Method for determining a position, control module and storage medium

Patent metadata

Field	Value
Publication number	US-11022701-B2
Application number	US-201716311927-A
Country	US
Kind code	B2
Filing date	Jun 27, 2017
Priority date	Jul 14, 2016
Publication date	Jun 1, 2021
Grant date	Jun 1, 2021

Abstract

A method for determining a position of a unit by satellite navigation, wherein the position is determined solely by Doppler measurements. Further, an associated control module and an associated data storage medium are disclosed.

First claim

The invention claimed is:

1. A method for determining a position of a unit by satellite navigation, the method comprising:
receiving a plurality of satellite signals, including:
a first satellite signal,
a second satellite signal,
a third satellite signal, and
a fourth satellite signal;

performing a plurality of Doppler measurements on the satellite signals, in the process producing:
a first Doppler value on the basis of the first satellite signal,
a second Doppler value on the basis of the second satellite signal,
a third Doppler value on the basis of the third satellite signal, and
a fourth Doppler value on the basis of the fourth satellite signal;

calculating the position on the basis of the first Doppler value, the second Doppler value, the third Doppler value and the fourth Doppler value, wherein the position is calculated independently of time-of-flight measurements;
receiving a further satellite navigation signal;
performing a time-of-flight measurement on the basis of the further satellite navigation signal, producing a time-of-flight value in the process; and
calculating a clock error of the unit on the basis of the position and the time-of-flight value.

2. The method as claimed in claim 1 ,
wherein all satellite signals are received from different satellites in each case.

3. The method as claimed in claim 1 ,
wherein, further, a derivative of a clock error of the unit is calculated during the calculation step on the basis of the Doppler values used for calculating the position, wherein the derivative of a clock error is a variable of the calculation.

4. The method as claimed in claim 1 ,
which is carried out when the unit is stationary on the Earth's surface.

5. The method as claimed in claim 4 ,
wherein the stationary state of the unit on the Earth's surface is identified by odometry.

6. The method as claimed in claim 1 ,
wherein, further, during the reception step,
a fifth satellite signal,
a sixth satellite signal, and
a seventh satellite signal

are received,
wherein, further, during the step of performing a plurality of Doppler measurements,
a fifth Doppler value is produced on the basis of the fifth satellite signal,
a sixth Doppler value is produced on the basis of the sixth satellite signal,
a seventh Doppler value is produced on the basis of the seventh satellite signal, and
wherein, during the calculation step, the position is also calculated on the basis of the fifth Doppler value, the sixth Doppler value and the seventh Doppler value, wherein the position and components of a velocity vector of the unit are variables of the calculation.

7. The method as claimed in claim 6 ,
which is carried out when the unit is moving on the Earth's surface.

8. The method as claimed in claim 1 ,
wherein the calculation of the position is performed on the basis of the following formula:

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Assignees

• Continental Automotive Gmbh

Inventors

• Azarkevich Sergey
• Faisst Holger

Classifications

• G01S19/258

  relating to the satellite constellation, e.g. almanac, ephemeris data, lists of satellites in view · CPC title

• G01S19/52

  Determining velocity · CPC title

• G01S19/42 Primary

  Determining position · CPC title

• G01S19/256

  relating to timing, e.g. time of week, code phase, timing offset · CPC title

• G01S19/29

  carrier {including Doppler,} related {(G01S19/246 takes precedence)} · CPC title