Device and method for three-dimensional positioning
First Claim
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1. A device (10) for three-dimensional positioning, comprising:
- a secondary radar base station with at least one radar antenna, the secondary radar base station arranged to perform range measurement for transponders;
a global navigation satellite system (GNSS) receiver with a GNSS receiver antenna, the GNSS receiver arranged to measure GNSS signals;
an inertial measuring unit, which is arranged to determine a location of the GNSS receiver antenna and of the at least one radar antenna in a shared coordinate system in relation to a reference point; and
an integration processor, which is arranged to be supplied with pseudorange measurements of the GNSS receiver, radar range measurements, and motions of the device about an axes of the shared coordinate system measured by the inertial measuring unit, and which is arranged to determine a three-dimensional position of a common reference point by fusion of the pseudorange measurements, radar range measurements and motions of the device, wherein a lever arm compensation is carried out that accounts for the measured motions.
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Abstract
A device and method for three-dimensional positioning are provided. The three-dimensional positioning of a common reference point is determined by fusion of supplied measurements, taking into account a lever arm compensation between the reference point, a global navigation satellite system (GNSS) receiver antenna, at least one radar antenna, and an inertial measuring unit.
20 Citations
14 Claims
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1. A device (10) for three-dimensional positioning, comprising:
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a secondary radar base station with at least one radar antenna, the secondary radar base station arranged to perform range measurement for transponders; a global navigation satellite system (GNSS) receiver with a GNSS receiver antenna, the GNSS receiver arranged to measure GNSS signals; an inertial measuring unit, which is arranged to determine a location of the GNSS receiver antenna and of the at least one radar antenna in a shared coordinate system in relation to a reference point; and an integration processor, which is arranged to be supplied with pseudorange measurements of the GNSS receiver, radar range measurements, and motions of the device about an axes of the shared coordinate system measured by the inertial measuring unit, and which is arranged to determine a three-dimensional position of a common reference point by fusion of the pseudorange measurements, radar range measurements and motions of the device, wherein a lever arm compensation is carried out that accounts for the measured motions. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method for three-dimensional positioning, the method comprising the steps of:
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receiving radar range measurements of a secondary radar base station, which is provided for range measurement for transponders and which has at least one radar antenna; receiving pseudorange measurements of a global navigation satellite system (GNSS) receiver, which is provided for measuring GNSS signals and which has a GNSS receiver antenna; receiving motion measurements of an inertial measuring unit, which is provided for determining the location of the GNSS receiver antenna and of the at least one radar antenna in a shared coordinate system in relation to a reference point; and determining, by an integration processor, a three-dimensional position of a common reference point by fusing the pseudorange measurements of the GNSS receiver, the radar range measurements, and the motion measurements of the inertial measuring unit, taking into account a lever arm compensation between the reference point, the GNSS receiver antenna, the at least one radar antenna, and the inertial measuring unit. - View Dependent Claims (11, 12, 13)
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14. A non-transitory computer program product containing a machine-readable program medium on which a computer program is stored, wherein the computer program, when executed by a processor, causes the processor to:
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receive radar range measurements of a secondary radar base station, which is provided for range measurement for transponders and which has at least one radar antenna; receive pseudorange measurements of a global navigation satellite system (GNSS) receiver, which is provided for measuring GNSS signals and which has a GNSS receiver antenna; receive motion measurements of an inertial measuring unit, which is provided for determining the location of the GNSS receiver antenna and of the at least one radar antenna in a shared coordinate system in relation to a reference point; and determine a three-dimensional position of a common reference point by fusing the pseudorange measurements of the GNSS receiver, the radar range measurements, and the motion measurements of the inertial measuring unit, taking into account a lever arm compensation between the reference point, the GNSS receiver antenna, the at least one radar antenna, and the inertial measuring unit.
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Specification