WO2004021034A1 - Satellitenbasiertes navigationsverfahren - Google Patents
Satellitenbasiertes navigationsverfahren Download PDFInfo
- Publication number
- WO2004021034A1 WO2004021034A1 PCT/EP2003/007088 EP0307088W WO2004021034A1 WO 2004021034 A1 WO2004021034 A1 WO 2004021034A1 EP 0307088 W EP0307088 W EP 0307088W WO 2004021034 A1 WO2004021034 A1 WO 2004021034A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- satellite
- receiver
- determined
- satellites
- navigation method
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/20—Integrity monitoring, fault detection or fault isolation of space segment
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
Definitions
- the invention relates to a satellite-based navigation method for determining the position of a receiver by determining the signal propagation time between preferably at least two satellites and the receiver.
- the signal propagation time is usually determined between several satellites and the receiver and from this the position of the receiver is calculated. For each satellite i it is from the relationship c ⁇ (T E mpffiter - T SE Direction), the pseudo-range
- Xj is the position of the satellite i
- x is the position of the receiver
- c is the speed of light
- ⁇ t is the time error of the receiver clock
- ⁇ are other errors (such as orbital and satellite clock errors, atmospheric runtime errors, or other measurement errors of the receiver).
- a high-precision time reference is omitted, so that the dominant error in the position detection is the time error ⁇ t in the receiver clock.
- This time error is calculated in the position calculation.
- at least four satellite signals are required in order to determine the three spatial coordinates and the time error and to determine therefrom T receivers .
- RAIM Receiveiver Autonomous Integrity Monitoring
- the object of the present invention is to improve the integrity of the position solution, i. H. to reduce the probability of calculating an incorrect position specification.
- a satellite-based navigation method of the type mentioned above essentially in that the reception time of satellite signals at the receiver (1, 5) both by means of an accurate time reference in the receiver (1, 5) and from the satellite signals determined and compared becomes.
- Equipping the receiver with a precision clock, for example a rubidium clock provides a high-precision time reference in order to determine the reception time very precisely. By comparing differently determined reception times, it can therefore be recognized whether there are interferences in the reception of the signals.
- this method by receiving at least two or three satellite signals in the case of track-guided or surface-bound systems, it is also possible to detect indirect signals which are only received via a reflected signal due to shadowing of the direct signal from satellite to receiver. In this case, the pseudorange is
- the receiver is only able to move along a known distance, for example when determining the position of trains bound to the rail network, it is already sufficient, according to the conventional method, to determine only two unknowns, namely the distance kilometer and the time offset. In this case, two satellites are sufficient for determining the position.
- the receiver is equipped with a high-precision clock according to the invention, which is usually omitted for cost reasons, the time offset no longer has to be determined, so that in principle even only one satellite per determined coordinate is sufficient.
- the present invention also relates to a satellite-based navigation method for determining the position of a receiver by determining the signal transit time between the satellite and the receiver, wherein at least two position solutions from the received time of the satellite signals at the receiver and the satellite signals of at least two different satellites are determined and compared with each other.
- a position solution of the receiver can be determined for at least two satellites from one satellite signal each and the time reference of the receiver. Similar to that As described above, depending on the position of the satellites, signals can be detected which were received only indirectly. Furthermore, a combination of the two methods described above may be advantageous.
- satellite signals will be used according to the invention only for determining the position, if the difference between the received time determined from the satellite signals and the time difference and / or the difference between two position solutions determined from satellite signals each predetermined tolerance value does not exceed.
- the tolerance value results essentially from the maximum pseudo-range errors of the corresponding satellites. If this tolerance value is exceeded, at least one of the signals has been received in an indirect way.
- a position interval is determined if the difference between the reception time determined from the satellite signals and the time reference determined from the time reference and / or the difference between two positional solutions determined from satellite signals has a respective predetermined tolerance value exceeds. This can be used to determine an interval that contains the actual position, so that the user accurately detects the uncertainty in the position determination.
- the method can be used to particular advantage when satellite signals from two satellites are evaluated, their positions in receiving the satellite signals by a first angle ⁇ i between the direction of movement of the receiver and the direction of connection from the receiver to a first satellite in an angular range of 0 ° ⁇ i ⁇ 90 ° and by a second angle ⁇ 2 between the movement direction tion of the receiver and the connection direction of the receiver to a second satellite in an angular range of 90 ° ⁇ 2 ⁇ 180 ° are determined.
- at least one satellite each is received in the forward and reverse directions.
