Method for Detecting the Presence of Interference During GNSS-Based and INS-Based Localization of a Vehicle

Abstract

A method for detecting a presence of interference during global navigation satellite system (GNSS)-based and inertial sensor signals (INS)-based localization of a vehicle includes determining localization results using a first filter configured to read in GNSS data and INS data, and storing a plurality of the determined localization results. The plurality of the determined localization results are after one another in terms of time and are each determined using the first filter. The method further includes analyzing the stored plurality of localization results using a second filter which differs from the first filter.

Claims

1. A method for detecting a presence of interference during global navigation satellite system (GNSS)-based and inertial sensor signals (INS)-based localization of a vehicle, comprising: determining localization results using a first filter configured to read in GNSS data and INS data; storing a plurality of the determined localization results, wherein the plurality of the determined localization results are after one another in terms of time and are each determined using the first filter; and analyzing the stored plurality of localization results using a second filter which differs from the first filter.

2. The method according to claim 1, further comprising: reading in INS data using the second filter; and analyzing the stored plurality of localization results based on the INS data read in by the second filter.

3. The method according to claim 1, wherein the first filter is a Kalman filter.

4. The method according to claim 3, wherein the second filter is a particle filter.

5. The method according to claim 1, wherein the second filter is configured to estimate localization results and to compare the estimated localization results with the stored plurality of localization results.

6. The method according to claim 1, wherein the second filter is configured to detect interference when the analysis of the stored plurality of localization results reveals a driving behavior which does not match a driving behavior which results from the INS data.

7. The method according to claim 6, wherein localization results of the stored plurality of localization results for which interference is detected are deleted, adapted, or downweighted.

8. The method according to claim 1, wherein a computer program is configured to carry out the method.

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

10. A localization device for a vehicle, comprising: a first filter configured to read in global navigation satellite system (GNSS) data and inertial sensor signals (INS) data, the first filter further configured to determine localization results based on the GNSS data and the INS data, wherein a plurality of the determined localization results are stored, and wherein the plurality of determined localization results are after one another in terms of time and are each determined using the first filter; and a second filter different from the first filter, the second filter configured to analyze the stored plurality of localization results to detect a presence of interference during GNSS-based localization of the vehicle and during INS-based localization of the vehicle.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The solution presented here and its technical environment are explained in more detail below with reference to the figures. It should be pointed out that the disclosure is not intended to be restricted by the exemplary embodiments shown. In particular, unless explicitly described otherwise, it is also possible to extract partial aspects of the substantive matter explained in the figures and to combine them with other elements and/or knowledge from other figures and/or the present description. Schematically:

[0045] FIG. 1 shows a sequence of a method presented here for detecting the presence of interference during GNSS-based and INS-based localization of a vehicle during a normal operating sequence,

[0046] FIG. 2 shows two exemplary scenarios in the case of multi-path reception of GNSS signals,

[0047] FIG. 3 shows an exemplary block diagram of a localization device for carrying out a method presented here, and

[0048] FIG. 4 shows an exemplary flowchart for carrying out a method presented here.

DETAILED DESCRIPTION

[0049] FIG. 1 schematically shows a sequence of a method presented here for detecting the presence of interference during GNSS-based and INS-based localization of a vehicle during a normal operating sequence. The illustrated order of method steps a), b) and c) with the blocks 110, 120 and 130 is only exemplary.

[0050] In block 110, localization results are determined by means of a first filter which reads in GNSS data and INS data. In block 120, a plurality of localization results which are after one another in terms of time and are each determined according to step a) are stored. In block 130, localization results stored in step b) are analyzed by means of a second filter which differs from the first filter.

[0051] FIG. 2 shows two typical driving scenarios with multi-path reception of GNSS signals, specifically a lane change which is too late (on the left) and a sudden change in the direction of travel (on the right).

[0052] It can be seen in FIG. 2 that a vehicle 21 (on the right) drives under an overhead sign 22. In this scenario, a GNSS signal may be reflected by the overhead sign 22 and the reflected signal is received in this manner by the GNSS antenna of the vehicle 21. In such a scenario, the multi-path propagation of the GNSS signal results in incorrect positioning, with the result that the vehicle 21 being navigated can suddenly change its direction of travel. FIG. 2 shows this sudden change in the direction of travel on the right, in the case of which position 1, position 2 and position 3 are intended to be the TARGET positions. However, position 5 and position 6, as the ACTUAL positions, differ on account of the multi-path reception.

[0053] FIG. 3 schematically shows an exemplary block diagram of a localization device 20 for carrying out a method presented here. The localization device 20 is arranged, for example, in a vehicle 21. The localization device 20 comprises a GNSS signal module 7 for capturing GNSS signals, an INS signal module 8 for capturing INS signals, a satellite status computer module 9 for determining satellite position information and time information contained in the GNSS signals, a navigation computer module 10 with a first filter (not shown) for determining localization results, a memory 11 for storing the determined localization results such as positions, speeds, orientations and times, an error detection module 12 with a second filter (not shown) for the improved detection of errors and for correcting the determined localization results, and a carrier phase fuzziness computer module 13 for analyzing carrier phases.

[0054] It can be seen in FIG. 3 that an additional memory 11 and an additional error detection module 12 are assigned to the localization device 20 and provide the navigation computer module 10 with feedback. Therefore, the localization results determined by the navigation computer module 10, such as positions, speeds, orientations and times, can be separately stored in the additional memory 11. The error detection module 12 with the second filter (not shown) reads in the determined localization results in the last seconds (for example in the last twenty seconds) from the memory 11 and inputs the corrected localization results to the error detection module 12. The error detection module 12 can determine new localization results on the basis of the corrected localization results.

[0055] FIG. 4 shows an exemplary flowchart for carrying out a method presented here.

[0056] The illustrated order of steps I) to XII) with the blocks 210 to 212 is only exemplary. In block 210, a particle filter is created. In block 220, parameters of a non-linear system for estimating system states (for example localization results) are specified. In block 230, particles are initialized. In block 240, particles are sampled. In block 250, next system states are estimated. In block 260, measured values, for example GNSS and INS data, are captured. In block 270, estimated system states are corrected on the basis of the captured measured values (for example GNSS and INS data). In block 280, it is detected whether there is interference. In block 290, the most possible estimated system states are extracted if there is no interference. In block 211, particles are recursively resampled in order to estimate system states.

[0057] It can be seen in FIG. 4 that additional raw data (for example INS raw data), which are previously captured and stored in an additional memory (not shown), are read in in block 212 before interference is detected in block 280. In addition, intermediate results are deleted in block 213 if it is detected in block 212 that there is interference.