WO2022090557A1 - Verfahren zum auswerten mindestens eines gnss-satellitensignals mit mehrdeutigkeitsauflösung - Google Patents
Verfahren zum auswerten mindestens eines gnss-satellitensignals mit mehrdeutigkeitsauflösung Download PDFInfo
- Publication number
- WO2022090557A1 WO2022090557A1 PCT/EP2021/080308 EP2021080308W WO2022090557A1 WO 2022090557 A1 WO2022090557 A1 WO 2022090557A1 EP 2021080308 W EP2021080308 W EP 2021080308W WO 2022090557 A1 WO2022090557 A1 WO 2022090557A1
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- WO
- WIPO (PCT)
- Prior art keywords
- information
- gnss
- estimation
- accuracy
- ambiguity
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 34
- 238000012937 correction Methods 0.000 claims description 46
- 230000004807 localization Effects 0.000 claims description 25
- 238000004590 computer program Methods 0.000 claims description 10
- 239000011159 matrix material Substances 0.000 claims description 4
- 238000005259 measurement Methods 0.000 description 15
- 238000012360 testing method Methods 0.000 description 6
- 230000006978 adaptation Effects 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 239000005433 ionosphere Substances 0.000 description 1
- 239000005436 troposphere Substances 0.000 description 1
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
- G01S19/396—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
- G01S19/01—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
- G01S19/29—Acquisition or tracking or demodulation of signals transmitted by the system carrier including Doppler, related
-
- 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]
-
- 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
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
- G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
Definitions
- the invention relates to a method for evaluating at least one GNSS satellite signal, a computer program for carrying out the method, a machine-readable storage medium with the computer program and a localization device for carrying out the method.
- the method can be used in connection with autonomous driving, for example.
- GNSS Global Navigation Satellite System
- a GNSS satellite orbits the earth and transmits encoded signals that the GNSS receiver uses to calculate the distance, or distance from the receiver, to the satellite by estimating the time difference between the time the signal was received and the time it was transmitted.
- the estimated distances to satellites can be converted into an estimate for the receiver's position if enough satellites are tracked (typically more than 5).
- a method for evaluating at least one GNSS satellite signal that was received from at least one GNSS satellite in order to determine GNSS sensor data using a GNSS sensor comprising at least the following steps: a) Resolving an ambiguity of at least one Carrier frequency of a received GNSS satellite signal using an estimation algorithm which, in addition to at least one estimation result, also determines at least one piece of information about the accuracy of the estimate, b) receiving at least one piece of information which, in addition to the at least one piece of information about the accuracy of the estimate, from the estimation algorithm enables conclusions to be drawn about the accuracy of the estimation, c) adjusting the information about the accuracy of the estimation from the estimation algorithm using the at least one piece of information ascertained in step b).
- steps a), b) and c) can be carried out, for example, at least once and/or repeatedly in the order given. Furthermore, steps a), b) and c), in particular steps a) and b), can be carried out at least partially in parallel or simultaneously.
- the method can contribute to providing the most reliable possible indication of the uncertainty of the measurement or estimation by a GNSS-based localization sensor.
- the method proposes for the first time an adaptation of the information about the accuracy according to step c), it being possible in a particularly advantageous manner in step c) to artificially degrade the information about the accuracy of the estimate.
- at least one ambiguity variance can be artificially worsened or increased, especially when the ambiguity variance is determined as a floating point number (float).
- float floating point number
- the GNSS sensor can be a localization sensor, for example, which is set up to localize the GNSS sensor and/or a vehicle with the GNSS sensor, at least also based on GNSS measurements.
- the GNSS sensor or localization sensor can preferably also be set up to localize the GNSS sensor and/or a vehicle with the GNSS sensor based on GNSS measurements and inertial measurements (inertial measurements) and/or vehicle sensor data, such as environmental sensor data combined or merged to perform.
- inertial measurements inertial measurements
- vehicle sensor data such as environmental sensor data combined or merged to perform.
- steering angle sensors and/or wheel speed sensors can be used as vehicle sensors.
