Method for gnss-based localization of a vehicle with ephemeris data plausibility checking

Patent metadata

Field	Value
Publication number	US-12092745-B2
Application number	US-202217806636-A
Country	US
Kind code	B2
Filing date	Jun 13, 2022
Priority date	Jun 14, 2021
Publication date	Sep 17, 2024
Grant date	Sep 17, 2024

Abstract

A method for GNSS-based localization of a vehicle includes receiving a first set of satellite orbit data, using the first set of satellite orbit data when determining a first localization result, receiving a second set of satellite orbit data, checking a plausibility of the first set of satellite orbit data using the second set of satellite orbit data, and manipulating the first set of satellite orbit data and/or the first localization result and/or a localization filter when the plausibility check was not successful.

First claim

What is claimed is:

1. A method for GNSS-based localization of a vehicle, comprising:
receiving a first set of satellite orbit data at a first time;
using the first set of satellite orbit data to determine a first localization result;
receiving a second set of satellite orbit data at a second time that is subsequent to the first time;
checking a plausibility of the first set of satellite orbit data by comparing the first set of satellite orbit data with the second set of satellite orbit data, the plausibility check being unsuccessful if the first set of satellite orbit data is inconsistent with the second set of satellite orbit data; and
manipulating the first set of satellite orbit data, the first localization result, and/or a localization filter when the plausibility check is unsuccessful.

2. The method as claimed in claim 1 , further comprising:
initializing the localization filter using the first set of satellite orbit data.

3. The method as claimed in claim 1 , wherein the first localization result comprises a first vehicle position of the vehicle.

4. The method as claimed in claim 1 , wherein the first localization result is reset when the plausibility check is unsuccessful.

5. The method as claimed in claim 1 , wherein the first set of satellite orbit data is reset when the plausibility check is unsuccessful.

6. The method as claimed in claim 1 , wherein the localization filter is reset when the plausibility check is unsuccessful.

7. The method as claimed in claim 1 , wherein the method is repeated after a pre-definable time interval.

8. The method as claimed in claim 1 , wherein a computer program is configured for carrying out the method.

9. The method as claimed in claim 8 , wherein the computer program is stored on a non-transitory machine-readable storage medium.

10. The method as claimed in claim 1 , wherein a localization device for the vehicle is configured to carry out the method.

Assignees

• Bosch Gmbh Robert

Inventors

• Bien Tomasz
• Strobel Jens
• Limberger Marco

Classifications

• G01S19/05

  providing aiding data · CPC title

• G01S19/24

  Acquisition or tracking {or demodulation} of signals transmitted by the system {(synchronisation aspects of direct sequence spread spectrum modulation H04B1/7073)} · CPC title

• G01S19/40

  Correcting position, velocity or attitude · CPC title

• G01S19/08 Primary

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

• G01S19/27 Primary

  creating, predicting or correcting ephemeris or almanac data within the receiver · CPC title