[go: up one dir, main page]

WO2018166696A1 - Procédé et dispositif servant à filtrer des signaux de navigation par satellite reçus - Google Patents

Procédé et dispositif servant à filtrer des signaux de navigation par satellite reçus Download PDF

Info

Publication number
WO2018166696A1
WO2018166696A1 PCT/EP2018/052294 EP2018052294W WO2018166696A1 WO 2018166696 A1 WO2018166696 A1 WO 2018166696A1 EP 2018052294 W EP2018052294 W EP 2018052294W WO 2018166696 A1 WO2018166696 A1 WO 2018166696A1
Authority
WO
WIPO (PCT)
Prior art keywords
satellites
satellite navigation
signals
platform
perspective
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/EP2018/052294
Other languages
German (de)
English (en)
Inventor
Frank Hofmann
Wolfgang Niehsen
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of WO2018166696A1 publication Critical patent/WO2018166696A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

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
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/28—Satellite selection
    • 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
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
    • G01S19/252—Employing an initial estimate of location in generating assistance data
    • 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
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/26—Acquisition or tracking or demodulation of signals transmitted by the system involving a sensor measurement for aiding acquisition or tracking

Definitions

  • the invention is based on a device or a method according to the preamble of the independent claims.
  • the subject of the present invention is also a computer program.
  • EP 679902 Bl describes a method for the selection of signals from navigation satellites.
  • Navigation satellites can transmit between one signal
  • Navigation satellites and the receiver to be arranged.
  • the signal can not be received directly, but via reflections on the object and / or other objects. This creates a path that travels the signal between the navigation satellite and the receiver longer than the shortest possible route.
  • a position can then only be calculated with an inaccuracy, as the receiver is apparently further away from the navigation satellite.
  • those signals can be discarded which can reach the receiver only via a reflection because an object is arranged between the receiver and the navigation satellite.
  • Navigation satellites is arranged.
  • an earliest reception time can be taken into account if the signal is received multiple times.
  • Satellite navigation signals for a mobile platform comprising the following steps:
  • the satellite navigation signal has a code phase and a carrier phase and represents at least one transmission time of the satellite navigation signal. From the transmission time and a reception time, a transit time of the satellite navigation signal can be determined. About a propagation speed of
  • Satellite navigation signal and the transit time can be calculated a distance between the navigation satellite and a receiver.
  • Satellite navigation signal uniquely identifies the transmitting navigation satellite.
  • a horizon line can be a boundary line between a visible edge of an object and the visible sky.
  • Perspective can be a perspective from a current location of the mobile platform's receiver.
  • the mobile platform may be, for example, a robot or a vehicle.
  • a trajectory of the navigation satellite and a current position of the navigation satellite on the trajectory are known. The position can be viewed from the perspective. Navigation satellites that are not obscured by objects can be selected.
  • the horizon line can be made using at least one image from the
  • the image may be, for example, a panoramic image.
  • Objects around the platform are shown in the picture. Their outlines can be determined. Where an outline marks a transition between an object and the open sky, the part of the outline can be defined as a horizon line.
  • the satellites can be selected using satellite orbit information.
  • the lane information may be from the memory of a
  • Satellite navigation device are read out.
  • the web information can also be stored in a separate memory.
  • the satellite navigation signals may be provided to a satellite navigation device to determine a position of the platform.
  • the preselection allows the position to be determined with high accuracy, avoiding systematic errors due to the multipath reception of the satellite signals.
  • satellites can be selected that have a direct line of sight from the perspective.
  • the satellite navigation signal can get to the receiver directly, without reflection / multipath propagation.
  • reflections of the satellite signals can be suppressed using a suppression algorithm.
  • the first Receiving time are taken into account, since the signal propagation time is the shortest via the direct path.
  • This method can be implemented, for example, in software or hardware or in a mixed form of software and hardware, for example in a control unit.
  • the approach presented here also provides a device which is designed to implement the steps of a variant of a method presented here
  • the device may comprise at least one computing unit for processing signals or data, at least one memory unit for storing signals or data, at least one interface to a sensor or an actuator for reading sensor signals from the sensor or for outputting data or control signals to the sensor Actuator and / or at least one