- an indirect satellite signal which has been reflected by any reflector before being received by the receiver can be detected with certainty.
- the position and the time offset errors of a pseudorange measurement are preferably determined for determining the reception time from the satellite signals of the first and the second satellite.
- indirect signals are reliably detected when a predetermined tolerance value is exceeded.
- a surface-bound receiver ie a receiver which moves on a certain surface
- satellite signals of three satellites are evaluated in an embodiment of the inventive method whose position by a first angle ⁇ i for the first satellite, a second angle ⁇ 2 for the second Satellites and a third angle ⁇ 3 are determined for the third satellite, the angles being the azimuth angles of the connection directions projected from the receiver to the respective satellites on the ground plane of a coordinate system and in the relationships 0 ° ⁇ 2 - ⁇ ⁇ 180 °, 0 ° ⁇ 3 - ⁇ 2 ⁇ 180 ° and 360 °> ⁇ 3 - ⁇ i> 180 ° to each other.
- indirect signals can be reliably detected.
- the base area of the coordinate system preferably lies in a plane which is arranged at the position of the receiver tangentially to a surface on which the receiver moves.
- the 0 ° direction may, for example, lie in the direction of movement of the body.
- This coordinate system can be clearly defined and is therefore Drawing the satellite positions particularly suitable.
- corresponding angular positions can also be defined in otherwise selected coordinate systems.
- the reception time for detecting indirect signals is determined particularly reliably from the satellite signals of the first, second and third satellites by determining the position and time offset errors of a pseudorange measurement.
- a satellite-based integrity system such as EGNOS or WAAS
- EGNOS EGNOS
- WAAS WAAS
- differential operation for example, by DGPS
- Fig. 1 shows the situation in the application of the method according to the invention for a track-guided receiver
- Fig. 2 shows the situation in the application of the method according to the invention for a surface-bound receiver.
- FIG. 1 shows a receiver 1 which moves along a track 2 in the direction indicated by an arrow.
- the receiver 1 can be For example, are in a train and receives signals from two satellites 3, 4, which are located to determine the position of the receiver 1 on the track 2 in space. Both satellites 3, 4 transmit satellite signals received by the receiver 1.
- the receiver 1 has a high-precision time reference (not shown) which precisely determines the reception time of the satellite signals from the satellites 3, 4.
- This time reference may, for example, be a very accurate rubidium clock, which determines the time with an accuracy of about 10 "11 to 10 " 9 s. For longer time intervals, the accuracy may deteriorate, so that only larger errors of the pseudorange measurement are detected. However, the measurement principle remains applicable in this case.
- the positional error ⁇ x along the track 2 the error ⁇ t in the time offset, and the pseudo-orange error ⁇ R are related as follows
- ⁇ j is the angle between the track 2 and the direction from the receiver 1 to the satellites 3, 4 and c is the speed of light.
- satellite 3 is in the forward direction with respect to the position of the receiver 1 in the forward direction and satellite 4, it is possible to detect the presence of an indirect satellite signal which was scattered on a reflector prior to reception in the receiver 1, determine. This applies whenever the angle ⁇ i lies between 0 ° and 90 ° in the forward direction and the angle ⁇ 2 lies between 90 ° and 180 ° in the backward direction. From the satellite signals, the position along the track 2 is determined by two pseudorange measurements, taking as position error
- the reception time of the signal T E receiver is calculated. This is compared with the reference time T r ⁇ f determined by the high-precision clock. If
- ⁇ , ma ⁇ and ⁇ 2 , max are the maximum values of the pseudo-removal error and ⁇ R ⁇ rnax the maximum error of the time reference are.
- the position along the distance 2 can be calculated for each satellite 3, 4 from the pseudorange and the exact time reference of the receiver 1. Indirect Saa satellite signals from the satellite 3 in the forward direction lead to a position error in the reverse direction. Conversely, indirect signals from the satellite 4 in the reverse direction cause a position error in the forward direction.
- the method may be designed such that the position determination is carried out with two arbitrary satellite signals and, if one satellite 3 is in the forward direction and one satellite 4 is in the backward direction, additionally the test for indirect signals is carried out.
- This distance interval can be determined as described below.
- FIG. 2 A corresponding method is shown in FIG. 2 for a receiver 5, which moves in the direction indicated by an arrow on a surface 6.
- This receiver 5 receives satellite signals from satellites 7, 8 and 9, wherein the receiver 5 can determine the reception time of the satellite signals very accurately by a high-precision time reference, not shown.
