the signal arrives, a frequency with which the signal is sent, or a frequency deviation, with which the received signal deviates from the known transmission frequency of a satellite. Furthermore, such a characteristic could be a slope of the signal, with which the incoming signal deviates from the horizontal with respect to, for example, a street surface. In this way reflected signals can easily be filtered out, because signals coming from below or coming from a direction opposite to the satellite are filtered out. By comparing the signals with pre-determinations, it is possible to identify reflected signals and, according to the invention, not to include a signal which does not satisfy the pre-determinations for the position determination.
    In a further embodiment of a method according to the invention, the signal direction is advantageously used as a predetermined signal property, since on the basis of the information emitted from the satellite, a simple directional destination of the signal as a direction of movement is possible and thus a comparison with a actually determined direction immediately recognizes whether the received signal is a reflected signal.
    In an advantageous further embodiment of a method according to the invention, a predetermined signal property is the frequency of the received signal. If, for example, the frequency is increased, it can be concluded that the receiver is moving towards the transmitter, while in the event that the frequency is lowered, it can be assumed that the transmitter and the receiver move away from each other , as this follows from the Doppler effect.
    In a particularly advantageous manner, in a further embodiment of the present invention, in which a signal property such as the direction and the frequency are combined, a deviation of the speed of movement of a moving object from the direction in which the satellite is located can be determined. Because the known vehicle speed is used for this purpose, to calculate a frequency deviation and this frequency deviation is compared with the frequency deviation which actually takes place, the angle between the direction of movement of a moving receiver and the transmitter can be determined.
    In a particularly advantageous manner, the first signal property can be derived from a movement deviation in a further embodiment of a method according to the present invention, in that, for example, a speed of the receiver is used for this purpose, to calculate a frequency deviation of the satellite signal according to the Doppler effect, and because this frequency deviation is compared with the actual frequency deviation.
    In a particularly advantageous manner, in a further embodiment of a method according to the present invention, a number of antennas spatially spaced-apart are used to determine the direction from which the signal arrives. On the basis of better known geometric coherence, the arrangement of the various antennas with respect to each other and the course time differences of the incoming signal on the respective antennas, the direction of the incoming signal can be determined relatively easily on the basis of underlying geometric functions.
    In a particularly advantageous manner, in a further embodiment of a method according to the present invention, a reduction in the number of antennas used is possible because signal changes in dependence on the movement change of the receiver and thus on the antenna positions are determined and the changed movement information serves for this purpose, for the directional information of the simple signal.
    In a particularly advantageous manner, a system according to the present invention combines a moving receiver with a sensor for recording motion information and an evaluation unit for combining the motion information with the information determined from the received signal. In this way a technically simpler and reliable operation of the system is achieved, which is technically easy to implement and economically produce due to its small number of components.
    Advantageously, in a further embodiment of the system according to the invention, a maximum of a number of three antennas is used, and thus at least one antenna is saved, whereby the system can be produced more cost-effectively without reducing the accuracy in position determination.
    In a particularly advantageous manner, a computer program product has a storage and machine-readable instructions which, when read and executed by a computer unit, cause the computer unit to perform process steps corresponding to the method steps of the method according to the invention.
    In this way the system according to the present invention is easy to port, and changes to the system can be easily implemented through the computer program product.
    In the following, exemplary embodiments of the invention will be further explained with reference to figures. It shows:
    FIG. 1 an example of signal reception with multiple antennas in an urban environment;
    FIG. 2 an example of the signal reception on a moving receiver;
    FIG. 3 an example of signals desired for filtering by means of shielding;
    FIG. 4 a computer program product;
    FIG. 5 an evaluation unit according to an exemplary embodiment of the present invention; and
    FIG. 6 a method according to an exemplary embodiment of the present invention.