  • the arithmetic unit may be, for example, a signal processor, a microcontroller or the like, wherein the memory unit may be a flash memory, an EEPROM or a magnetic memory unit.
  • the communication interface can be designed to read or output data wirelessly and / or by line, wherein a communication interface that can read or output line-bound data, for example, electrically or optically read this data from a corresponding data transmission line or output in a corresponding data transmission line.
  • a device can be understood as meaning an electrical device which processes sensor signals and outputs control and / or data signals in dependence thereon.
  • the device may have an interface, which may be formed in hardware and / or software.
  • the interfaces for example, part of a so-called system ASICs, which includes a variety of functions of the device.
  • the interfaces are their own integrated circuits or at least partially consist of discrete components.
  • the interfaces may be software modules that are present, for example, on a microcontroller in addition to other software modules.
  • the device may include a camera adapted to detect the horizon line in an image.
  • the camera may have a fisheye lens and be oriented perpendicular to the sky.
  • the camera can be integrated, for example, in an antenna housing. Further advantageous implementations of the device use the front camera, the
  • a mobile platform is provided with an antenna for receiving satellite navigation signals and a device according to the present invention
  • a computer program product or computer program with program code which can be stored on a machine-readable carrier or storage medium such as a semiconductor memory, a hard disk memory or an optical memory and for carrying out, implementing and / or controlling the steps of the method according to one of the above
  • FIG. 1 is a representation of a perspective of a mobile platform and a horizon line according to an embodiment
  • FIG. 2 is a block diagram of a mobile platform with a Vorrichtu
  • Embodiment shows a representation of trajectories of navigation satellites
  • FIG. 4 shows a representation of an image from a perspective of a vehicle and a horizon line according to an exemplary embodiment
  • FIG. 5 is a flow chart of a method of filtering received satellite navigation signals in accordance with one embodiment.
  • FIG. 1 shows an illustration of a perspective 100 of a mobile platform and a horizon line 102 according to an exemplary embodiment.
  • the perspective 100 is shown as a circular distorted all-round view.
  • the perspective 100 is shown with a polar coordinate system. In other words, that is
  • Perspective 100 is shown, for example, as an illustration by a fisheye lens directed vertically upwards.
  • an unobstructed sky area 104 is thus represented.
  • Objects around the mobile platform restrict the view of the sky 104.
  • the view is limited for example by mountains 106, skyscrapers 108, a detached house 110 and a tree 112.
  • a silhouette of the objects 106, 108, 110, 112 defines the horizon line 102.
  • the horizon line 102 may also be referred to as a skyline.
  • Trajectories 114 of navigation satellites 116, 118 are also from the
  • the objects 106, 108, 110, 112 cover parts of the trajectories 114.
  • satellites 116 are also obscured by the objects 106, 108, 110, 112.
  • the other satellites 118 have a direct line of sight to the platform in the sky area 104.
  • the objects 106, 108, 110, 112 are detected and the horizon line 102 is determined.
  • the satellites 116, 118 transmit encoded navigation signals.
  • a navigation signal is assigned by its code depending on one of the satellites 116, 118.
  • the trajectories 114 of the satellites 116, 118 are known.
  • the currently theoretically visible satellites 116, 118 are separated by the horizon line into invisible or hidden satellites 116 and visible satellites 118. To calculate the position of the platform, only the signals from the visible satellites 118 are used.
  • FIG. 2 shows a block diagram of a mobile platform 200 having a device 202 for filtering received satellite navigation signals 204 according to one embodiment.
  • the platform 200 is, for example, a vehicle or a mobile robot.
  • the perspective shown in FIG. 1 is related, for example, to the platform 200.
  • the satellite navigation signals 204 are received by an antenna 206 of the platform 200.
  • a navigation device 208 of the platform 200 a position 210 of the platform 200 is calculated.
  • the satellite navigation signals 204 are coded.
  • Satellite navigation signal 204 is uniquely associated with a navigation satellite 116, 118. Thus, all navigation satellites 116, 118 are known from which a navigation signal 204 is received. For each satellite 116, 118 its trajectory 114 and its current position 212 is known and can be retrieved from a data memory of the navigation device 208.
  • the device 202 for filtering comprises a determination device 214, a selection device 216 and a delivery device 218.
  • a horizon line 102 is determined from a perspective 100 of the platform 200.
  • the perspective 100 is from an environment sensor
  • the perspective 100 is provided by an image 220 of a wrap-around camera 222.
  • 100 objects obscure parts of the sky from the perspective, and thus also the positions 212 of the hidden satellites 116.
  • the horizon line 102 separates hidden areas from unseen areas of the sky.
  • the uncovered Satellites 118 are selected in the selector 216 when located above the horizon line 102.
