Method and device for determining statistical properties of raw measured values

Patent metadata

Field	Value
Publication number	US-10776452-B2
Application number	US-201515532158-A
Country	US
Kind code	B2
Filing date	Oct 5, 2015
Priority date	Dec 4, 2014
Publication date	Sep 15, 2020
Grant date	Sep 15, 2020

Abstract

In order to at least approximately determine statistical properties of raw measured values, e.g., measurement noise and/or average errors, without knowledge of a filter applied to raw measured values and only with the aid of a useful signal obtained from the filtering, i.e., in order to make statements regarding measurement conditions by assuming a few frequently encountered boundary conditions, statistical properties of raw measured values are determined from the useful signal, which is composed of a temporal sequence of filter output values. A filter characteristic of the filter is ascertained from the temporal sequence of output values obtained under stable measurement conditions, the ascertained filter characteristic is inverted, raw measured values are reconstructed from the inverse of the filter characteristic and from the useful signal, and the statistical properties are ascertained from the reconstructed raw measured values and/or from the inverse of the filter characteristic and from the useful signal.

First claim

What is claimed is:

1. A method for determining statistical properties of raw measured values of a sensor device of a system for mobile use, where an output signal of the sensor device is formed as a temporal sequence of output values of a filtering operation of a filter of the sensor device to which the raw measured values are applied, the method comprising:
receiving, by a processing unit of the system, the output signal of the sensor device;
identifying a presence of stable measurement conditions for the sensor device during operation of the system, wherein the identifying the presence of the stable measurement conditions includes at least one of: evaluating the temporal sequence of the output values of the sensor device, or evaluating sensor signals of at least one second sensor device other than the sensor device;
in response to identifying the presence of the stable measurement conditions, ascertaining, by the processing unit, a filter characteristic of the filter from the temporal sequence of output values of the output signal obtained under the stable measurement conditions;
inverting, by the processing unit, the ascertained filter characteristic;
ascertaining, by the processing unit, the statistical properties of the raw measured values based on the inverted ascertained filter characteristic and the output signal; and
controlling the system based on the output signal and the ascertained statistical properties.

2. The method of claim 1 , wherein the ascertaining the statistical properties includes reconstructing the raw measured values based on the inverted ascertained filter characteristic and the output signal and determining the statistical properties based on the reconstructed raw measured values.

3. The method of claim 1 , wherein the identifying the presence of the stable measurement conditions includes evaluating the temporal sequence of the output values.

4. The method of claim 1 , wherein the identifying the presence of the stable measurement conditions includes identifying that the output values change at least almost uniformly in accordance with a system model on which the filter is based.

5. The method of claim 1 , wherein the identifying the presence of the stable measurement conditions includes identifying that a change in the output values is at least almost constant or consistent over time in accordance with a system model on which the filter is based.

6. The method of claim 1 , wherein the identifying the presence of the stable measurement conditions includes an evaluation of sensor signals of at least one second sensor device other than the sensor device.

7. The method of claim 1 , wherein the filtering operation includes a low-pass filtration.

8. The method of claim 1 , wherein the filtering operation includes a Kalman filtration.

9. The method of claim 1 , wherein the sensor device is a radar device, the raw measured values are measured values of radar signals, and the output signal is a spacing signal indicating a spacing of the system to an object.

10. The method of claim 9 , wherein the identifying the presence of the stable measurement conditions includes an evaluation of sensor signals of a second sensor device other than the radar device, the second sensor device including at least one of: a displacement sensor, an acceleration sensor, or an optical sensor.

11. The method of claim 1 , wherein the sensor device is a satellite navigation device, the raw measured values are measured values of satellite signals, and the output signal is a position signal indicating a position of the system.

12. The method of claim 11 , wherein the identifying the presence of the stable measurement conditions includes an evaluation of sensor signals of a second sensor device other than the satellite navigation device, the second sensor device including at least one of: a displacement sensor, an acceleration sensor, or an optical sensor.

13. The method of claim 1 , wherein the filter characteristic at least partially defines the filter of the sensor device.

14. An apparatus comprising processing circuitry configured to:
obtain a signal from a sensor device of a system for mobile use, the signal formed as a temporal sequence of output values of a filtering operation of the sensor device applied to raw measures values of the sensor device;
identify a presence of stable measurement conditions for the sensor device during operation of the system, wherein the identifying the presence of the stable measurement conditions includes at least one of: evaluating the temporal sequence of the output values of the sensor device, or evaluating sensor signals of at least one second sensor device other than the sensor device;
in response to identifying the presence of the stable measurement conditions, ascertain a filter characteristic of the filtering operation from the temporal sequence of output values obtained under the stable measurement conditions;
invert the ascertained filter characteristic;
ascertain statistical properties of the raw measured values based on the inverted ascertained filter characteristic and the output signal; and
control the system based on the output signal and the ascertained statistical properties.

15. A non-transitory computer-readable medium on which are stored instructions that are executable by a processor and that, when executed by the processor, cause the processor to perform a method for determining statistical properties of raw measured values of a sensor device of a system for mobile use, where an output signal of the sensor device is formed as a temporal sequence of output values of a filtering operation of a filter of the sensor device to which the raw measured values are applied, the method comprising:
receiving, by a processing unit of the system, the output signal of the sensor device;
identifying a presence of stable measurement conditions for the sensor device during operation of the system, wherein the identifying the presence of the stable measurement conditions includes at least one of: evaluating the temporal sequence of the output values of the sensor device, or evaluating sensor signals of at least one second sensor device other than the sensor device;
in response to identifying the presence of the stable measurement conditions, ascertaining a filter characteristic of the filter from the temporal sequence of output values of the output signal obtained under the stable measurement conditions;
inverting the ascertained filter characteristic;
ascertaining the statistical properties of the raw measured values based on the inverted ascertained filter characteristic and the output signal; and
controlling the system based on the output signal and the ascertained statistical properties.

Assignees

• Bosch Gmbh Robert

Inventors

• Vogel Andreas
• Krykunova Kateryna

Classifications

• G01S19/13 Primary

  Receivers · CPC title

• G01S19/45

  by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement · CPC title

• G01S7/292

  Extracting wanted echo-signals · CPC title

• H03H17/0257

  KALMAN filters · CPC title

• G01S13/931

  of land vehicles · CPC title