    As shown in FIG. 1, according to an embodiment of a method according to the invention, it is possible to receive signals transmitted from satellite with several antennas. Satellite 1, Γ, 2, 3, 4 and 5 as well as buildings 200 and 210 are shown. Furthermore, a three-axis system 50, 60 and 70 is shown, the axes of which are orthogonal to each other. In addition, a moving base, for example a vehicle, such as an automobile, is shown which has a system for improving position determination 500. Signals 185 and 183 go to the system 500, which are received there by means of two antennas, which are not shown and which are situated for example on a surface of the roof on the outside. On the basis of the course time differences of the signals and the known distances of the antennas relative to each other, directional information of the incoming signals can be determined.
    To the extent that the moving base 180 rotates around the upper axis, it can be determined with the change of the incoming signal information whether the incoming signals are reflected signals. For example, these additional information from a camera or a distance meter can be used to determine that a building is located in the range of the direction of the incoming signal. In this example, the building 210 faces the incoming signal 185. As a result, this signal can be eliminated as a reflected signal. There is also the possibility to do without a further antenna, as far as the receiver can often be moved. Due to the Doppler effect due to the movement, the incoming frequencies shift relative to the respective satellite depending on the speed of the receiver. Reflected signals can be recognized by the fact that the frequency is relative to the measured speed of the receiver and an expected location of the satellite in a wrong direction resp. shifts with an incorrect factor. Since vehicles do not stand. Moving vertically, the signals reflected from the bottom cannot be identified with the Doppler effect. In such a case, the shielding of such signals by a base plate is useful.
    As shown in FIG. 2, in an embodiment of the method according to the invention, an evaluation of the signals over motion information can follow. Input signals 100 and 110 are influenced in their frequencies f and f by a movement of the moving platform, which transports the receiver, at a speed v. The frequency f is increased according to the Doppler effect F and the frequency F 'of the signal 110 decreases. By means of the angle cp and cp ', the quick-hide component can be moved in the direction of the signals 100 and 100 respectively. 110. In connection with a known transmission frequency, the navigation satellite 1 follows an expected changed frequency. According to the Doppler effect, this frequency can be calculated as follows:
    A speed calculation can, for example, follow from two position measurements separated in time. For the improvement of the speed measurement, sensor information can be used, which are determined with sensors which are mounted on the moving platform resp. available in the vehicle. The signals from an acceleration sensor, which can be integrated for speed or resp. odometrically determined information, wherein the covered road is determined over the wheel size and that wheel number. Furthermore, with a conventional or with an optical radar, a speed can be determined or the speed can be concluded with eamera-information and a change of images. two measurements has expired. The angle between the direction of movement and the axis between satellite and receiver can also be calculated from the positions from this. It is advantageous to use the newest signal for calculating the position on the signal received from the strongest received, since it originates from the nearest satellite.
    As a rule, odometry can only be used for receivers in vehicles that have slip-free contact with the solid surface. For vehicles, wheel rotation number sensors are generally used in combination with rotation angle sensors for measuring the speed. Insofar as odometry data is available and it can be assumed that these gears have no or almost no slip, acceleration sensor data can for instance be corrected in the long term. Insofar as an acceleration sensor loosely records translation acceleration and rotational accelerations and possibly also determines the magnetic field in the possible directions of movement, the acceleration sensor already combining the sensor data internally for better accuracy, a precise basis for speed measurement follows. From the acceleration values, for example, the satellite data receiver calculates the speed of the receiver through integration. Such a speed measurement is, however, not very precise in the long term and can be tested or tested by, for example, the speed measurement over two different GPS positions or by a measured Doppler shift of the received signals. be corrected.
    FIG. 3 shows a further possibility, according to an exemplary embodiment of the method of the present invention, for excluding unwanted signals during position determination. In FIG. 3 the same reference numbers as in the other figures are used and mean the same objects. The received signal 100 is reflected at the bottom, while the signal 110 arrives in direct line at the system for improving position determination 500. A technically simple solution consists of positioning a base plate under the signal receiver which does not transmit reflected signals from the bottom. In this way such signals are excluded from the evaluation during position determination by means of a technically easy to implement solution.