- the accuracy of the time reference is typically back in the same range.
- the position of the satellites 7, 8, 9 through a first angle .phi..sub.i for the first satellite 7, a second angle ⁇ 2 for the second satellite 8, and a third angle ⁇ 3 for the third satellite 9 are determined, wherein the angles ⁇ i, ⁇ 2 , ⁇ 3 the azimuth angles of the are plane 10 of a coordinate system of projected connection directions from the receiver 5 to the respective satellites 7, 8, 9 and in the relationships 0 ° ⁇ 2 - ⁇ - i ⁇ 180 °, 0 ° ⁇ 3 - ⁇ 2 ⁇ 180 ° and 360 ° °> ⁇ 3 - ⁇ i> 180 ° to each other.
- the base area 10 of the coordinate system lies in a plane which is tangent to the movement surface 6 of the receiver 5 at the position of the receiver 5.
- the satellites 7, 8, 9 are sorted such that 0 ° ⁇ i ⁇ 2 ⁇ 3 ⁇ 360 °.
- At least one of the three satellite signals has been received in an indirect way. If redundant satellite signals are present, by suitable combination of three satellites 7, 8 and 9, which meet the aforementioned position conditions, those satellites which have been received only via indirect routes can be determined. These satellites can then be disregarded in determining the position solution.
- the navigation method of the present invention can detect such satellite signals that are not directly from one of the satellites 3, 4, 7, 8, 9 at a receiver 1, 5 were received, but only in an indirect way via a reflector in the receiver 1, 5 are reached. This increases the integrity of the navigation process. These errors can not be detected by differential operation or satellite-based integrity systems.
- the method according to the invention can generally be used particularly well for position calculation in land and sea navigation.
- a particular use in rail transport is in the determination of confidence intervals and in all applications for which a special reliability is required, such as docking of ships, aircraft or the like. Vehicles.
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP03790780A EP1532468A1 (de) | 2002-08-30 | 2003-07-03 | Satellitenbasiertes navigationsverfahren |
US10/525,970 US7161532B2 (en) | 2002-08-30 | 2003-07-03 | Satellite navigation method |
AU2003249941A AU2003249941B2 (en) | 2002-08-30 | 2003-07-03 | Satellite navigation method |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10239952A DE10239952A1 (de) | 2002-08-30 | 2002-08-30 | Satellitenbasiertes Navigationsverfahren |
DE10239952.2 | 2002-08-30 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2004021034A1 true WO2004021034A1 (de) | 2004-03-11 |
Family
ID=31895607
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2003/007088 WO2004021034A1 (de) | 2002-08-30 | 2003-07-03 | Satellitenbasiertes navigationsverfahren |
Country Status (6)
Country | Link |
---|---|
US (1) | US7161532B2 (de) |
EP (1) | EP1532468A1 (de) |
CN (1) | CN1678919A (de) |
AU (1) | AU2003249941B2 (de) |
DE (1) | DE10239952A1 (de) |
WO (1) | WO2004021034A1 (de) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10239952A1 (de) * | 2002-08-30 | 2004-03-25 | Honeywell Regelsysteme Gmbh | Satellitenbasiertes Navigationsverfahren |
US8099466B2 (en) | 2004-10-05 | 2012-01-17 | Reach Unlimited Corp. | System and method for vote-based, interest specific collaboration regarding location of objects |
US7492314B2 (en) * | 2006-12-01 | 2009-02-17 | The Boeing Company | User equipment navigation solution with position determination of a navigation signal reflector |
JP5069492B2 (ja) | 2007-04-13 | 2012-11-07 | 株式会社エヌ・ティ・ティ・ドコモ | 測位システム、測位用icチップ、測位方法及び測位プログラム |
US8325086B2 (en) * | 2009-04-24 | 2012-12-04 | The Johns Hopkins University | Methods and systems to diminish false-alarm rates in multi-hypothesis signal detection through combinatoric navigation |
US10416316B1 (en) * | 2015-07-07 | 2019-09-17 | Marvell International Ltd. | Method and apparatus for determining frame timing |
EP3667369B1 (de) | 2018-12-14 | 2023-10-04 | Valeo Comfort and Driving Assistance | Positionierungssystem für ein landfahrzeug und verfahren zur berechnung von hochpräzisen gnss-positionen eines landfahrzeugs |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
