Robert Boschgmbh

Marco Limberger

Markus Langer

Lena Schindler

Thomas Friederichs

Jan Rohde

Jens Strobel

Kosmas Knoedler

Mohammad Tourian

Bastian Huck

Csaba Rokosz

Tomasz Bien

Thomas Speth

Alexander Metzger

A method for determining an integrity range of a parameter estimation is disclosed. The integrity range describes the range in which an estimated parameter lies with a minimum probability. The method includes at least the following steps: a) ascertaining first integrity information on the basis of at least data from at least one first sensor or on the basis of a first method for determining the integrity information, b) ascertaining second integrity information on the basis of at least data from at least one second sensor that is different from the first sensor or on the basis of a second method that is different from the first method, for determining the integrity information, and c) determining the integrity range by merging at least the first integrity information and the second integrity information.

Method for determining an integrity range

A method for generating a feature-based localization map for a global navigation satellite system (GNSS)-based localization and/or a feature-based localization includes generating feature information for the feature-based localization map using at least one GNSS information, generating GNSS-related meta-information that allows inferences to be drawn about a GNSS situation on which the generation of the feature information was based, and assigning the generated GNSS-related meta-information to the generated feature information.

Method for generating a feature-based localization map for a GNSS-based and/or feature-based localization

A method for GNSS-based localization of a vehicle includes receiving a first set of satellite orbit data, using the first set of satellite orbit data when determining a first localization result, receiving a second set of satellite orbit data, checking a plausibility of the first set of satellite orbit data using the second set of satellite orbit data, and manipulating the first set of satellite orbit data and/or the first localization result and/or a localization filter when the plausibility check was not successful.

Method for gnss-based localization of a vehicle with ephemeris data plausibility checking

The disclosure concerns a method for GNSS-based location of a vehicle having a GNSS location device in view of integrity information provided in relation to GNSS correction data, comprising at least the following steps: (a) receiving GNSS correction data for correcting delay measurements for GNSS-based location from a GNSS correction data provision system, (b) receiving at least one piece of integrity information about the reliability of the GNSS correction data from the GNSS correction data provision system, (c) evaluating the at least one piece of integrity information about the reliability of the GNSS correction data that was received in step (b), and (d) influencing GNSS-based location of the vehicle on the basis of the evaluation from step (c).

Method for GNSS-based location of a vehicle having a GNSS location device in view of integrity information provided in relation to GNSS correction data

A method for the adaptive ascertainment of an integrity range of a parameter estimate, the integrity range describing the range within which an estimated parameter is located with a minimum probability. The method includes: a) Ascertaining basic integrity information with the aid of a base module of a modular system, b) ascertaining an item of first supplementary integrity information with the aid of a first supplementary module of the modular system if at least one precondition for the ascertaining of the item of first supplementary integrity information has been satisfied, c) ascertaining the integrity range using at least the item of basic integrity information or at least the basic integrity information and the item of first supplementary integrity information if the first item of supplementary integrity information was ascertained.

Method for an adaptive ascertainment of an integrity range of a parameter estimate

The disclosure concerns a method for ascertaining at least one piece of integrity information relating to a location result of a GNSS-based location device of a vehicle in the event of an abruptly and significantly changing GNSS reception situation, comprising at least the following steps: (a) ascertaining the current ego position of the vehicle by means of the GNSS-based location device; (b) ascertaining at least one piece of integrity information relating to the ego position ascertained in step (a), by means of the GNSS-based location device; (c) detecting an abruptly and significantly changing or significantly altered GNSS reception situation; and (d) adapting the ascertainment of the at least one piece of integrity information for the changing or altered GNSS reception situation.

Method for ascertaining at least one piece of integrity information relating to a location result of a GNSS-based location device of a vehicle in the event of an abruptly and significantly changing GNSS reception situation

A method for determining a four-dimensional ionosphere model of an electron distribution in the Earth's atmosphere is disclosed, which is used to correct runtime measurements of signals emitted by satellites, for position determinations by means of signal receivers. The method comprises: a) defining at least one distribution function based on at least one function parameter which is suitable to describe a distribution of electrons over the height of the Earth's atmosphere; b) receiving data from a plurality of runtime measurements by means of a plurality of movable dual-frequency signal receivers, in order to determine parameters that are representative for a total quantity of electrons along a signal transmission path from a satellite to a dual-frequency signal receiver; c) determining location-dependent and time-dependent function parameters for the distribution function at least by means of the parameters; and d) providing the function parameters determined in step c) as a four-dimensional ionosphere model.

Method for determining an electron density distribution in the earth's atmosphere

A method for providing correction data for satellite navigation, includes determining the correction data using a plurality of state signals relating to the Earth's ionosphere, each of the state signals associated with one of a plurality of signals which have been received by an interface for a plurality of mobile satellite receivers, the plurality of mobile satellite receivers provided for satellite navigation. Each of the plurality of state signals identify a geographical position of an associated one of the plurality of mobile satellite receivers and an item of state information relating to the Earth's ionosphere which is determined using at least one satellite signal transmitted between at least one satellite and the associated one of the plurality of mobile satellite receivers. The correction data is transmitted to the at least one satellite and then transmitted from the at least one satellite.

Method and apparatus for providing correction data for satellite navigation

The disclosure relates to a method for checking ionospheric correction parameters for satellite navigation for a vehicle. The method has a step of reading a provider signal from an interface with a correction data provider. The provider signal represents ionospheric correction parameters for correcting ionospheric influences for a geographic position in satellite navigation. The method also has a step of determining correction data using information relating to the state of the ionosphere between a satellite receiver of the vehicle at the geographic position and at least one satellite. The state information is defined using at least one satellite signal transmitted between the at least one satellite and the satellite receiver. The method also has a step of performing a comparison between the ionospheric correction parameters and the correction data in order to check the ionospheric correction parameters.

Method and apparatus for checking ionospheric correction parameters for satellite navigation for a vehicle

A method for determining a model of an electron distribution in the Earth's atmosphere in order to correct time-of-flight measurements of signals that are transmitted by earth satellites for position determinations with signal receivers includes determining local electron density data of provision sites and determining a local resolution accuracy as a function of the electron density data of the provision sites. The method further includes determining functions for interpolation of a distribution of the determined electron density data of the provision sites as a function of the determined resolution accuracy and compiling the model of the electron density distribution with the determined electron density data of the provision sites and the determined functions for interpolation.

Method for determining an adaptive model of an electron density distribution

A method for providing integrity information for checking atmospheric correction parameters for the correction of atmospheric disturbances for satellite navigation for a vehicle includes reading state signals relating to a state of an atmosphere between at least one satellite receiver and at least one satellite of the at least one satellite receiver. Each state signal represents certain state data that are transmitted between a satellite and a satellite receiver. The method further includes using at least one satellite signal and that are dependent on a state of the atmosphere between the satellite and the satellite receiver. The method further includes determining the integrity information using the state data. A variation of the state data against time is analyzed.

Method and apparatus for providing integrity information for checking atmospheric correction parameters for correcting atmospheric disturbances for satellite navigation for a vehicle

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Ludwigsburg, Germany

Marco Limberger