    FIG. 4 shows a computer program product according to an embodiment of the present invention. Computer commands 410 are stored on a readable storage medium 400, which commands can be read out and executed by an evaluation unit or a computer of a system according to the invention for improving positioning by means of satellite navigation.
    As shown in FIG. 5, a system 500 for improving positioning by means of satellite navigation can be simply constructed. It includes, for example, a receiver 510, a sensor 520, and an evaluation unit 530, which may especially contain a computer program product reading unit 535. Such a system is technically not excessively complex and can be produced independently and mounted in vehicles. By using a computer program product and a reading unit, it is easy to change the method and also to implement software updates without problems according to the production.
    FIG. 6 shows an example of an embodiment of a method according to the present invention. For example, the method 600 has the following steps:
    In a step 610 the identification of a first and of a second received signal follows, which is sent from at least one satellite in a step 620, a first signal property of the first and of the second signal is determined.
    In a step 630 a comparison takes place between the determined first signal property of the first and second signals with a predetermined first signal property.
    In a step 640 a selection of the first resp. second signals according to the correspondence with the predetermined first signal property takes place, and in a step 650 the selected signal is used for position determination.
    Advantageously, in the present invention, the method can be improved by combining the information from a plurality of sensors, by combining different sensor data and being used for selecting the signals used or for improving the motion information.
    Proof of the system according to the invention and method is simply possible in that standard measurements in moving and in fixed condition are compared with each other.
    权利要求:
    Claims (12)
    [1]
    A method for improving positioning via satellite navigation (500) with at least the following measures: identification (610) of a first received signal sent from at least a first satellite, determining (620) a first signal property of the first signal comparing (630) the first determined signal property of the first signal with a predetermined first signal property, selecting (640) the first signal based on the correspondence with the first predetermined signal property, and using (650) the selected signal for the positioning.
    [2]
    Method according to claim 1 with the following measures: identifying (610) a second received signal sent from at least the first satellite, determining (620) the first signal property of the second signal, comparing (630) the first determined signal property of the first and second signals with the predetermined first signal property, selecting (640) the first resp. second signals based on the correspondence with the first predetermined signal property.
    [3]
    A method according to any one of the preceding claims, wherein the predetermined first signal property is a direction from which the received signal falls.
    [4]
    The method of claim 1 or 2, wherein the predetermined first signal property is a frequency of the received signal.
    [5]
    Method according to claim 1 or 2, characterized in that the predetermined first signal property is generated from an information about the direction from which the received signal is incident and an information about a frequency of the received signal.
    [6]
    The method of claim 5, wherein the signals are received by a moving receiver and the first predetermined signal property is derived from at least one motion information of the motion of the moving receiver.
    [7]
    Method according to one of the preceding claims 3 or 5 to 6, wherein the direction is determined with a plurality of spatially spaced antennas.
    [8]
    The method according to any of claims 6 to 7, wherein a change in time of the motion and / or direction information with respect to the signals is evaluated.
    [9]
    A system (500) for improving positioning via satellite navigation with at least the following components: a moving receiver (510) for receiving a first and second signal sent from at least one satellite, a sensor (520) for recording of movement information of the movement of the receiver, an evaluation unit (530) for carrying out a method according to one of claims 1 to 8.
    [10]
    The system of claim 9, wherein the sensor (520) uses a received signal from at least a second satellite for recording movement information of the movement of the receiver.
    [11]
    The system of claim 9 or 10, wherein three flat-mounted antennas are used over a base plate.
    [12]
    A computer program product (400) with a storage (410) for computer-readable instructions which, when it is read into a computer unit of a satellite navigation improvement system, triggers this computer unit to perform the process steps of the method according to a of claims 1 to 7 as process steps.
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    同族专利:
    公开号 | 公开日
    DE102016220729A1|2018-04-26|
    FR3057961A1|2018-04-27|
    NL2019768B1|2018-10-12|
    引用文献:
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    DE102016220729.6A|DE102016220729A1|2016-10-21|2016-10-21|Method, system and computer program product for improving position determination by means of satellite navigation|
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