WO2022179795A1 - Verfahren zur gnss-basierten lokalisierung eines fahrzeugs mit 5g-signalen - Google Patents
Verfahren zur gnss-basierten lokalisierung eines fahrzeugs mit 5g-signalen Download PDFInfo
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- WO2022179795A1 WO2022179795A1 PCT/EP2022/051919 EP2022051919W WO2022179795A1 WO 2022179795 A1 WO2022179795 A1 WO 2022179795A1 EP 2022051919 W EP2022051919 W EP 2022051919W WO 2022179795 A1 WO2022179795 A1 WO 2022179795A1
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- WO
- WIPO (PCT)
- Prior art keywords
- gnss
- data
- signals
- localization
- vehicle
- Prior art date
Links
- 230000004807 localization Effects 0.000 title claims abstract description 65
- 238000000034 method Methods 0.000 title claims abstract description 38
- 230000006735 deficit Effects 0.000 claims abstract description 21
- 238000004590 computer program Methods 0.000 claims description 10
- 238000012545 processing Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 description 21
- 238000001514 detection method Methods 0.000 description 8
- 238000000528 statistical test Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000001413 cellular effect Effects 0.000 description 2
- 230000008030 elimination Effects 0.000 description 2
- 238000003379 elimination reaction Methods 0.000 description 2
- 230000001771 impaired effect Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 239000005433 ionosphere Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000010972 statistical evaluation Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—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
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—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
Definitions
- the invention relates to a method for GNSS-based localization of a vehicle. Furthermore, a computer program for carrying out the method, a machine-readable storage medium with the computer program and a localization device are specified.
- the invention can be used in particular in connection with automated or autonomous driving.
- a vehicle requires sensors for autonomous operation that are able to determine a highly precise vehicle position, in particular with the help of navigation satellite data (e.g. GPS, GLONASS, Beidou, Galileo).
- navigation satellite data e.g. GPS, GLONASS, Beidou, Galileo
- GNSS Global Navigation Satellite System
- the reception of signals can be affected, for example by atmospheric disturbances along the signal propagation path and/or by multipath propagation due to signal reflections from objects in the vicinity of the vehicle.
- localization sensors are known in which various mechanisms are implemented in order to identify and possibly discard faulty GNSS measurements. Detection is typically done by running some internal statistical tests and, to date, usually without external sources. Depending on the number of measurements available, the size of the residuals, the signal strength, the speed and the history of the measurement, pseudorange and Doppler /Delta distance outliers are detected and the corresponding signals are discarded if necessary.
- the GNSS-based localization and in particular its accuracy and/or integrity should be improved.
- a method for GNSS-based localization of a vehicle comprising at least the following steps: a) receiving GNSS satellite signals from at least one GNSS satellite and determining GNSS localization data using the received GNSS satellite signals, b) receiving 5G signals and determining 5G localization data using the received 5G signals, c) evaluating the GNSS localization data using the 5G localization data in order to identify possible impairments of GNSS satellite signals.
- 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 be used in particular (specifically) in urban areas, in particular in urban canyons.
- the method enables 5G signals to be used as an external source for identifying faulty GNSS measurements.
- the method advantageously allows error detection in GNSS signals with the aid of reference values or reference positions determined by 5G signals. In other words, this can also be described in particular in such a way that the method can be used to determine and use 5G-based position information in order to generate references for GNSS observations in order to identify and possibly eliminate incorrect measurements.
- the method advantageously contributes to checking the integrity of GNSS measurements and can therefore be advantageous also contribute to the so-called Receiver Autonomous Integrity Monitoring (RAIM).
- RAIM Receiver Autonomous Integrity Monitoring
- GNSS stands for Global Navigation Satellite System, such as GPS (Global Positioning System) or Galileo.
- additional, GNSS-independent sensors of the vehicle such as environment sensors and/or inertial sensors, can also be used in order to be able to provide alternative information for the localization of the vehicle in addition or as required (e.g. in the case of GNSS shadowing).
- the current (own) position, (own) orientation, (own) speed and/or (own) acceleration of the vehicle can be determined for localization.
- the vehicle is preferably a motor vehicle, such as an automobile, which is particularly preferably set up for automated or autonomous (driving) operations.