  • the satellite navigation signals 224 associated with the selection of the satellites 118 are made available to the navigation device 208.
  • FIG. 3 shows a representation of trajectories 114 of navigation satellites.
  • Trajectories 114 are orbits around the earth 300.
  • the trajectories 114 are arranged in mutually tilted planes.
  • On a trajectory 114 several navigation satellites are arranged one behind the other. From any point 302 of the earth 300 are theoretically simultaneously several
  • Navigation satellites visible In the example shown, 12 navigation satellites are theoretically visible at the same time. In practice, a local horizon limits the number of visible navigation satellites.
  • GNSS Global Navigation Satellite System
  • RTK receivers (Real Time Kinematics) additionally use the carrier phase of the signal and thus achieve a position accuracy in the centimeter range.
  • the location accuracy of both types of receivers suffers greatly when there are no direct line of sight to the satellites.
  • the error in positioning is composed of several factors.
  • the error is due to multipath propagation, ie
  • Multipath signals can also be detected by means of algorithmics
  • FIG. 3 shows a typical constellation of positioning satellites with currently 12 satellites to which a direct visual connection to a locating unit exists at the point of intersection 302 at the intersection of the dashed lines without structural obstacles.
  • the 12 transit time measurements or the corresponding pseudo-range information in the location unit can be used for an expected estimate of the receiver position with minimum variance.
  • the receiver To determine the position, the receiver requires the signals of at least four satellites. The satellites used can then be selected to form a favorable angle to each other in order to achieve the lowest possible error. The receiver can also detect shaded satellites at the low signal strength and discard them for position determination. Due to the evaluation of the video signal presented here, a distinction between directly received signal and reflected signal can be achieved even with strong reflections.
  • FIG. 4 shows a representation of an image 220 from a perspective of a
  • Vehicle and a horizon line 102 according to an embodiment.
  • the image 220 has been captured using a fisheye lens.
  • the illustration substantially corresponds to the representation in FIG. 1.
  • the vehicle travels between high-rise buildings 108.
  • the sky 104 is largely hidden by the skyscrapers 108.
  • a vehicle location in the inner city area or a robot location in courtyards can thereby can be achieved by selecting the satellites 118 used for the location and thus significantly increasing the availability of accurate location information.
  • Positioning satellites 118 to which there is a direct line-of-sight connection As a result, only signal propagation time measurements are included in the position estimate of the positioning receiver, which does not lead to erroneous distance measurements between satellite 118 and receiver unit due to the reflection of obstacles 108 in the propagation path.
  • the method is with comparatively low computational complexity
  • Embedded video systems implementable. In contrast to
  • FIG. 4 shows a fisheye video image 220 or camera image 220 of an inner city environment or of a location scenario
  • Skyscrapers 108 are shown, which in a large solid angle range prevent a direct line of sight to the receivable location satellites 116 and thus can lead to large errors of the location estimation. Of the 12 potentially receivable satellites 116, 118, only five satellites 118 have a direct line of sight to the locating unit.
  • the video image 220 is supplemented by a horizon line 102, which with
  • Image processing methods robust and with high angular resolution, such as 25 pixels per degree, corresponding to 0.04 ° degrees per pixel can be determined without the use of subpixel methods.
  • Segmentation allows precise location based on the satellites 118 to which there is a direct line of sight. For registration of the satellites 116, 118 in the camera coordinate system used, a dynamic orientation estimation of the camera can take place, which in turn is robust
  • the orientation estimate can be supported by an additional use of inertial sensors and leads to a system with high availability and robustness.
  • the approach presented here can be advantageously integrated into automotive systems and robotics systems.
  • the camera-based selection of satellites 118 used may be integrated into automated vehicles and service robots such as lawn mowers, agricultural robots, or logistics robots.
  • FIG. 5 shows a flowchart of a method for filtering received satellite navigation signals in accordance with one embodiment.
  • the method may be performed on a device for filtering as shown in FIG. 2.
  • the method comprises a step 500 of determining, a step 502 of selecting, and a step 504 of providing.
  • step 500 of the determination a horizon line is determined from a perspective of a mobile platform.
  • step 502 of selecting satellites above the horizon line are selected.
  • step 504 of providing the satellite navigation signals of the selected satellites become further
  • an exemplary embodiment comprises a "and / or" link between a first feature and a second feature, then this is to be read so that the embodiment according to one embodiment, both the first feature and the second feature and according to another embodiment either only first feature or only the second feature.

