METHOD FOR THE COMPUTER-SUPPORTED CREATION AND/OR UPDATING OF A REFERENCE MAP FOR A SATELLITE-SUPPORTED POSITIONING OF AN OBJECT

• US 20120182179A1
• Filed: 08/13/2010
• Published: 07/19/2012
• Est. Priority Date: 09/29/2009
• Status: Abandoned Application

• Current Assignee: Siemens AG
• Original Assignee: Siemens AG
• Inventors: Bamberger, Joachim, Grigoras, Marian, Szabo, Andrei
• Application Number:
  US13/499,248
• Publication Number:
  US 20120182179A1
• Time in Patent Office: Days
• US Class Current: 342/357.23
• CPC Class Codes: G01S 19/22 Multipath-related issues
• CPC Class Codes: G01S 19/40 Correcting position, velocity or attitude

Abstract

Distance dimensions in a predetermined spatial region of a reference map are corrected during positioning of an object from which dimensions the object position is determined from a satellite signal, received via a receiving unit at the location of the object, representing the distance from the satellite to the object. The distance dimensions are determined form received satellite signals using a satellite-supported receiver unit in a plurality of locations of an object in the predetermined spatial region. Using a predetermined object position, which can be known in advance or estimated, distance dimension which corresponds to the predetermined object position are back-calculated by incorporating the satellite positions of the satellites from which the satellite signals are received. Based on the difference between the respectively determined and back-calculated distance dimensions, a correction for at least part of the predetermined spatial region around the specified object position is stored and/or updated.

Claims

1-19. -19. (canceled)

20. A method for computer-aided generation and/or updating of a reference map for satellite-based positioning of an object, the reference map storing a correction for a predetermined spatial region to correct, as a position of the object in the predetermined spatial region is determined, distance measures from the object to a satellite based on a satellite signal received by at least one satellite-based receiving device at the object, comprising:

determining satellite distance measures at a plurality of locations of the object in the predetermined spatial region from satellite signals received by the at least one satellite-based receiving device;

obtaining a predetermined object position for a selected location in the plurality of locations;

obtaining calculated distance measures corresponding to the predetermined object position by back-calculating from the predetermined object position and satellite positions of satellites from which the satellite signals are received at the selected location; and

storing corrections for at least a portion of the predetermined spatial region around the predetermined object position based on a difference between the satellite distance measures and the calculated distance measures.

21. The method as claimed in claim 20, wherein the reference map is represented by correction factors at a plurality of nodal points in the predetermined spatial region, and

wherein said storing stores the correction factors for at least one nodal point in spatial proximity to the predetermined object position.

22. The method as claimed in claim 21, wherein said obtaining the predetermined object position is based on the satellite distance measures and the corrections previously stored in the reference map.

23. The method as claimed in claim 22, wherein said obtaining of the predetermined object position uses the correction factors of at least one nearby nodal point closest to an estimated object position of the object.

24. The method as claimed in claim 23,

wherein said obtaining of the predetermined object position uses a known object position, and

wherein said storing stores the corrections at the known object position and/or the at least one nodal point of the reference map in spatial proximity to the known object position.

25. The method as claimed in claim 21, wherein said storing stores the corrections in the reference map as a function of the satellite positions and for the satellite signals received during said determining.

26. The method as claimed in claim 25, wherein said storing stores the correction factors for the satellite positions for the at least one nodal point in the reference map.

27. The method as claimed in claim 26, wherein said storing includes adding or subtracting a correction term, dependent on the difference between the satellite distance measure and the calculated distance measure, to or from the correction factor for the at least one nodal point corresponding to a satellite position for which the satellite distance measures are determined.

28. The method as claimed in claim 27, wherein the correction term is dependent on a proximity distance between the at least one nodal point and the predetermined object position and decreases as the proximity distance increases.

29. The method as claimed in claim 28, wherein the correction term includes one of a triangulation function and a Gaussian function dependent on the proximity distance between the at least one nodal point and the predetermined object position.

30. The method as claimed in claim 21,

further comprising transmitting the satellite distance measures, initially determined by the at least one satellite-based receiving device for the plurality of the locations of the object, to a central computing unit, and

wherein the central computing unit obtains the predetermined object position, back calculates the calculated distance measures and stores the corrections, for each of the locations to at least one of generate and update the reference map.