- a large number of environment sensors can be used in corresponding vehicles (for example: RADAR sensors, LIDAR sensors, camera sensors, ultrasonic sensors). These environment sensors can be used, for example, to detect objects around the vehicle and to localize them with respect to the vehicle.
- environmental sensor data and/or GNSS data can be used, for example, to locate the vehicle on a (highly accurate) digital map. Based on the detected objects or determined vehicle positions, a trajectory can be planned and, if necessary, the vehicle actuators can be controlled accordingly for the execution of (automated or autonomous) driving operations. In this way, the vehicle can advantageously safely navigate through the environment.
- GNSS satellite signals are received from at least one GNSS satellite and GNSS localization data are determined using the received GNSS satellite signals.
- GNSS satellite signals are received at least partially in parallel or simultaneously from a large number of GNSS satellites.
- the respective GNSS localization data can be determined from the GNSS satellite signals, for example by runtime measurements and/or further evaluations.
- the GNSS localization data determined in this way can, for example, at least so-called GNSS pseudorange data, which describe the spatial length of the signal propagation path between the respective GNSS satellite and the vehicle.
- these GNSS pseudorange data may describe signal propagation paths that are longer than the actual (shortest) distance between the vehicle and the satellite (at the time the respective signal is transmitted). GNSS satellite signal). This can lead to erroneous GNSS measurements.
- 5G signals are received and 5G localization data are determined using the received 5G signals.
- 5G signals can be received from a large number of 5G stations (each comprising at least one 5G transmitter and one 5G receiver) in the area surrounding the vehicle.
- the 5G signals can also include information about the (geodetic) absolute position of the respective 5G station.
- the relative positions or distances between the vehicle and the respective 5G station can be determined by measuring the runtime of the 5G signals.
- the determined relative positions or distances of the vehicle to several of the 5G stations can be combined with the information about the (geodetic) absolute position of the respective 5G station, for example to a 5G-based vehicle position, for example in the form of a triangulation.
- the 5G cellular network advantageously contributes to the fact that the high demands made on the reliability, availability, coverage and/or latency of the transmission types used in localization applications of, in particular, automated or autonomous vehicles can be met in a particularly advantageous manner. This contributes to the fact that particularly high accuracies (if possible in the centimeter range) and/or particularly high integrity values can be achieved during the localization.
- the new frequency allocation of 5G is particularly advantageous for cellular-based localization, as larger bandwidths are available, which are at higher frequencies (mmWave above 24 GHz in addition to below 6 GHz). Larger bandwidths help resolve signal time more accurately (there is an inverse relationship between time and bandwidth), so that larger bandwidths offer improved ability to resolve multipath effects, the main source of error in cluttered urban areas, as signals traveling different paths arrive at different times.
- the switch to the new frequencies in 5G also has a particularly beneficial effect on the geographic distribution of cellphone base stations and the antenna technologies used, which in turn favor cellphone-based localization.
- the introduction of 5G antenna arrays with beamforming capabilities can advantageously help direct signals towards end-users.
- a higher density of direction-sensing antennas can improve the resolution of multipath components by measuring delay, arrival and/or departure angle, thereby improving localization performance.
- 5G can make it possible to locate vehicles with a single 5G station.
- the GNSS localization data is evaluated using the 5G localization data in order to identify possible impairments of GNSS satellite signals.
- the impairments can occur along the propagation path of a GNSS satellite signal.
- the impairment can be, for example, an atmospheric signal delay (e.g. in the ionosphere) and/or multipath propagations due to reflections from objects (e.g.
- reference data for the GNSS localization data can be determined using the 5G localization data.
- the reference data can include, for example, reference position data and/or reference distance data, such as reference pseudorange data.
- reference data for GNSS observations can be generated using the 5G localization data in order to enable detection and, if necessary, elimination of erroneous measurements.
- 5G is less sensitive to multipath effects
- the method described is particularly advantageous in order to enable the most robust possible detection of GNSS measurements contaminated with multipath.
- the method can be used particularly advantageously in urban canyons or urban canyons (urban canyons) because on the one hand the GNSS signals there are more at risk of being impaired than 5G signals, and on the other hand the 5G-based position is advantageously more reliable, especially when a dense 5G network is available.
- the GNSS localization data include at least GNSS pseudorange data.
- the GNSS pseudorange data can be determined from GNSS time-of-flight measurements.
