Device and method for detecting an erroneous determination of a geographical position of a vehicle

1. A device for detecting an erroneous determination of a geographical position of a vehicle, comprising:

a sensor that is configured to determine a first yaw rate of the vehicle;

a satellite navigation receiver that is configured to receive satellite signals during a predetermined time period, to determine a multiplicity of geographical positions of the vehicle on the basis of the received satellite signals including a current geographical position at a current time, and a plurality of previous geographical positions at previous times, and to determine an expected geographical reference position of the vehicle at the current time on the basis of a trajectory formed by the plurality of previous geographical positions; and

a processor that is configured to:

determine a second yaw rate of the vehicle based on a first difference between a coordinate of the current geographical position and a coordinate of the geographical reference position of the vehicle, based on a second difference between a coordinate of at least one of the plurality of previous geographical positions and a coordinate of the geographical reference position of the vehicle, and based on a time interval that the vehicle takes to travel from the at least one of the plurality of previous geographical positions to the current geographical position,

perform a comparison of the first yaw rate with the second yaw rate, and

when the comparison indicates that the second yaw rate is out of tolerance with the first yaw rate determine that the current position is an erroneous geographical position of the vehicle, and exclude the erroneous geographical position of the vehicle from the trajectory.

2. The device as claimed in claim 1 , wherein the sensor is a rate of rotation sensor.

3. The device as claimed in claim 2 , wherein the satellite navigation receiver is furthermore configured to determine a speed of the vehicle on the basis of a Doppler effect of the received satellite signals.

4. The device as claimed in claim 3 , wherein the processor is furthermore configured to determine a third yaw rate of the vehicle on the basis of the speed of the vehicle determined by the satellite navigation receiver and to compare the third yaw rate with the first yaw rate in order to detect the erroneous determination of the geographical position of the vehicle if a first difference between the first yaw rate and the third yaw rate exceeds a first predetermined tolerance threshold value.

5. The device as claimed in claim 1 , wherein the processor is furthermore configured to determine the second yaw rate Δφ/Δt of the vehicle on the basis of the following formula:

Δϕ

Δ

⁢

⁢

t

=

1

Δ

⁢

⁢

t

⁢

atan

⁡

[

Y

1

-

Y

2

X

2

-

X

3

]

,

wherein Δφ is a yaw angle of the vehicle, Δt is a time interval, Y 1 is a second coordinate of the geographical position of the vehicle most recently determined by the satellite navigation receiver, X 2 is a first coordinate of the determined geographical reference position of the vehicle, Y 2 is a second coordinate of the determined geographical reference position of the vehicle, and X 3 is a coordinate of a geographical position of the vehicle determined prior to the most recently determined geographical position.

6. The device as claimed in claim 1 , wherein the processor is furthermore configured to detect the erroneous determination of the geographical position of the vehicle if a second difference between the first yaw rate and the second yaw rate exceeds a second predetermined tolerance threshold value.

7. The device as claimed in claim 1 , wherein the processor is furthermore configured to discard the geographical position last determined by the satellite navigation receiver if the processor detects the erroneous determination of the geographical position of the vehicle.

8. The device as claimed in claim 1 , wherein the processor is furthermore configured to use an estimation filter to determine the geographical reference position of the vehicle.

9. The device as claimed in claim 8 , wherein the estimation filter is a Kalman filter.

10. The device as claimed in claim 1 , wherein the satellite navigation receiver is a NAVSTAR GPS, a GLONASS, a GALILEO or a BEIDOU satellite navigation receiver.

11. The device as claimed in claim 9 , wherein the predetermined time period is 5 seconds.

12. A method for detecting an erroneous determination of a geographical position of a vehicle, comprising:

determining a first yaw rate of the vehicle;

receiving satellite signals during a predetermined time period;

determining a multiplicity of geographical positions of the vehicle on the basis of the received satellite signals including a current geographical position at a current time, and a plurality of previous geographical positions at previous times;

determining an expected geographical reference position of the vehicle at the current time on the basis of a trajectory formed by the plurality of previous geographical positions;

determining a second yaw rate of the vehicle based on a first difference between a coordinate of the current geographical position and a coordinate of the geographical reference position of the vehicle, based on a second difference between a coordinate of at least one of the plurality of previous geographical positions and a coordinate of the geographical reference position of the vehicle, and based on a time interval that the vehicle takes to travel from the at least one of the plurality of previous geographical positions to the current geographical position;

perform a comparison of the first yaw rate with the second yaw rate; and

when the comparison indicates that the second yaw rate is out of tolerance with the first yaw rate determine that the current position is an erroneous geographical position of the vehicle, and exclude the erroneous geographical position of the vehicle from the trajectory.

13. A non-transitory computer-readable data storage medium comprising a program code stored thereon that when executed by a processor performs:

determining a first yaw rate of the vehicle;

receiving satellite signals during a predetermined time period;

determining a multiplicity of geographical positions of the vehicle on the basis of the received satellite signals including a current geographical position at a current time, and a plurality of previous geographical positions at previous times;

determining an expected geographical reference position of the vehicle at the current time on the basis of a trajectory formed by the plurality of previous geographical positions;

determining a second yaw rate of the vehicle based on a first difference between a coordinate of the current geographical position and a coordinate of the geographical reference position of the vehicle, based on a second difference between a coordinate of at least one of the plurality of previous geographical positions and a coordinate of the geographical reference position of the vehicle, and based on a time interval that the vehicle takes to travel from the at least one of the plurality of previous geographical positions to the current geographical position;

perform a comparison of the first yaw rate with the second yaw rate; and

when the comparison indicates that the second yaw rate is out of tolerance with the first yaw rate determine that the current position is an erroneous geographical position of the vehicle, and exclude the erroneous geographical position of the vehicle from the trajectory.