DE102016007182A1 - System and method for determining and storing location-related problem areas Navigation satellite-supported position determination - Google Patents

Abstract

The present invention relates to a system and a method for the detection and storage of location-related problem areas navigation satellite-based position determination. According to the method, from a position-determining device (2) with a sensor (3) of a vehicle (1) during a journey of the vehicle (1), a plurality of consecutive, at predetermined time intervals or according to predetermined distance covered captures taken by the sensor (3) Signals (14, 14 ') of navigation satellites (4, 4') performed and u. a. Thus determined coordinates (9) by means of a mobile radio devices (6) to a vehicle-external computing device (5) transmitted. Problematic coordinates (9) of navigation satellite-supported position determination are determined by the computing device (5) and these are entered or left in a coordinate problem database (7) provided or related to the computing device (5), and / or problematic coordinates (9) associated with road sections of a digital road map and the respective road sections in one of the computing device (5) provided for or related road problem database (7 ') registered or left in it.

Description

The present invention relates to a system and a method for the detection and storage of location-related problem areas navigation satellite-based position determination.

The determination of the position of a vehicle, such as a motor vehicle, for example, integrated navigation systems is currently predominantly using a GNSS sensor (GNSS = Global Navigation Satellite System), the data of a GNSS receives, for example, those of the US-American GPS. Systems or the Russian GLONASS system.

Currently known GNSS comprise a number of 24 to 30 navigation satellites revolving around the earth in various orbits at an altitude of approximately 25,000 km. As a result, a GNSS sensor can receive the signals from several satellites at the same time, for example from 6 to 12 satellites in the GPS system, provided they have a clear view of the sky (ideally up to the horizon). The position determination of the vehicle by means of a GNSS is carried out by measuring the distance of the vehicle to several navigation satellites by measuring the respective signal propagation time.

The sensor measurement accuracy in a GNSS measurement depends on the position of the satellites to each other and the observed location, as well as the accuracy of the time measurement. A high accuracy of the position determination can be achieved if the angle of the connecting lines between the vehicle to be measured and the positions of the navigation satellites is as large as possible, but the navigation satellites are each at least 10 ° above the horizon.

In order for the position (i.e., latitude, longitude and altitude) of a vehicle to be determined using only a GNSS, the GNSS sensor must simultaneously receive signals from four different navigation satellites.

To verify and / or improve the accuracy of vehicle positioning, sensor data fusion is often used. In such a sensor data fusion, the position of the vehicle on the ellipsoid of the Earth is determined on the basis of various sensor values, for example by merging the data of a GNSS sensor and the data from vehicle-side sensors (for example, hodometry, acceleration sensors or yaw rate sensors).

In a sensor data fusion, the various measurements are usually combined using a weighting determined from the sensor measurement accuracy. This sensor measurement accuracy is supplied, for example, with every GNSS measurement by the GNSS sensor.

Thus, in a sensor data fusion, each GNSS measurement is usually weighted with the measurement accuracy provided by the sensor per measurement. The expectation on the part of the fusion for a GNSS measurement is therefore that the more inaccurate a GNSS measurement is, the larger also the associated measuring error is indicated.

However, there are areas (hereinafter often referred to as "problem spots") in which GNSS measurements occur, which are given with incorrect measurement accuracy values. In such problem areas, for example in "urban canyons", the measurement drifts through multipath propagation of the satellite signals from the reality, the real measurement accuracy is therefore smaller, but the indication of the measurement accuracy from the sensor remains constant.

Another example of a "problem site" is about a tunnel passage, since here measurement failures caused by satellite signal shading and / or invalid position jumps can occur in the measurements.

The erroneous measurements of these problem areas flow into the sensor data fusion with the transmitted incorrect measurement accuracy and negatively influence the fusion result. Therefore, it is desirable if such problem areas are detected and measured values of problem areas are not taken into account, for example for a position determination, or only with a correspondingly low weighting.

The US 2012/0209519 A1 describes a method and system for creating a "Sky Visibility Map" using data from a vehicle and adjacent vehicles. A host vehicle capable of satellite-based navigation measures the quality of signals it receives from available satellites, with azimuth and elevation angles of the satellites from an ephemeris or almanac known. The host vehicle also receives satellite signal data from surrounding vehicles via vehicle-to-vehicle communication. Using data from all vehicles, a "Sky Visibility Map" is created that indicates at which different locations there are obstacles to the visibility of satellites. The host vehicle can store its satellite signal data in the long term and estimate it satellite visibility when returning to a previously visited location.

