Method for Determining the Visibility of a GNSS Satellite and Method for High-Precision Position Determination, as well as a Computer Program, Electronic Storage Medium and Device

Abstract

The disclosure relates to a method for determining the visibility of a satellite for a GNSS-based position determination, including: detecting the environment in a position, in particular determining an unobstructed view of the sky, by means of an environment sensor system and/or a GNSS sensor system and/or a camera sensor system; and merging the detected environment, in particular the unobstructed view of the sky, with a theoretical visibility of a satellite in the position.

Claims

1. A method for determining the visibility of a satellite for GNSS-based position determination, comprising: detecting the surroundings at a position, in particular by ascertaining an uninterrupted view of the sky, by way of a surroundings sensor system and/or a GNSS sensor system and/or a camera sensor system; and fusing the detected surroundings, in particular by fusing the ascertained uninterrupted view of the sky with a theoretical visibility of a satellite at the position.

2. The method as claimed in claim 1, further comprising: acquiring a time of the surroundings detection, wherein the acquired time is additionally taken into consideration in the fusion step.

3. The method (100) as claimed in claim 1, wherein detecting the surroundings further comprises: analyzing camera data in order to identify objects, in particular, houses and mountains.

4. A method for high-precision position determination, using data fusion of data from a GNSS sensor and data from an inertial sensor, comprising: detecting surroundings at a position, by ascertaining an uninterrupted view of the sky, by way of a surroundings sensor system and/or a GNSS sensor system and/or a camera sensor system; and fusing the detected surroundings, by fusing the ascertained uninterrupted view of the sky with a theoretical visibility of a satellite at the position.

5. The method of claim 4, wherein the method is performed by executing a computer program that is designed to execute the method.

6. The method of claim 5, wherein the computer program is stored on an electronic storage medium.

7. A device, comprising: a computer program that is designed to detect surroundings at a position, by ascertaining an uninterrupted view of the sky, by way of a surroundings sensor system and/or a GNSS sensor system and/or a camera sensor system; and fuse the detected surroundings, by fusing the ascertained uninterrupted view of the sky with a theoretical visibility of a satellite at the position.

Description

[0025] Embodiments of the present invention are explained in more detail below with reference to a drawing, in which:

[0026] FIG. 1 shows a flowchart of one embodiment of the method of the present invention;

[0027] FIG. 2 shows a flowchart for detecting the surroundings at a position according to the method of the present invention;

[0028] FIG. 3a shows a schematic illustration of the detection of the visibility of a GNSS satellite based on special measurement technology;

[0029] FIG. 3b shows a schematic illustration of the detection of the visibility of a GNSS satellite based on a method and a device for high-precision position determination.

[0030] FIG. 1 shows a flowchart of one embodiment of the method 100 of the present invention.

[0031] In step 101, the surroundings are detected at a position by way of a surroundings sensor system or a GNSS sensor system or a camera sensor system.

[0032] One of the purposes of the detection 101 is to ascertain the uninterrupted view or the uninterrupted viewing angle of the GNSS satellites or the clouds or the sky.

[0033] The detection 101 may in this case be performed for example by an appropriate sensor system that is installed on a vehicle that has been moved to the position at which the detection is intended to take place. As an alternative, the detection could be performed by an appropriate sensor system that has been placed at the position at which the detection is intended to take place.

[0034] The sensor system may be for example a surroundings sensor system that is designed specifically to detect the visibility of GNSS satellites. Radar systems and laser systems are primarily suitable for this purpose.

[0035] As an alternative or in addition, a GNSS sensor system may be used for the detection.

[0036] As an alternative or in addition, a camera sensor system may be used for the detection. A camera sensor system is generally designed to detect electromagnetic radiation in the visible region (for example video camera) or in a region close to the visible region (for example infrared camera).

[0037] In step 102, the detected surroundings are fused with a theoretical visibility of a satellite at the position.

[0038] The purpose of the fusion step 102 is to enrich the theoretical visibility of a GNSS satellite, which results essentially from the position of the observation and the position of the satellite in orbit, with the detected surroundings information so as to give, as a result, an actually possible visibility of the GNSS satellite. By way of example, there may thus be a theoretical visibility of a GNSS satellite at a particular position that is actually however not possible since there is an obstacle, such as for example a building or a landscape feature, such as for example a mountain, in the line of sight to the GNSS satellite.