- the GNSS pseudorange data usually describe the spatial length of the signal propagation path between the respective GNSS satellite (transmitting the relevant signal) and the vehicle.
- At least one 5G-based vehicle position is determined in step b) using the 5G signals.
- runtime measurements of one or more 5G signals can be carried out, for example.
- the relative position information on one or more 5G stations obtained in this way can be combined with absolute position information on the relevant 5G station(s) to form a spatial vehicle position.
- those 5G signals are used that match the GNSS satellite signals received in step a), for example due to their time stamp or temporally.
- information and/or signals from only one or a single 5G station in the vicinity of the vehicle are used to determine a 5G-based vehicle position.
- One or more direction-detecting 5G antennas (of the vehicle and/or the 5G station) can contribute to this, for example.
- at least one measurement of the delay, the angle of arrival and/or the angle of departure of the 5G signal can contribute to this.
- step b) distance data describing the distance between the vehicle and the at least one satellite be determined using the 5G-based vehicle position.
- cataloged information on the satellite paths or satellite positions, for example on ephemeris data can be used.
- a spatial (shortest) distance between the vehicle and the at least one satellite can be calculated.
- the distance (value) determined in this way is corrected with known influences on the determination of the GNSS pseudorange data or supplemented by these influences.
- 5G pseudorange data can be obtained that can be compared as simply and well as possible with the GNSS pseudorange data.
- step c) the distance data (determined using the 5G-based vehicle position) be compared with GNSS pseudorange data.
- data with an essentially matching time stamp are used for the comparison.
- a possible difference between the distance data and the GNSS pseudorange data can be determined.
- pseudorange residuals can be determined from an existing difference between (5G pseudo)distance data and associated GNSS pseudorange data, which can advantageously be used to identify faulty measurements by statistical tests.
- an impairment is identified in step c) if a significant discrepancy between distance data and associated pseudorange data is determined. For example, deviations of more than 10% or more than 20% can be regarded as “significant”.
- the identification it is particularly important to identify the presence of an impairment and usually less to the type of impairment.
- additional statistical evaluations can be carried out in order to be able to draw conclusions about the type of impairment. For example, detected pseudorange residuals can be identified as suspected of multipath propagation based on statistical tests.
- information obtained using GNSS satellite signals and/or GNSS satellites for which an impairment has been identified is weighted for further processing purposes or excluded from the GNSS-based localization.
- GNSS measurements identified as erroneous by the GNSS-based localization be excluded.
- a reduced or worsened integrity value can be assigned to the GNSS satellite signals and/or GNSS satellites for which an impairment was identified.
- a reduced or deteriorated integrity value can be assigned to a vehicle position that was determined using GNSS satellite signals and/or GNSS satellites for which a (current) impairment was identified.
- GNSS satellite signals and/or GNSS satellites for which a (current) impairment has been identified can be monitored, in particular for a predeterminable period of time. For example, these can be trusted less than other GNSS satellite signals or GNSS satellites, particularly during the period of time.
- a computer program for carrying out a method presented here is proposed.
- 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 for a vehicle is proposed, the localization device being set up to carry out a method described here.
- 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 the vehicle.
- 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.
- steps a), b) and c), in particular steps a) and b) can also be carried out at least partially in parallel or simultaneously.
- GNSS satellite signals are received from at least one GNSS satellite and GNSS localization data are determined using the received GNSS satellite signals.
- the GNSS localization data can include at least GNSS pseudorange data.
- 5G signals are received and 5G localization data are determined using the received 5G signals.
- at least one 5G-based vehicle position can be determined using the 5G signals, for example.
- distance data describing the distance between the vehicle and the at least one satellite can be determined using the 5G-based vehicle position.
- the GNSS localization data is evaluated using the 5G localization data in order to identify possible impairments of GNSS satellite signals.
- the distance data determined using the 5G-based vehicle position can be compared with GNSS pseudorange data.
- an impairment can be identified if a significant discrepancy between distance data and associated pseudorange data is determined.
- pseudorange residuals can be determined from the difference between (pseudo)distance data and associated pseudorange data, which can advantageously be used to identify faulty measurements by statistical tests.
- reference data for GNSS observations can be generated in order to enable the detection and, if necessary, elimination of erroneous measurements.