From the EP 2 437 232 A1 For example, a driver assistance system is known that performs transmission and reception of at least position information between the own vehicle and another vehicle when the distance between the own vehicle and the other vehicle is a predetermined value or less, the driver assistance system having driver assistance information regarding the driving of the vehicle own vehicle with respect to the other vehicle based on the position information offers. The driver assistance system includes a driver assistance level setting part that changes its degree of offered driver assistance information stepwise depending on a range of movement of the own vehicle, and a storage part for areas where errors occur, which in advance together with map information stores areas where the error is at the position information has a predetermined level or is larger. The information offered is limited when the own vehicle is in an area where an error in the position information has a predetermined level or is larger. This helps to prevent erroneous offering of driver assistance information.

And the DE 10 2013 018 807 A1 describes a radio navigation device and a method for receiving, evaluating and editing erroneous navigation signals. The radio navigation device contains a plurality of receiving devices and at least one evaluation device, wherein the radio navigation device further comprises a database or is connected to this, which provides substantially statically stored, predeterminable positioning data defined, predictable areas or spaces and in relation to a predefined location information regarding Foreseeable areas or spaces deficient or missing radio navigation signal reception error information of the received radio navigation signals to the evaluation and / or a user terminal sends.

It is an object of the present invention to provide a system and a method for the detection and storage of location-related problem areas navigation satellite-based position determination, with the disadvantages of the prior art overcome and advantages can be achieved, which achieved with those of the prior art known systems and methods are not achievable. These objects are achieved by the system according to claim 1 and the method according to claim 10. Advantageous developments of the invention are subject of the dependent claims.

According to the invention, a system for determining and storing location-related problem areas of navigation satellite-supported position determination is proposed, comprising a vehicle-associated, navigation satellite-based position-determining device with a sensor for receiving signals transmitted by navigation satellites of a global navigation satellite system, and an off-board, digital computing device, wherein the position-determining device and the computing device each have a communication device for transmitting data by means of mobile radio or are connected thereto.

• a) die Positionsbestimmungseinrichtung dazu eingerichtet ist, während einer Fahrt des Fahrzeugs eine Mehrzahl an aufeinanderfolgenden, in vorgegebenen Zeitabständen oder nach vorgegebenen zurückgelegten Streckenlängen erfolgende Erfassungen der von dem Sensor empfangenen Signale von Navigationssatelliten durchzuführen, die sich aus den bei jeder Erfassung empfangenen Signalen ergebenden Koordinaten des Fahrzeugs zu ermitteln, und die ermittelten Koordinaten zusammen mit Daten bezüglich der Messgenauigkeit der empfangenen Signale und Daten bezüglich des Zeitpunkts einer jeden Erfassung mittels Mobilfunk zu der Recheneinrichtung zu übertragen, und
• b) die Recheneinrichtung dazu eingerichtet ist,
• b1) die an sie übertragenen Koordinaten
• – unter Abgleich mit digitalen Straßendaten dahin zu überprüfen, ob der reale Messfehler bei wenigstens einer der Erfassungen größer als der aus den Daten bezüglich der Messgenauigkeit der empfangenen Signale zu erwartende Messfehler ist,
• – dahin zu überprüfen, ob bei wenigstens einer der Erfassungen eine Navigationssatelliten-Signalabschattung aufgetreten ist, derart dass nur die Signale von drei oder weniger der Navigationssatelliten gleichzeitig empfangen wurden oder nur die Signale von drei oder weniger Navigationssatelliten mit einem Signal-Rausch-Verhältnis gleichzeitig empfangen wurden, das größer ist als ein vorgegebenes Signal-Rausch-Verhältnis, und/oder
• – unter Abgleich mit digitalen Straßendaten dahin zu überprüfen, ob während den Erfassungen ein scheinbarer Positions-Sprung des Fahrzeugs erfolgt ist, und
• b2) die Koordinaten, bei denen der reale Messfehler größer als der aus den Daten bezüglich der Messgenauigkeit der empfangenen Signale zu erwartende Messfehler ist, bei denen eine solche Navigationssatelliten-Signalabschattung aufgetreten ist, dass nur die Signale von drei oder weniger der Navigationssatelliten gleichzeitig empfangen wurden, bei denen eine solche Navigationssatelliten-Signalabschattung aufgetreten ist, dass nur die Signale von drei oder weniger der Navigationssatelliten mit einem Signal-Rausch-Verhältnis gleichzeitig empfangen wurden, das größer ist als ein vorgegebenes Signal-Rausch-Verhältnis, und/oder bei denen ein scheinbarer Positions-Sprung des Fahrzeugs erfolgt ist, in eine bei der Recheneinrichtung vorgesehene oder damit in Verbindung stehende Koordinaten-Problemstellen-Datenbank einzutragen oder darin zu belassen, und/oder die im vorstehenden Abschnitt von b2) genannten Koordinaten Straßenabschnitten einer digitalen Straßenkarte zuzuordnen und die betreffenden Straßenabschnitte in eine bei der Recheneinrichtung vorgesehene oder damit in Verbindung stehende Straßen-Problemstellen-Datenbank einzutragen oder darin zu belassen.