- Cameras, RADAR sensors, LIDAR sensors and/or ultrasonic sensors can be used as environmental sensors, for example.
- map data from a digital map and/or messages from other vehicles can be used for localization.
- the at least one or each GNSS satellite signal is typically received on at least one carrier frequency.
- At least GNSS satellite signals that are provided on at least two carrier frequencies (LI, L2) can also be received particularly advantageously.
- the GNSS sensor data can be, for example, a (own) position, (own) speed, (own) orientation and/or (own) acceleration of the GNSS sensor and/or a vehicle with the GNSS sensor act.
- the GNSS sensor data preferably include at least one (own) position of the GNSS sensor and/or of a vehicle with the GNSS sensor.
- the vehicle can be, for example, a motor vehicle, such as an automobile.
- the vehicle is preferably set up for at least partially automated or autonomous ferry operation.
- step a) (at least) one ambiguity of at least one carrier frequency of a received GNSS satellite signal is resolved under Use of an estimation algorithm which, in addition to at least one estimation result, also determines at least one indication of the accuracy of the estimation.
- the relevant estimation algorithm can be carried out by an ambiguity filter, for example.
- the indication of the accuracy of the estimate can be, for example, at least one ambiguity variance and/or one ambiguity (co)variance matrix.
- Estimation algorithms for ambiguity resolution are well known. For example, a least squares fit can be used as the estimation algorithm.
- the ambiguity can optionally be resolved in different modes, for example the resolution can optionally be performed in an integer mode or a floating point number (float) mode.
- resolving may include integer ambiguity resolution.
- resolving may include resolving ambiguities as a floating point number. The method is used in particular when the resolution is carried out in a floating-point number (float) mode.
- the following can be taken into account in particular:
- the residual measurement error should be less than a quarter of a wavelength. This is often not the case and makes the integer ambiguity determination method quite complex. This is a demanding task, especially when correcting ambiguities in online applications such as in the automotive industry.
- the reliability of the integer ambiguity estimate depends on several factors. First, it depends on the strength of the underlying GNSS model, which is determined by the measurement noise, the uncertainty of the applied troposphere and ionosphere corrections, the satellite geometry and the number of frequencies. Second, it depends on the integer estimation method used.
- float floating point
- the following may be considered:
- To resolve the ambiguity one may perform a standard least squares fit and the discard the integer nature of the ambiguities.
- the result is the so-called float solution of the ambiguity or possibly other parameters (for example: position/baseline components and/or possibly additional parameters such as atmospheric delays) together with their indication of the accuracy of the estimate, such as a variance.
- having a floating-point solution can typically be problematic, not only because of ignoring the integer nature of the ambiguity, but also because of the typically (compared to reality) small (and thus unrealistic) (initial) ambiguity variance that resulting, for example, from the conventional least squares method for ambiguity resolution.
- the unrealistically small ambiguity variance usually results in a super-optimistic carrier range variance, which in turn can lead to over reliance on the carrier range and, for example, down-calculating the code measurements.
- an overly optimistic output variance for the estimated outputs in particular the ambiguity estimation result and/or (as a consequence also) the GNSS sensor data, can be determined, which underestimates the actual error of the signals.
- step b) at least one piece of information is received which, in addition to the at least one piece of information about the accuracy of the estimation from the estimation algorithm, enables the accuracy of the estimation to be inferred.
- the information can be received, for example, from sensors in a vehicle that are present in particular in addition to the GNSS sensor.
- the information can preferably be received from a (GNSS) correction data service.
- the information can be received or ascertained from OS correction data and/or SSR correction data, or the information can include OS R correction data and/or SSR correction data.
- the information preferably includes a correction data variance received (together with the correction data), which is provided, for example, by an external SSR or OSR server.
- the correction data or correction data services mentioned are generally known. OSR stands for Obervation Space Representation and SSR stands for State Space Representation.
- step c) the information about the accuracy of the estimate from the estimation algorithm is adjusted using the at least one piece of information determined in step b).
- the adaptation takes place in particular in such a way that a (penalty) surcharge is made on the (output) information from step a), such as an output variance, in order to obtain an (output) information, such as an output variance er.