- 5G is less sensitive to multipath effects
- the method described is particularly advantageous in order to enable the most robust possible detection of GNSS measurements contaminated with multipath.
- the method can be used particularly advantageously in urban canyons, since on the one hand the GNSS signals are more at risk of being impaired there than 5G signals, and on the other hand the 5G-based position is particularly advantageous when a dense 5G network is available is more reliable.
- RAIM Receiver Autonomous Integrity Monitoring
- the localization device 2 schematically shows an exemplary structure of the localization device 2 presented here for a vehicle 1.
- the localization device 2 is set up to carry out the method described here.
- the localization device 2 can include, for example, a GNSS module 2 , a time update module 4 , a 5G module 5 , an error detection module 6 and a measurement update module 7 .
- the GNSS module 2 is provided and set up, for example, to receive GNSS satellite signals from at least one GNSS satellite and to determine GNSS localization data using the received GNSS satellite signals.
- the 5G module 5 is provided and set up, for example, for receiving 5G signals and determining 5G localization data using the received 5G signals.
- the error detection module 6 is provided and set up, for example, to evaluate the GNSS localization data using the 5G localization data in order to identify possible impairments of GNSS satellite signals.
- the time update module 4 and the measurement update module 7 can contribute to data handling in the localization device 2 being as efficient as possible. In principle, however, they can also be omitted or replaced by comparable modules.
- the method enables 5G signals to be used particularly advantageously as an external source for identifying faulty GNSS measurements.
- the method thus advantageously contributes to improving the GNSS-based localization, in particular allowing it to be carried out as precisely as possible.
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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)
Abstract
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Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202280016449.XA CN116888506A (zh) | 2021-02-24 | 2022-01-27 | 基于gnss定位具有5g信号的车辆的方法 |
US18/547,158 US20240125946A1 (en) | 2021-02-24 | 2022-01-27 | Method for the GNSS-Based Localization of a Vehicle with 5G Signals |
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DE102021104445.6A DE102021104445A1 (de) | 2021-02-24 | 2021-02-24 | Verfahren zur GNSS-basierten Lokalisierung eines Fahrzeugs mit 5G-Signalen |
DE102021104445.6 | 2021-02-24 |
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WO2022179795A1 true WO2022179795A1 (de) | 2022-09-01 |
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PCT/EP2022/051919 WO2022179795A1 (de) | 2021-02-24 | 2022-01-27 | Verfahren zur gnss-basierten lokalisierung eines fahrzeugs mit 5g-signalen |
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US (1) | US20240125946A1 (de) |
CN (1) | CN116888506A (de) |
DE (1) | DE102021104445A1 (de) |
WO (1) | WO2022179795A1 (de) |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2020134015A1 (zh) * | 2018-12-29 | 2020-07-02 | ***股份有限公司 | 基于5g的定位方法以及基于5g的定位*** |
US20210048502A1 (en) * | 2019-08-14 | 2021-02-18 | Qualcomm Incorporated | Method and apparatus for enhanced positioning in 5g-nr using daod and daoa |
CN112394383A (zh) * | 2020-10-23 | 2021-02-23 | 北京邮电大学 | 一种卫星与5g基站组合定位方法及装置 |
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2021
- 2021-02-24 DE DE102021104445.6A patent/DE102021104445A1/de active Pending
-
2022
- 2022-01-27 US US18/547,158 patent/US20240125946A1/en active Pending
- 2022-01-27 CN CN202280016449.XA patent/CN116888506A/zh active Pending
- 2022-01-27 WO PCT/EP2022/051919 patent/WO2022179795A1/de active Application Filing
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2020134015A1 (zh) * | 2018-12-29 | 2020-07-02 | ***股份有限公司 | 基于5g的定位方法以及基于5g的定位*** |
US20210048502A1 (en) * | 2019-08-14 | 2021-02-18 | Qualcomm Incorporated | Method and apparatus for enhanced positioning in 5g-nr using daod and daoa |
CN112394383A (zh) * | 2020-10-23 | 2021-02-23 | 北京邮电大学 | 一种卫星与5g基站组合定位方法及装置 |
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US20240125946A1 (en) | 2024-04-18 |
DE102021104445A1 (de) | 2022-08-25 |
CN116888506A (zh) | 2023-10-13 |
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