The system according to the present invention is characterized in that

• a) the position determination device is adapted to perform a plurality of successive, at predetermined time intervals or according to predetermined covered route lengths taking place of the signals received from the sensor of navigation satellites, resulting from the received signals at each detection coordinates of the Determine vehicle, and transmit the determined coordinates, together with data relating to the measurement accuracy of the received signals and data relating to the time of each detection by means of mobile radio to the computing device, and
• b) the computing device is set up to
• b1) the coordinates transmitted to them
• To verify, under comparison with digital road data, whether the real measurement error in at least one of the acquisitions is greater than the measurement error to be expected from the data relating to the measurement accuracy of the received signals,
• Check to see if at least one of the acquisitions has undergone navigation satellite shadowing such that only the signals from three or less of the navigation satellites have been received simultaneously or receive only the signals from three or less navigation satellites having a signal-to-noise ratio simultaneously were greater than a predetermined signal-to-noise ratio, and / or
• - to check, under comparison with digital road data, whether there was an apparent positional jump of the vehicle during the surveys, and
• b2) the coordinates at which the real measurement error is greater than the measurement error to be expected from the data relating to the measurement accuracy of the received signals, in which case a such navigation satellite signal shading has occurred that only the signals of three or less of the navigation satellites having received such navigation satellite signal shading that only the signals of three or less of the navigation satellites having a signal-to-noise ratio are received simultaneously are received simultaneously greater than a predetermined signal-to-noise ratio and / or where an apparent position jump of the vehicle has occurred, to be entered or left in a coordinate problem database provided or associated with the computing device , and / or the coordinates mentioned in the previous section of b2), assign road sections to a digital road map and enter or leave the respective road sections in a road problem database provided or related to the computing device.

The system according to the present invention provides a number of advantages over the prior art. Thus, it is provided according to the present invention that an analysis according to problem areas of navigation satellite-supported position determination is performed by the vehicle-external, digital computing device and not by a vehicle-mounted device. Thus, it is sufficient if only "raw data" is transmitted by the position determination device and the analysis result is independent of a "analysis device" present in a vehicle (for example the position determination device) and the hardware and software available in this regard.

An off-board digital computing device, which may be a server connected to a network, such as the Internet, or a server farm (often referred to as a "backend") typically has a multiple of computational power than this is the case with vehicle-side computing devices. As a result, for example, the software executable on the server or the servers can often carry out much more complex calculations within a reasonable time than would be the case with vehicle-side computing devices. Also, software executable on a server can often be much more easily updated and adapted to new insights and / or needs than software on-vehicle equipment.

As the number of journeys of the vehicle increases, the geographical coverage and / or already recognized problem areas usually also increase and / or are updated. Due to the large storage capacity usually present in a server or in servers, a much larger number of "problem areas" (up to all known problem areas worldwide) can easily be stored there than would be the case with vehicle-side computing devices.

The data stored in the coordinate problem database and / or the road problem database are provided by the computing device in any case for use in on-board procedures and facilities, but can of course also for non-vehicle side methods and facilities provided be and be used for this.