Landscapes

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

Abstract

L'invention concerne un procédé servant à filtrer des signaux de navigation par satellite reçus pour une plate-forme mobile. Le procédé comporte une étape de détermination, une étape de sélection et une étape de mise à disposition. L'étape de détermination consiste à déterminer une ligne d'horizon (102) depuis une perspective (100) de la plate-forme. L'étape de sélection consiste à sélectionner des satellites (118) qui sont disposés au-dessus de la ligne d'horizon (102). L'étape de mise à disposition consiste à mettre à disposition les signaux de navigation par satellite des satellites (118) sélectionnés.
PCT/EP2018/052294 2017-03-15 2018-01-30 Procédé et dispositif servant à filtrer des signaux de navigation par satellite reçus Ceased WO2018166696A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017204321.0 2017-03-15
DE102017204321.0A DE102017204321A1 (de) 2017-03-15 2017-03-15 Verfahren und Vorrichtung zum Filtern von empfangenen Satellitennavigationssignalen

Publications (1)

Publication Number Publication Date
WO2018166696A1 true WO2018166696A1 (fr) 2018-09-20

Family

ID=61148225

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2018/052294 Ceased WO2018166696A1 (fr) 2017-03-15 2018-01-30 Procédé et dispositif servant à filtrer des signaux de navigation par satellite reçus

Country Status (3)

Country Link
DE (1) DE102017204321A1 (fr)
FR (1) FR3064072A1 (fr)
WO (1) WO2018166696A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6919663B2 (ja) * 2019-01-24 2021-08-18 株式会社デンソー 衛星マスク生成方法および衛星マスク生成装置

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0679902B1 (fr) 1994-04-29 2003-08-20 Robert Bosch Gmbh Procédé de sélection des signaux de satellites de navigation
US20080166011A1 (en) * 2005-04-17 2008-07-10 Manfred Dieter Martin Sever Enhanced Gnss Signal Processing
US20100176992A1 (en) * 2007-07-31 2010-07-15 T Siobbel Stephen Method and device for determining a position
US9507028B1 (en) * 2015-07-23 2016-11-29 Hyundai Motor Company Positioning apparatus and method for vehicle

