Method for GNSS-based location of a vehicle having a GNSS location device in view of integrity information provided in relation to GNSS correction data

Patent metadata

Field	Value
Publication number	US-12072425-B2
Application number	US-202117504604-A
Country	US
Kind code	B2
Filing date	Oct 19, 2021
Priority date	Oct 22, 2020
Publication date	Aug 27, 2024
Grant date	Aug 27, 2024

Abstract

The disclosure concerns a method for GNSS-based location of a vehicle having a GNSS location device in view of integrity information provided in relation to GNSS correction data, comprising at least the following steps: (a) receiving GNSS correction data for correcting delay measurements for GNSS-based location from a GNSS correction data provision system, (b) receiving at least one piece of integrity information about the reliability of the GNSS correction data from the GNSS correction data provision system, (c) evaluating the at least one piece of integrity information about the reliability of the GNSS correction data that was received in step (b), and (d) influencing GNSS-based location of the vehicle on the basis of the evaluation from step (c).

First claim

The invention claimed is:

1. A method for GNSS-based locating of a vehicle having a GNSS location device in view of integrity information provided in relation to GNSS correction data, the method comprising:
a) receiving with a GNSS receiver in the vehicle GNSS correction data configured to correct for atmospheric delays for GNSS-based locating of a vehicle from a GNSS correction data provision system;
b) receiving with the GNSS receiver in the vehicle at least one piece of integrity information about a reliability of the GNSS correction data from the GNSS correction data provision system;
c) evaluating with the GNSS receiver in the vehicle the at least one piece of integrity information;
d) influencing with the GNSS receiver in the vehicle the GNSS-based locating of the vehicle based on the evaluation from step c);
e) transmitting the influenced GNSS-based locating of the vehicle from the GNSS receiver in the vehicle to a control unit of the vehicle; and
f) controlling the vehicle using the transmitted influenced GNSS-based locating of the vehicle, wherein
the influencing is different depending on whether the at least one piece of integrity information describes (i) a disturbance that concerns a specific GNSS satellite, (ii) a disturbance that concerns a position of the specific GNSS satellite, or (iii) a disturbance that concerns at least one propagation path between the specific GNSS satellite and the vehicle.

2. The method according to claim 1 , the d) influencing further comprising:
influencing the GNSS-based locating of the vehicle relatively more in response to at least one of satellite-constellation-specific and satellite-specific integrity information having been evaluated in step c), compared to in response to atmosphere-specific integrity information having been evaluated in step c).

3. The method according to claim 1 , the d) influencing further comprising:
continuing to operate the GNSS-based locating of the vehicle in an adapted manner in response to atmosphere-specific integrity information having been evaluated in step c) wherein information about the reliability of a location result is adapted.

4. The method according to claim 3 , the d) influencing further comprising:
adapting the GNSS-based locating of the vehicle by at least one of (i) selecting suitable GNSS satellites and (ii) weighting available GNSS satellite signals.

5. The method according to claim 1 , the d) influencing further comprising:
interrupting the GNSS-based locating of the vehicle in response to satellite-constellation-specific integrity information having been evaluated in step c).

6. The method according to claim 1 further comprising:
outputting with the GNSS receiver in the vehicle a warning message based on the influencing of step d).

7. The method according to claim 1 , wherein the method is carried out by executing a computer program.

8. A non-transitory machine-readable storage medium that stores a computer program for GNSS-based locating of a vehicle having a GNSS location device in view of integrity information provided in relation to GNSS correction data, the computer program configured to, when executed:
a) receive with the GNSS location device GNSS correction data configured to correct for atmospheric delays for GNSS-based locating of a vehicle from a GNSS correction data provision system;
b) receive with the GNSS location device at least one piece of integrity information about a reliability of the GNSS correction data from the GNSS correction data provision system;
c) evaluate with the GNSS location device the at least one piece of integrity information;
d) influence with the GNSS location device the GNSS-based locating of the vehicle based on the evaluation from step c);
e) transmit the influenced GNSS-based locating of the vehicle from the GNSS location device to a control unit of the vehicle; and
f) control the vehicle using the transmitted influenced GNSS-based locating of the vehicle, wherein
the influence is different depending on whether the at least one piece of integrity information describes (i) a disturbance that concerns a specific GNSS satellite, (ii) a disturbance that concerns a position of the specific GNSS satellite, or (iii) a disturbance that concerns at least one propagation path between the specific GNSS satellite and the vehicle.

9. A GNSS location device for GNSS-based locating of a vehicle having a GNSS location device in view of integrity information provided in relation to GNSS correction data, the GNSS location device configured to:
a) receive with the GNSS location device GNSS correction data configured to correct for atmospheric delays for GNSS-based locating of a vehicle from a GNSS correction data provision system;
b) receive with the GNSS location device at least one piece of integrity information about a reliability of the GNSS correction data from the GNSS correction data provision system;
c) evaluate with the GNSS location device the at least one piece of integrity information;
d) influence with the GNSS location device the GNSS-based locating of the vehicle based on the evaluation from step c);
e) transmit the influenced GNSS-based locating of the vehicle from the GNSS location device to a control unit of the vehicle; and
f) control the vehicle using the transmitted influenced GNSS-based locating of the vehicle, wherein
the influence is different depending on whether the at least one piece of integrity information describes (i) a disturbance that concerns a specific GNSS satellite, (ii) a disturbance that concerns a position of the specific GNSS satellite, or (iii) a disturbance that concerns at least one propagation path between the specific GNSS satellite and the vehicle.

Assignees

• Bosch Gmbh Robert

Inventors

• Knoedler Kosmas
• Limberger Marco
• Langer Markus
• Speth Thomas

Classifications

• G01S19/08

  providing integrity information, e.g. health of satellites or quality of ephemeris data · CPC title

• G01S19/074

  providing integrity data, e.g. WAAS · CPC title

• G01S19/07

  providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections · CPC title

• G01S19/42

  Determining position · CPC title

• G01S19/20

  Integrity monitoring, fault detection or fault isolation of space segment · CPC title