• a) jede Positionsbestimmungseinrichtung dazu eingerichtet ist, während einer Fahrt des ihr zugeordneten Fahrzeugs eine Mehrzahl an aufeinanderfolgenden, in vorgegebenen Zeitabständen oder nach vorgegebenen zurückgelegten Streckenlängen erfolgende Erfassungen der von ihrem Sensor empfangenen Signale von Navigationssatelliten durchzuführen, die sich aus den bei jeder Erfassung empfangenen Signalen ergebenden Koordinaten des ihr zugeordneten Fahrzeugs zu ermitteln, und die ermittelten Koordinaten zusammen mit Daten bezüglich der Messgenauigkeit der empfangenen Signale und Daten bezüglich des Zeitpunkts einer jeden Erfassung mittels Mobilfunk zu der Recheneinrichtung zu übertragen, und
• b) die Recheneinrichtung dazu eingerichtet ist,
• b1) die an sie übertragenen Koordinaten eines jeden Fahrzeugs
• – unter Abgleich mit digitalen Straßendaten dahin zu überprüfen, ob der reale Messfehler bei wenigstens einer der Erfassungen größer als der aus den Daten bezüglich der Messgenauigkeit der empfangenen Signale zu erwartende Messfehler ist,
• – dahin zu überprüfen, ob bei wenigstens einer der Erfassungen der jeweiligen Positionsbestimmungseinrichtung eine Navigationssatelliten-Signalabschattung aufgetreten ist, derart dass nur die Signale von drei oder weniger der Navigationssatelliten gleichzeitig empfangen wurden oder nur die Signale von drei oder weniger Navigationssatelliten mit einem Signal-Rausch-Verhältnis gleichzeitig empfangen wurden, das größer ist als ein vorgegebenes Signal-Rausch-Verhältnis, und/oder
• – unter Abgleich mit digitalen Straßendaten dahin zu überprüfen, ob während den Erfassungen ein scheinbarer Positions-Sprung des jeweiligen Fahrzeugs erfolgt ist, und
• b2) die Koordinaten, bei denen der reale Messfehler größer als der aus den Daten bezüglich der Messgenauigkeit der empfangenen Signale zu erwartende Messfehler ist, bei denen eine solche Navigationssatelliten-Signalabschattung aufgetreten ist, dass nur die Signale von drei oder weniger der Navigationssatelliten gleichzeitig empfangen wurden, bei denen eine solche Navigationssatelliten-Signalabschattung aufgetreten ist, dass nur die Signale von drei oder weniger der Navigationssatelliten mit einem Signal-Rausch-Verhältnis gleichzeitig empfangen wurden, das größer ist als ein vorgegebenes Signal-Rausch-Verhältnis und/oder bei denen ein scheinbarer Positions-Sprung des jeweiligen Fahrzeugs erfolgt ist, in eine bei der Recheneinrichtung vorgesehene oder damit in Verbindung stehende Koordinaten-Problemstellen-Datenbank einzutragen oder darin zu belassen, und/oder die im vorstehenden Abschnitt von b2) genannten Koordinaten Straßenabschnitten einer digitalen Straßenkarte zuzuordnen und die betreffenden Straßenabschnitte in eine bei der Recheneinrichtung vorgesehene oder damit in Verbindung stehende Straßen-Problemstellen-Datenbank einzutragen oder darin zu belassen.

According to a first advantageous development of the invention, the system comprises a plurality of navigation satellite-based position-determining devices each having a sensor for receiving signals sent by navigation satellites of a global navigation satellite system, each of the position-determining devices being associated with another vehicle, and wherein

• a) each position determining device is adapted to carry out during a journey of the vehicle assigned to a plurality of successive, taken at predetermined time intervals or predetermined distance covered distances capturing the signals received by their sensor of navigation satellites resulting from the signals received at each detection To determine coordinates of their associated vehicle, and to transmit the determined coordinates together with data relating to the measurement accuracy of the received signals and data relating to the time of each detection by means of mobile radio to the computing device, and
• b) the computing device is set up to
• b1) the coordinates of each vehicle transmitted to them
• To verify, under comparison with digital road data, whether the real measurement error in at least one of the acquisitions is greater than the measurement error to be expected from the data relating to the measurement accuracy of the received signals,
• To check whether navigation satellite shadowing has occurred in at least one of the detections of the respective position-determining device, such that only the signals of three or less of the navigation satellites were received simultaneously or only the signals of three or less navigation satellites with a signal-to-noise ratio; Ratio greater than a predetermined signal-to-noise ratio, and / or
• - to check, under comparison with digital road data, whether an apparent position jump of the respective vehicle occurred during the surveys, and
• b2) the coordinates at which the real measurement error is greater than the measurement error expected from the data related to the measurement accuracy of the received signals at which such navigation satellite signal shadowing has occurred that only the signals from three or less of the navigation satellites have been received simultaneously in which such navigation satellite signal shadowing has occurred that only the signals from three or less of the navigation satellites having a signal-to-noise ratio greater than a predetermined signal-to-noise ratio and / or an apparent one are received simultaneously Position jump of the respective vehicle is made to enter or leave in a provided in the computing device or related coordinate problem database and / or assign the above-mentioned in section b2) coordinates road sections of a digital road map u and enter or leave the respective road sections in or on a road problem database provided or associated with the computing device.