- a (penalty) surcharge such as a penalty variance, can be determined, which is added in step c) for the adjustment.
- An exemplary embodiment can thus advantageously be specified in which, in particular in the case of using OSR or SSR correction data and/or PPP-based positioning, a penalty variance is added to the estimated ambiguity variance. This is done in particular in order to achieve a more realistic or more reliable uncertainty estimate for the output signals (ambiguity estimate and/or GNSS sensor data).
- a particularly preferred exemplary embodiment can also be described in such a way that, in order to avoid an overly optimistic variance for the output signals (ambiguity estimation and/or GNSS sensor data), in particular for the output position of GNSS/INS-based localization sensors (in the PPP concept) to avoid using the variance of the SSR or OSR correction data received from an external server to adjust the (output) indication of accuracy.
- the adjustment can include multiplying by a scaling factor and/or adding a (penalty) surcharge.
- the (penalty) surcharge can be determined in particular as a function of information about the accuracy of (GNSS) correction data.
- the adaptation occurs in the case of a float ambiguity resolution.
- the result of the adjustment is an output ambiguity variance.
- the scaling factor can be adjusted so that by adding the (penalty) premium to the (penalty variance) at least one weight in the localization by the GNSS sensor can be adjusted.
- the scaling can be adjusted so that a weight can be adjusted between different measurement types, particularly including code and phase measurements.
- the ambiguity of the carrier frequency is resolved by means of an ambiguity filter which determines a covariance matrix as an indication of the accuracy of the estimation.
- the ambiguity filter can include a least squares filter (least squares filter), for example.
- the ambiguity filter can be part of the GNSS sensor or a localization device and/or be connected to it.
- the ambiguity filter can be provided in addition to or integrated into a localization filter such as a Kalman filter.
- the at least one item of information received in step b) includes one or more of the following items of information: information from a GNSS antenna, information from an inertial sensor, information from a speed sensor, information from a GNSS correction data source.
- a correction data service for example, can serve as a GNSS correction data source.
- the correction data for example received from an antenna (for example the GNSS antenna) and/or a radio connection and/or an internet connection.
- the at least one item of information received in step b) includes information from a GNSS correction data source.
- the information can be received or determined from (OSR and/or SSR) correction data or the information can include (OSR and/or SSR) correction data.
- these correction data can also contain information about the accuracy and/or reliability of the correction information.
- the at least one item of information received in step b) includes information from a GNSS correction data source which describes the accuracy and/or reliability of GNSS correction data.
- the information preferably includes information received (together with the correction data) about the accuracy and/or reliability of the correction data or its correction information, in particular at least one correction data variance, which is provided, for example, by an external SSR or OSR server.
- the at least one piece of information received in step b) is provided by (at least) one sensor of a vehicle that is equipped with the GNSS sensor.
- the sensor can be, for example, an inertial sensor and/or surroundings sensor and/or (wheel) speed sensor of the vehicle.
- step c) the information about the accuracy of the estimation from the estimation algorithm using the at least one piece of information ascertained in step b) is artificially worsened.
- a (penalty) surcharge can be determined using the at least one piece of information determined in step b) and applied for artificial deterioration.
- a computer program for carrying out a method presented here is proposed. In other words, this relates in particular to a computer program (product), comprising instructions which, when the program is executed by a computer, cause the latter to execute a method described here.
- a machine-readable storage medium is proposed, on which the computer program proposed here is deposited or stored.
- the machine-readable storage medium is usually a computer-readable data carrier.
- a localization device is also proposed, set up to carry out a method described here.
- the localization device is in particular a localization device for a vehicle.
- the localization device can be formed with the GNSS sensor, for example, or can include the GNSS sensor.
- the localization device can include the ambiguity filter.
- the localization device can, for example, comprise a computer and/or a control unit (controller) which can execute commands in order to carry out the method.
- the computer or the control device can, for example, execute the specified computer program.
- the computer or the control unit can access the specified storage medium in order to be able to run the computer program.
