Error and integrity evaluation via motion prediction
Error and integrity evaluation during a position determination, includes: recording position values (P −N , P −2 , P −1 ) and calculating clock errors of a receiver via time-discrete runtime measurements by a satellite navigation system; recording a first pseudo-distance at a later time via time-discrete runtime measurement by the satellite navigation system; extrapolating a position value (P′ 0 ) of the receiver at the later time and extrapolating a clock error of the receiver at the later time; establishing a distance (r′ 0 ) between the extrapolated position value (P′ 0 ) of the receiver and the position of a satellite (S 0 ) of the satellite navigation system at the later time, wherein a quality measure for the usability of the position determination with the satellite is obtained by forming a second pseudo-distance based on the sum of the established distance (r′ 0 ) and the extrapolated clock error at the later time and comparing the second pseudo-distance with the first pseudo-distance.
1. A method for error and integrity evaluation during a position determination, comprising:
recording position values (P −N , P −2 , P −1 ) and calculating clock errors of a receiver via time-discrete runtime measurements by means of a satellite navigation system;
recording a first pseudo-distance at a later time via time-discrete runtime measurement by means of the satellite navigation system;
extrapolating a position value (P′ 0 ) of the receiver at the later time based on a trajectory that reflects the preceding motion path of the receiver and extrapolating a clock error of the receiver at the later time based on a number of clock errors calculated before the later time;
establishing a distance (r′ 0 ) between the extrapolated position value (P′0) of the receiver and the position of a satellite (S 0 ) of the satellite navigation system at the later time;
wherein a quality measure for the usability of the position determination with the satellite is obtained by
forming a second pseudo-distance based on the sum of the established distance (r′ 0 ) and the extrapolated clock error at the later time, and
comparing the second pseudo-distance with the first pseudo-distance.
2. The method according to claim 1 , characterized in that the trajectory is formed by a number of the position values (P −N , P −2 , P −1 ) recorded before the later time and/or is extracted from data of environment capturing sensors, in particular camera, radar and/or lidar.
3. The method according to claim 1 , characterized in that the later time corresponds to a present time and the recording of position values (P −N , P −2 , P −1 ) and the calculation of clock errors of the receiver were performed, by way of contrast, at past, in particular evenly spaced, times.
4. The method according to claim 1 , characterized in that in order to extrapolate the position value (P′ 0 ) of the receiver at the later time, a position value difference (u′ 0 ) is derived from the position value differences (u −1 , u −2 ) of the previously recorded position values (P −N , P −2 , P −1 ).
5. The method according to claim 1 , characterized in that the extrapolation of the position value (P′ 0 ) of the receiver is in addition based on inertia modeling, measurements of inertial sensor technology, measurements of odometry sensor technology, and/or Doppler measurements of the satellite navigation.
6. The method according to claim 1 , characterized in that the extrapolation of the clock error of the receiver is effected in the form of a distance value which is equivalent to the clock error.
7. The method according to claim 1 , characterized in that when the distance (r′ 0 ) between the extrapolated position value (P′ 0 ) of the receiver and the position of the satellite (S 0 ) is established, the position (S 0 ) of the satellite is established from the ephemeris data thereof, which are transmitted with the satellite signal.
8. The method according to claim 1 , characterized in that the comparison of the second pseudo-distance with the first pseudo-distance comprises a difference formation.
9. The method of claim 8 ,
wherein a quality measure is inversely related to the difference formation.
10. The method according to claim 8 , characterized in that a check is effected for indirectly received signals, wherein a rapid change in the quality measure relative to a reference value is assessed as an indication of an indirect signal reception.
11. A control device configured for error and integrity evaluation during a position determination by performing operations comprising:
recording position values (P −N , P −2 , P −1 ) and calculating clock errors of a receiver via time-discrete runtime measurements by means of a satellite navigation system;
recording a first pseudo-distance at a later time via time-discrete runtime measurement by means of the satellite navigation system;
extrapolating a position value (P′ 0 ) of the receiver at the later time based on a trajectory that reflects the preceding motion path of the receiver and extrapolating a clock error of the receiver at the later time based on a number of clock errors calculated before the later time;
establishing a distance (r′ 0 ) between the extrapolated position value (P′0) of the receiver and the position of a satellite (S 0 ) of the satellite navigation system at the later time;
wherein a quality measure for the usability of the position determination with the satellite is obtained by
forming a second pseudo-distance based on the sum of the established distance (r′ 0 ) and the extrapolated clock error at the later time, and
comparing the second pseudo-distance with the first pseudo-distance.
12. The control device according to claim 11 , having a computer-readable non-transitory memory and a processor, wherein computer-executable instructions are saved in the memory in the form of a computer program, and the processor is configured to execute the instructions when the computer program is loaded from the memory into the processor.
13. The control device according to claim 12 , characterized in that the trajectory is formed by a number of the position values (P −N , P −2 , P −1 ) recorded before the later time and/or is extracted from data of environment capturing sensors, in particular camera, radar and/or lidar.
14. The control device according to claim 12 , characterized in that the later time corresponds to a present time and the recording of position values (P −N , P −2 , P −1 ) and the calculation of clock errors of the receiver were performed, by way of contrast, at past, in particular evenly spaced, times.
15. The control device according to claim 12 , characterized in that in order to extrapolate the position value (P′ 0 ) of the receiver at the later time, a position value difference (u′ 0 ) is derived from the position value differences (u −1 , u −2 ) of the previously recorded position values (P −N , P −2 , P −1 ).
16. The control device according to claim 12 , characterized in that the extrapolation of the position value (P′ 0 ) of the receiver is in addition based on inertia modeling, measurements of inertial sensor technology, measurements of odometry sensor technology, and/or Doppler measurements of the satellite navigation.
17. The control device according to claim 11 , characterized in that the extrapolation of the clock error of the receiver is effected in the form of a distance value which is equivalent to the clock error.
18. The control device according to claim 11 , characterized in that when the distance (r′ 0 ) between the extrapolated position value (P′ 0 ) of the receiver and the position of the satellite (S 0 ) is established, the position (S 0 ) of the satellite is established from the ephemeris data thereof, which are transmitted with the satellite signal.