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US5155490A (en) * | 1990-10-15 | 1992-10-13 | Gps Technology Corp. | Geodetic surveying system using multiple GPS base stations |
US5712867A (en) * | 1992-10-15 | 1998-01-27 | Nexus 1994 Limited | Two-way paging apparatus having highly accurate frequency hopping synchronization |
US5736960A (en) * | 1995-09-19 | 1998-04-07 | Northrop Grumman Corporation | Atomic clock augmented global positioning system receivers and global positioning system incorporating same |
US5896105A (en) * | 1997-06-23 | 1999-04-20 | Northrop Grumman Corporation | Distributed phased array antenna system |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
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DE2525446C2 (de) * | 1975-06-07 | 1984-02-16 | Licentia Patent-Verwaltungs-Gmbh, 6000 Frankfurt | Ortungseinrichtung mit hochkonstantem Zeitnormal |
US4667203A (en) * | 1982-03-01 | 1987-05-19 | Aero Service Div, Western Geophysical | Method and system for determining position using signals from satellites |
DE3305476A1 (de) | 1983-02-17 | 1984-08-23 | Linde Ag, 6200 Wiesbaden | Verfahren und vorrichtung zur anaeroben biologischen reinigung von abwasser |
JPH02196975A (ja) | 1989-01-26 | 1990-08-03 | Nissan Motor Co Ltd | 車両用gps航法装置 |
DE4005217A1 (de) | 1990-02-20 | 1991-08-22 | Kodak Ag | Roentgenfilmkassette |
US5430654A (en) * | 1992-12-01 | 1995-07-04 | Caterpillar Inc. | Method and apparatus for improving the accuracy of position estimates in a satellite based navigation system |
US5390124A (en) | 1992-12-01 | 1995-02-14 | Caterpillar Inc. | Method and apparatus for improving the accuracy of position estimates in a satellite based navigation system |
US5490073A (en) | 1993-04-05 | 1996-02-06 | Caterpillar Inc. | Differential system and method for a satellite based navigation |
US5931889A (en) * | 1995-01-24 | 1999-08-03 | Massachusetts Institute Of Technology | Clock-aided satellite navigation receiver system for monitoring the integrity of satellite signals |
DE19731104A1 (de) | 1997-07-19 | 1999-01-21 | Daimler Benz Aerospace Ag | Satelliten-Navigationsverfahren |
DE10015305A1 (de) * | 2000-03-28 | 2001-10-04 | Bosch Gmbh Robert | Vorrichtung und Verfahren zur Positionsbestimmung |
CA2413691C (en) * | 2000-06-23 | 2010-09-14 | Sportvision, Inc. | Track model constraint for gps position |
DE10239952A1 (de) * | 2002-08-30 | 2004-03-25 | Honeywell Regelsysteme Gmbh | Satellitenbasiertes Navigationsverfahren |
-
2002
- 2002-08-30 DE DE10239952A patent/DE10239952A1/de not_active Withdrawn
-
2003
- 2003-07-03 AU AU2003249941A patent/AU2003249941B2/en not_active Ceased
- 2003-07-03 EP EP03790780A patent/EP1532468A1/de not_active Withdrawn
- 2003-07-03 CN CN03820216.6A patent/CN1678919A/zh active Pending
- 2003-07-03 US US10/525,970 patent/US7161532B2/en not_active Expired - Fee Related
- 2003-07-03 WO PCT/EP2003/007088 patent/WO2004021034A1/de not_active Application Discontinuation
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5155490A (en) * | 1990-10-15 | 1992-10-13 | Gps Technology Corp. | Geodetic surveying system using multiple GPS base stations |
US5712867A (en) * | 1992-10-15 | 1998-01-27 | Nexus 1994 Limited | Two-way paging apparatus having highly accurate frequency hopping synchronization |
US5736960A (en) * | 1995-09-19 | 1998-04-07 | Northrop Grumman Corporation | Atomic clock augmented global positioning system receivers and global positioning system incorporating same |
US5896105A (en) * | 1997-06-23 | 1999-04-20 | Northrop Grumman Corporation | Distributed phased array antenna system |
Also Published As
Publication number | Publication date |
---|---|
DE10239952A1 (de) | 2004-03-25 |
CN1678919A (zh) | 2005-10-05 |
AU2003249941B2 (en) | 2008-03-20 |
AU2003249941A1 (en) | 2004-03-19 |
US20060012514A1 (en) | 2006-01-19 |
EP1532468A1 (de) | 2005-05-25 |
US7161532B2 (en) | 2007-01-09 |
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