- the localization device can be, for example, a movement and position sensor that is arranged in particular in or on a vehicle.
- Figure 2 an exemplary localization device described here.
- FIG. 1 schematically shows an exemplary sequence of the method presented here.
- the method is used to evaluate at least one GNSS satellite signal 3 received from at least one GNSS satellite 2 in order to determine GNSS sensor data 14 using a GNSS sensor 1 (cf. FIG. 2).
- the sequence of steps a), b) and c) represented by blocks 110, 120 and 130 is exemplary and can be run through at least once in the sequence represented in order to carry out the method.
- an ambiguity of at least one carrier frequency of a received GNSS satellite signal 3 is resolved using an estimation algorithm 7 which, in addition to at least one estimation result 12, also determines at least one indication 13 of the accuracy of the estimation.
- an estimation algorithm 7 which, in addition to at least one estimation result 12, also determines at least one indication 13 of the accuracy of the estimation.
- at least one piece of information 9, 4, 5, 8 is received, which, in addition to the at least one piece of information 13 about the accuracy of the estimation from the estimation algorithm 7, allows conclusions to be drawn about the accuracy of the estimation.
- the information 13 on the accuracy of the estimate from the estimation algorithm 7 is adjusted using the at least one piece of information 9, 4, 5, 8 determined in step b).
- the localization device 16 is arranged in a vehicle 10, for example, in order to determine the position of the vehicle 10 with the aid of GNSS satellite signals 3 from GNSS satellites 2 determine.
- the localization device 16 is set up to carry out the method described here.
- the localization device 16 includes, for example, the GNSS sensor 1 and an ambiguity filter 6.
- the own position is an example of GNSS sensor data 14.
- the ambiguity filter 6 can receive data 15 from the GNSS sensor 16 which (still) has an ambiguity due to the ambiguity of the carrier frequency.
- the ambiguity of the carrier frequency can be resolved using the ambiguity filter 6 .
- the ambiguity filter 6 can include an estimation algorithm 7 .
- the estimation algorithm 7 can optionally output an integer solution (down left arrow) or a floating point solution (down vertical arrow).
- the solution includes the estimation result 12 and the information 13 about the accuracy of the estimation, which can (jointly) be transmitted to the GNSS sensor 16 .
- at least one variance and/or one covariance matrix can be determined as information 13 about the accuracy of the estimation.
- the specification 13 can, for example, include a carrier range variance (symbol: o_C), which is the sum of the measurement variance (symbol: o_Cmeas) and the estimated variance (symbol: o_Cest):
- the measurement variance of the carrier ranges is usually dependent on the carrier phase measurement variance (formula: o_phase) plus the ambiguity variance (formula: o_amb):
- the at least one item of information 9, 4, 5, 8 received in step b) can include one or more of the following items of information: information from a GNSS antenna 9, information from an inertial sensor 4, information from a speed sensor 5, information from a GNSS correction data source 8.
- the at least one piece of information 9, 4, 5, 8 preferably includes information from a GNSS correction data source 8.
- the at least one piece of information 9, 4, 5, 8 particularly preferably includes information from a GNSS correction data source 8, which describes the accuracy and/or reliability of GNSS correction data.
- the information from the GNSS correction data source 8 preferably includes information received (together with the correction data) about the accuracy and/or reliability of the correction data or the correction information thereof, in particular at least one correction data variance, which is obtained, for example, from an external SSR or OSR server is provided.
- a penalty variance can be determined on the basis of the information from the GNSS correction data source 8 and added to the indication 13 in the adder 11 .
- the penalty variance may be generated here, for example, based on the SSR or OSR line-of-sight correction variance multiplied by a scaling factor.
- the at least one piece of information 9 , 4 , 5 , 8 can be provided by a sensor of a vehicle 10 that is equipped with the GNSS sensor 1 .
- the GNSS antenna 9, the inertial sensor 4 and/or the speed sensor 5 come into consideration here as sensors of the vehicle 10.
- the penalty variance can be determined or calculated using received correction data (SSR or OSR).
- the sum of the variance of the ionospheric, tropospheric, orbital, clock, and phase distortion corrections can be multiplied by a scaling factor.