31. A method for satellite-based position detecting of an object based on a reference map generated and/or updated by storing a correction for a predetermined spatial region to correct distance measures from the object to a satellite, comprising:

determining satellite distance measures at a plurality of locations of the object in the predetermined spatial region from satellite signals received by at least one satellite-based receiving device;

obtaining predetermined object positions for respective locations;

obtaining calculated distance measures corresponding to the predetermined object positions by back-calculating from the predetermined object positions and satellite positions of satellites from which the satellite signals are received at the respective locations;

storing corrections for at least respective portions of the predetermined spatial region around the predetermined object positions based on differences between the satellite distance measures and the calculated distance measures;

determining current satellite distance measures from the satellite signals of available satellites by a satellite-based receiving device at a current location of the object;

correcting the current satellite distance measures based on the corrections stored in the reference map to obtain corrected distance measures; and

determining a current object position based on the corrected distance measures.

32. The method as claimed in claim 31, wherein the reference map is represented by correction factors for a plurality of nodal points in the predetermined spatial region, and

wherein said correcting of the current satellite distance measures is based on the correction factors for a nearby nodal point closest to an estimated object position.

33. The method as claimed in claim 32,

wherein the current object position is used in back-calculating at least one of the calculated distance measures, and

wherein said storing of the corrections for the current object position is performed concurrently with said determining of the current object position.

34. The method as claimed claim 33, wherein the reference map is stored on a central computing unit,

wherein said method further comprises transferring at least one portion of the reference map to the object, and

wherein said correcting of the current satellite distance measures is performed at the object based on the corrections stored in the at least one portion of the reference map.

35. The method as claimed claim 33,

wherein said storing, said correcting and said determining of the current object position are performed by a central computing unit, and

wherein said method further comprises

transferring the current satellite distance measures determined at the current location of the object to the central computing unit;

and

transferring the current object position from the central computing unit to the object.

36. A device for computer-aided generation and/or updating of a reference map for satellite-based positioning of an object, the reference map storing a correction for a predetermined spatial region to correct, as a position of the object in the predetermined spatial region is determined, distance measures from the object to a satellite based on a satellite signal received by at least one satellite-based receiving device at the object, comprising:

determining means for determining satellite distance measures at a plurality of locations of the object in the predetermined spatial region from satellite signals received by the at least one satellite-based receiving device;

obtaining means for obtaining a predetermined object position for a selected location in the plurality of locations;

calculating means for obtaining calculated distance measures corresponding to the predetermined object position by back-calculating from the predetermined object position and satellite positions of satellites from which the satellite signals are received at the selected location; and

storing means for storing corrections for at least a portion of the predetermined spatial region around the predetermined object position based on a difference between the satellite distance measures and the calculated distance measures.

37. The device as claimed in claim 36, wherein the reference map is represented by correction factors at a plurality of nodal points in the predetermined spatial region, and

wherein said storing means stores the correction factors for at least one nodal point in spatial proximity to the predetermined object position.

38. A device for satellite-based position detecting of an object based on a reference map generated and/or updated by storing a correction for a predetermined spatial region to correct distance measures from the object to a satellite, comprising:

first determining means for determining satellite distance measures at a plurality of locations of the object in the predetermined spatial region from satellite signals received by at least one satellite-based receiving device;

obtaining means for obtaining predetermined object positions for respective locations;

calculating means for obtaining calculated distance measures corresponding to the predetermined object positions by back-calculating from the predetermined object positions and satellite positions of satellites from which the satellite signals are received at the respective locations;

storing means for storing corrections for at least respective portions of the predetermined spatial region around the predetermined object positions based on differences between the satellite distance measures and the calculated distance measures;

second determining means for determining current satellite distance measures from the satellite signals of available satellites by a satellite-based receiving device at a current location of the object;

correcting means for correcting the current satellite distance measures based on the corrections stored in the reference map to obtain corrected distance measures; and

third determining means for determining a current object position based on the corrected distance measures.

39. The device as claimed in claim 38,

wherein the current object position is used in back-calculating at least one of the calculated distance measures, and

wherein said storing means stores the corrections for the current object position concurrently with determination of the current object position.