According to this first advantageous embodiment of the invention, when data of a plurality of acquisitions from a plurality of vehicles are transmitted to the computing device, it is generally not only expected that greater geographical coverage will be achieved than if only the data of a single vehicle is transmitted but with high probability often new data are transmitted with respect to the same coordinates or sections of the road, ie H. it also increases the "update frequency" with respect to the problem areas. As a result, problem areas can be continuously validated by the new motion paths and problem areas can be determined with high quality. According to this development, the (re) usability of so-called FloatingCarData from swarm data functions is thus (also) made possible.

According to a second advantageous development of the invention, the position determination device is further set up for this purpose or the position determination devices are further configured to transmit data for unambiguous assignment of the transmitted data to the respective position determination device by means of mobile radio to the computing device.

According to a third advantageous development of the invention, the computing device is further configured to be able to transmit data from the coordinate problem database and / or the road problem database to the position determination device, the position determination devices and / or at least one other vehicle-side terminal by means of their communication device , This has the advantage that these data can be used directly in each of the receiving vehicles for the control and / or regulation of vehicle-mounted devices and methods. For example, the received data can be used to improve navigation-satellite-assisted navigation (with or without data fusion), to activate and deactivate sensor devices (such as those by means of which position determination can be carried out alternatively or additionally to a navigation satellite-supported position-finding device) and / or Control and / or regulation of other on-board facilities (such as facilities for the output of visual, audible and / or haptic indications and / or warnings) are used.

Further advantages result if, as is provided according to yet another advantageous embodiment of the invention, the computing device is further configured to enter or leave the coordinates entered in the problem database and / or those entered in the road problem database leave road sections with data relating to a given at the time of the respective detection at the respective coordinates or road sections, but limited in time, terrestrial or atmospheric state and in the case of registered or left coordinates and / or road sections in a change or omission of the At the time of the respective detection, it is to be expected that the actual measurement error will be equal to or less than the measurement error to be expected from the data with respect to the measurement accuracy of the received signals The signals from four or more of the navigation satellites are simultaneously received, the signals from four or more of the navigation satellites with a signal-to-noise ratio are received simultaneously, which is greater than a predetermined signal-to-noise ratio and / or no apparent position jump more of the vehicle, to provide the relevant coordinates in the coordinate problem database and / or the respective road sections in the street problem database with a time-limited or atmospheric state specific validity mark.

Furthermore, according to the present invention, it can be provided in an advantageous manner that the computing device is also set up to provide coordinates with a time-limited validity mark in the coordinate problem database and / or road sections in the road problem database after the end of the to delete the validity period from the problem database.

Once detected problem areas Navigation satellite-based position determination can exist over a very long period of time (for example due to natural conditions, such as in the area of mountain valleys) or only for a limited period of time.

As an example of a problem site with only a limited validity (existence), a construction site can be mentioned, in which, for example. By the installation of one or more cranes a special, temporary "terrestrial state" results (ie, a state is located on the ground there or results there, with a certain area above the ground, to about 100, 200 or 300 m above the ground is still considered here as "terrestrial"), since cranes a shadowing or multipath propagation of the signals effect or enhance the navigation satellites. After the crane (s) is / are removed from the construction site after completion of the construction work, it is also to be expected that the "problem point" caused by the construction site is no longer present. If data concerning the location and the time frame during which the construction site exists are known, according to the present invention, the problem areas located in the database (s) can be compared with the "construction site data" and the problem site or problem areas attributable to the terrestrial State "construction site" is or are provided with a temporary validity mark (ie validity ends with the completion of the status "construction site") and optionally after the end of the respective temporal validity again deleted from the problem database.

Whether a problem site has arisen due to a construction site can be determined, for example, by a comparison between the time at which the problem site was first recognized and the time at which the construction site was set up (for example, the crane or cranes were set up) become. For this required "timestamp" for the individual problem areas can be stored in the or the databases together with the problem areas.