- the scaling factor can be adjusted in such a way that at least one weight in the localization by the GNSS sensor 1 can be adjusted by adding the penalty variance.
- the scaling can be adjusted so that a weighting between different
- Measurement types including code and phase measurements in particular, can be adapted.
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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)
- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2023526679A JP2023548513A (ja) | 2020-11-02 | 2021-11-02 | 多義性の解明によって少なくとも1つのgnss衛星信号を評価する方法 |
CN202180074598.7A CN116438474A (zh) | 2020-11-02 | 2021-11-02 | 利用模糊度解析来评估至少一个gnss卫星信号的方法 |
KR1020237018222A KR20230098829A (ko) | 2020-11-02 | 2021-11-02 | 모호성을 해결하는 적어도 하나의 gnss 위성 신호 평가 방법 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102020213769.2 | 2020-11-02 | ||
DE102020213769.2A DE102020213769A1 (de) | 2020-11-02 | 2020-11-02 | Verfahren zum Auswerten mindestens eines GNSS-Satellitensignals mit Mehrdeutigkeitsauflösung |
Publications (1)
Publication Number | Publication Date |
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WO2022090557A1 true WO2022090557A1 (de) | 2022-05-05 |
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PCT/EP2021/080308 WO2022090557A1 (de) | 2020-11-02 | 2021-11-02 | Verfahren zum auswerten mindestens eines gnss-satellitensignals mit mehrdeutigkeitsauflösung |
Country Status (5)
Country | Link |
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JP (1) | JP2023548513A (de) |
KR (1) | KR20230098829A (de) |
CN (1) | CN116438474A (de) |
DE (1) | DE102020213769A1 (de) |
WO (1) | WO2022090557A1 (de) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20220128706A1 (en) * | 2020-10-22 | 2022-04-28 | Robert Bosch Gmbh | Method for providing GNSS sensor data |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2016008991A1 (en) * | 2014-07-17 | 2016-01-21 | Centre National D'etudes Spatiales | Positioning and navigation receiver with a confidence index |
WO2018049464A1 (en) * | 2016-09-13 | 2018-03-22 | Bluedot Innovation Pty Ltd | Reliability determination of location updates in multipath environments |
EP3339908A1 (de) * | 2016-12-23 | 2018-06-27 | u-blox AG | Verteilte kalman-filter-architektur für uneindeutigkeitsschätzung des trägersignalbereichs |
-
2020
- 2020-11-02 DE DE102020213769.2A patent/DE102020213769A1/de active Pending
-
2021
- 2021-11-02 CN CN202180074598.7A patent/CN116438474A/zh active Pending
- 2021-11-02 WO PCT/EP2021/080308 patent/WO2022090557A1/de active Application Filing
- 2021-11-02 KR KR1020237018222A patent/KR20230098829A/ko unknown
- 2021-11-02 JP JP2023526679A patent/JP2023548513A/ja active Pending
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2016008991A1 (en) * | 2014-07-17 | 2016-01-21 | Centre National D'etudes Spatiales | Positioning and navigation receiver with a confidence index |
WO2018049464A1 (en) * | 2016-09-13 | 2018-03-22 | Bluedot Innovation Pty Ltd | Reliability determination of location updates in multipath environments |
EP3339908A1 (de) * | 2016-12-23 | 2018-06-27 | u-blox AG | Verteilte kalman-filter-architektur für uneindeutigkeitsschätzung des trägersignalbereichs |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20220128706A1 (en) * | 2020-10-22 | 2022-04-28 | Robert Bosch Gmbh | Method for providing GNSS sensor data |
US11947020B2 (en) * | 2020-10-22 | 2024-04-02 | Robert Bosch Gmbh | Method for providing GNSS sensor data |
Also Published As
Publication number | Publication date |
---|---|
KR20230098829A (ko) | 2023-07-04 |
JP2023548513A (ja) | 2023-11-17 |
CN116438474A (zh) | 2023-07-14 |
DE102020213769A1 (de) | 2022-05-05 |
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