[0039] FIG. 2 shows a flowchart for detecting the surroundings at a position according to the method 100 of the present invention.

[0040] The depicted step 201 corresponds essentially to step 101 of the flowchart of FIG. 1. In this step, the uninterrupted visibility of the clouds is detected.

[0041] The detection in accordance with step 211 may in this case be performed using a surroundings sensor system that is designed specifically for detecting uninterrupted visibility.

[0042] As an alternative or in addition, the detection in step 212 may be performed by way of a device for high-precision position determination based on a fusion of data from a GNSS sensor with data from an inertial sensor.

[0043] As an alternative or in addition, the detection in step 213 may be performed by way of a camera sensor system.

[0044] The present invention may be used in the context of detecting the visibility of GNSS satellites in a limited region in order for example to achieve an improvement in accuracy for the position determination in this region.

[0045] It is conceivable here to achieve visibility of GNSS satellites from positions on autobahns in Germany. The German autobahn network at present comprises around 13,000 km.

[0046] The invention is not intended to be restricted here to the territory of the Federal Republic of Germany. The invention may likewise be applied to other territories or even worldwide.

[0047] FIG. 3a shows a schematic illustration of the detection of the visibility of a GNSS satellite 31, 32 based on a surroundings sensor system 11.

[0048] In the illustration, the surroundings sensor system 11 is arranged on a vehicle 1. As an alternative, the surroundings sensor system 11 could be placed at the position at which the detection is intended to take place.

[0049] The GNSS satellites 31, 32 are theoretically visible from the position of the vehicle 1.

[0050] The illustration also illustrates an obstacle 20 that makes the theoretical visibility of the GNSS satellite 32 impossible.

[0051] The surroundings sensor system 1 is designed to detect the visible regions A and the non-visible regions B in the sky above the position of the detection. Radar systems and laser systems are primarily suitable for this purpose.

[0052] FIG. 3b shows a schematic illustration of the detection of the visibility of a GNSS satellite 31, 32 by way of a GNSS sensor 12. Such a sensor may be for example a device for high-precision position determination.

[0053] In the illustration, the GNSS sensor 12 is arranged on a vehicle 1. As an alternative, the GNSS sensor 12 could be placed at the position at which the detection is intended to take place.

[0054] The GNSS satellites 31, 32 are theoretically visible from the position of the vehicle 1.

[0055] The GNSS sensor 12 detects the actually visible satellites 31. Through a comparison with the theoretically visible satellites 31, 32, it is possible to ascertain the non-visible satellite 32. From this information, it is possible to derive the regions A, B, C of uninterrupted visibility A and blocked visibility B. From the illustration, it is furthermore possible to identify a region C at which it is not possible to make any statement about visibility.

[0056] These unclear regions C may, according to one embodiment of the present invention, be reduced or completely eliminated through fusion with a further sensor system, for example through a surroundings sensor system 11 or a camera sensor system.

[0057] The data detected according to the first aspect of the present invention regarding the visibility of GNSS satellites may on the one hand, according to the second aspect of the present invention, be used specifically for high-precision position determination, in particular in the context of advanced driver assistance systems (ADAS) and at least partially automated driving (AD).

[0058] On the other hand, the data detected according to the first aspect of the present invention may be used for extensive evaluation of the visibility of GNSS satellites.

[0059] For instance, autobahns or sections of autobahns may for example be evaluated offline, that is to say without the sections in question having to be driven on (possibly at different times of day/in different weather conditions and the like), in terms of coverage by GNSS satellites. Sections that require a large amount of outlay for high-precision position determination, for example because the visibility of GNSS satellites is below average in terms of distance or time, are thus able to be ascertained quickly and easily.

[0060] Proceeding from these findings, the methods for high-precision position determination may be adapted accordingly or the route sections in question may be enhanced with assistive infrastructure objects such that high-precision position determination is possible even without a sufficient number of visible GNSS satellites.

[0061] Such infrastructure objects may for example be devices for triangulation or for visual navigation.