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0679902B1 (fr) 1994-04-29 2003-08-20 Robert Bosch Gmbh Procédé de sélection des signaux de satellites de navigation
US20080166011A1 (en) * 2005-04-17 2008-07-10 Manfred Dieter Martin Sever Enhanced Gnss Signal Processing
US20100176992A1 (en) * 2007-07-31 2010-07-15 T Siobbel Stephen Method and device for determining a position
US9507028B1 (en) * 2015-07-23 2016-11-29 Hyundai Motor Company Positioning apparatus and method for vehicle

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
J-I MEGURO ET AL: "GPS accuracy improvement by satellite selection using omnidirectional infrared camera", INTELLIGENT ROBOTS AND SYSTEMS, 2008. IROS 2008. IEEE/RSJ INTERNATIONAL CONFERENCE ON, IEEE, PISCATAWAY, NJ, USA, 22 September 2008 (2008-09-22), pages 1804 - 1810, XP032335306, ISBN: 978-1-4244-2057-5, DOI: 10.1109/IROS.2008.4650709 *

Also Published As

Publication number Publication date
FR3064072A1 (fr) 2018-09-21
DE102017204321A1 (de) 2018-09-20

Similar Documents

Publication Publication Date Title
DE102017124756B4 (de) Radarkalibrierung mit bekannter globaler positionierung von statischen objekten
DE102016117710B4 (de) Verfahren und fusionssystem zur bestimmung der geschwindigkeit eines zielobjektes
CN107703528B (zh) 自动驾驶中结合低精度gps的视觉定位方法及系统
DE102018209432A1 (de) Verfahren und Vorrichtung zum Bestimmen einer Position eines mobilen Objekts
DE102009030672B3 (de) Verfahren zur Bestimmung der geographischen Koordinaten von Bildpunkten in SAR Bildern
DE69033898T2 (de) Integriertes Fahrzeugpositionier- und -navigationssystem; dessen Vorrichtung und Verfahren
WO2017206999A1 (fr) Procédé d'évaluation de données image d'une caméra de véhicule
WO2013127757A1 (fr) Procédé et dispositif de détermination de la vitesse et/ou de la position d'un véhicule
DE112006000941T5 (de) Verbesserte GNSS-Signalverarbeitung
EP2060873B1 (fr) Procédé destiné au soutien de la navigation inertielle d'un aéronef
WO2018202464A1 (fr) Étalonnage d'un système de caméra de véhicule dans la direction longitudinale du véhicule ou dans la direction transversale du véhicule
DE102012208132A1 (de) Verfahren zur Fahrzeuglokalisierung
DE102015008879A1 (de) Verfahren zur Selbstlokalisation eines Fahrzeugs
DE102017223200A1 (de) Verfahren zur satellitengestützten Ermittlung einer Position eines Fahrzeugs
DE102015112605A1 (de) System zum bestimmen eines kupplungswinkels
DE112020000605T5 (de) Verfahren zur Ortung durch GNSS-Signale
CN113075709A (zh) 车载卫星导航方法、装置、存储介质及处理器
DE102017118078A1 (de) Lokalisationseinrichtung für ein Kraftfahrzeug, Fahrerassistenzeinrichtung, Kraftfahrzeug sowie Verfahren zum Lokalisieren eines Kraftfahrzeugs
WO2019233744A1 (fr) Procédé sûr de détermination de la position d'un dispositif de réception
CN111316337A (zh) 车载成像装置的安装参数的确定与驾驶控制方法及设备
WO2018166696A1 (fr) Procédé et dispositif servant à filtrer des signaux de navigation par satellite reçus
CN114119752B (zh) 基于gnss和视觉的室内外衔接的机器人定位方法
DE102021206178A1 (de) Verfahren zur GNSS-basierten Lokalisierung eines Fahrzeugs
DE102016223999B4 (de) Bestimmen einer Referenztrajektorie mit einem Posen-Graphen
DE102011054379B4 (de) Verfahren und Vorrichtung zur Ermittlung einer Positionsinformation

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18702670

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 18702670

Country of ref document: EP

Kind code of ref document: A1