METHOD AND SYSTEM FOR ADAPTING A NAVIGATION SYSTEM

• US 20170122743A1
• Filed: 12/09/2016
• Published: 05/04/2017
• Est. Priority Date: 06/11/2014
• Status: Active Grant

• Current Assignee: Continental Teves AG & Co. OHG (Continental AG)
• Original Assignee: Continental Teves AG & Co. OHG (Continental AG)
• Inventors: Steinhardt, Nico
• Granted Patent: US 10,378,901 B2
• Time in Patent Office: Days
• CPC Class Codes: G01C 21/165 combined with non-inertial navigation instruments
• CPC Class Codes: G01C 21/188 for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
• CPC Class Codes: G01S 19/40 Correcting position, velocity or attitude
• CPC Class Codes: G01S 19/47 the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
• CPC Class Codes: G01S 19/49 whereby the further system is an inertial position system, e.g. loosely-coupled
• CPC Class Codes: G01S 5/011 Identifying the radio environment

Abstract

A navigation system comprises a base system and at least one correction system, wherein the base system and the correction system each capture measured values. The measured values describe navigation data and are each burdened with error values. The error values describe discrepancies in the measured values from the described navigation data. The error values of the measured values of the base system are recognized by the measured values of the correction system. The recognition is effected by considering a capture uncertainty in the correction system. The consideration represents adaptation of parameters of a stochastic noise model, which prescribes a weighting for measured values of the correction system with respect to measured values of the base system in accordance with the parameters. The adaptation of the parameters is chosen on the basis of the capture uncertainty in accordance with a characteristic curve or a family of characteristic curves.

Claims

1. A method for adapting a navigation system, comprising:

capturing measured values of navigation data from a base system and from at least one correction system, wherein the measured values include error values which describe discrepancies of the measured values from the navigation data;

weighting of the measured values of the at least one correction system compared to the measured values of the base system to determine a stochastic noise model;

adapting parameters of the stochastic noise model to take into consideration a capture uncertainty of the measured value of the at least one correction system in accordance with one of a characteristic curve and a characteristic family;

determining the characteristic curve and the characteristic family by one of theoretical modeling, a series of measurements and a trial series, wherein the characteristic curve and the characteristic family describe a dependence of the capture uncertainty on influences acting on the navigation system; and

detecting at least one of the error values of the measured values of the base system based on the measured values of the at least one correction system.

2. The method according to claim 1, further comprising correcting the at least of the error values of the measured values of the base system by taking into account the capture uncertainty of the at least one correction system.

3. The method according to claim 1, wherein the base system is an inertia navigation system and the at least one correction system is a global satellite navigation system.

4. The method according to claim 1, further comprising determining either of the characteristic curve and the characteristic family by one of theoretical modeling and a series of measurements.

5. The method according to claim 3, wherein the capture uncertainty is impacted by at least one of an ion sphere influence, an electromagnetic interference, electromagnetic refraction effects, electromagnetic diffraction effects, and electromagnetic reflection effects in the signal dissemination path of signals of the global satellite navigation system.

6. The method according to claim 1, further comprising determining the capture uncertainty with environmental sensors.

7. The method according to claim 1, further comprising determining the capture uncertainty of the at least one correction system with a digital map.

8. The method according to claim 1, further comprising merging the measured values to become a shared fusion data record.

9. The method according to claim 2, wherein either of the recognizing and the correcting are conducted by an error state space filter.

20. The method according to claim 9, wherein the filter is an error state space Kalman effect filter.

10. The method according to claim 9, wherein the filter is an error state space Kalman effect filter.

11. The system according to claim 10, wherein the system is located in a motor vehicle.

12. The system according to claim 10, wherein the controller further comprises instructions for correcting the at least of the error values of the measured values of the base system by taking into account the capture uncertainty of the at least one correction system.

13. The system according to claim 10, wherein the base system is an inertia navigation system and the at least one correction system is a global satellite navigation system.

14. The system according to claim 10, wherein the controller further comprises instructions for determining either of the characteristic curve and the characteristic family by one of theoretical modeling and a series of measurements.

15. The system according to claim 10, wherein the capture uncertainty is impacted by at least one of an ion sphere influence, an electromagnetic interference, electromagnetic refraction effects, electromagnetic diffraction effects, and electromagnetic reflection effects in the signal dissemination path of signals of the global satellite navigation system.

16. The system according to claim 10, wherein the capture uncertainty is determined by environmental sensors.

17. The system according to claim 10, wherein the capture uncertainty of the at least one correction system is determined by a digital map.

18. The system according to claim 10, wherein the measured values are merged to become a shared fusion data record.

19. The system according to claim 11, wherein an error state space filter either recognizes and corrects the error values.

10-1. A system for adapting a navigation system comprising:

a base system;

at least one correction system, wherein the base system and the at least one correction system are respectively designed to capture measured values, wherein the measured values include error values which describe discrepancies of the measured values from the navigation data; and

a controller for the system with instructions for;

weighting of the measured values of the at least one correction system compared to the measured values of the base system to determine a stochastic noise model;

adapting parameters of the stochastic noise model to take into consideration a capture uncertainty of the measured value of the at least one correction system in accordance with one of a characteristic curve and a characteristic family;

determining the characteristic curve and the characteristic family by one of theoretical modeling, a series of measurements and a trial series, wherein the characteristic curve and the characteristic family describe a dependence of the capture uncertainty on influences acting on the navigation system; and

detecting at least one of the error values of the measured values of the base system based on the measured values of the at least one correction system.