Similarly, navigation satellite-assisted positioning problems may also be caused by an atmospheric condition (ie, a condition at a distance above about 300 meters above the ground), such as rain, snow, thunderstorms, storms, etc. When data with respect to the location and time during which such a particular "atmospheric condition" existed, according to the present invention, the problem areas in the database (s) can be reconciled with the "atmospheric data" ("weather data") and the problem location or problem areas attributable to such "atmospheric condition" or are provided with an atmospheric state specific validity mark. For this purpose, the temporal occurrence and disappearance of problem areas with the appearance and decay of an atmospheric state (such as a rain, snowfall, thunderstorms, storms, etc.) can be adjusted.

If - as described below - data from the database or databases (coordinate problem database, road problem database) are transmitted to vehicles, so only currently valid "problem areas" can be transferred or it can be the problem areas with a time-limited or atmospheric state-specific validity mark.

In order to effect a transmission of data from the or the databases to the position-determining device (s), it can be provided according to a further advantageous development of the invention that the position-determining device is set up or the position-determining devices are set up at the beginning of a journey of the respective vehicle, during a journey of the respective vehicle, after covering a predeterminable distance and / or at predeterminable time intervals by means of the respective communication device, the coordinates of the current position of the respective vehicle together with a request for transmission of data of the coordinate problem database and / or the roads Send the problem database to the computing device, and the computing device to be adapted to the respective vehicle by means of their communication device such in the coordinate problem database containing NEN coordinates and / or those contained in the road problem database containing road sections, which include the current position of the vehicle and a predetermined surrounding area around the current position of the vehicle.

This ensures that the currently required "problem site knowledge" in the terminal is always current. At the same time, the need for memory (About in the form of a random access memory memory) at the terminal (such as the position determining device) are kept small, since only those problem areas are transmitted to the terminal that are currently relevant to the vehicle and in the near future. Even in the case where the problem areas of some request / response processes (eg 2, 3, 4) are to be stored in the vehicle, there is only comparatively little working memory compared with a national, continental or even worldwide problem database required for this.

• – in einer dem Fahrzeug zugeordneten Speichereinrichtung zu speichern (etwa auf einem Flash-Speicher) und/oder
• – wenigstens einer anderen fahrzeugseitigen Einrichtung zur Verfügung zu stellen.

Furthermore, the position-determining device or the position-determining devices can also be set up to transmit coordinates from the coordinate problem database and / or road sections from the road problem site database transmitted to it by the computing device

• - Store in a vehicle associated memory device (such as on a flash memory) and / or
• - to provide at least one other vehicle-side device.

The at least one other vehicle-side device may be, for example, a navigation satellite-based navigation system assigned to the vehicle, a device for outputting visual, audible and / or haptic information and / or warnings, and / or a vehicle-side control device. Of course, the present invention is not limited to the said devices and the methods practicable therewith, but the data available in the vehicle regarding location-related problem areas of navigation satellite-supported position determination can be used for all devices and methods in which the use of such data is known to a person skilled in the art or because of his specialist knowledge seems possible and sensible. Of course, the received data can also be used by the position-determining device or the position-determining devices themselves.

Furthermore, according to the present invention, provision can advantageously be made for the system to have the position-determining device set up or for the position-determining devices to be used to replace the coordinates and / or road sections present in the respective vehicle and those transferred by the computing device which are transmitted after a request from the computing device to the respective position-determining device.

This can be achieved that the need for memory and / or storage capacity in the terminal for the "problem areas" can be kept very small and that is ensured by the complete replacement of each newly transmitted data against the existing data that only as current as possible "Problem Point Data" is present and used on the vehicle.

The present invention also encompasses a method for determining and storing location-related problem areas of navigation satellite-supported position determination by means of a vehicle-assigned, navigation satellite-supported position-determining device having a sensor for receiving signals transmitted by navigation satellites of a global navigation satellite system, and an off-vehicle, digital one Computing device, wherein the position-determining device and the computing device each have a communication device or are connected to it, with which they can transmit data by means of mobile communications.

• a) durch die Positionsbestimmungseinrichtung
• a1) Durchführen einer Mehrzahl an aufeinanderfolgenden, in vorgegebenen Zeitabständen oder nach vorgegebenen zurückgelegten Streckenlängen erfolgenden Erfassungen der von dem Sensor empfangenen Signale von Navigationssatelliten während einer Fahrt des Fahrzeugs, und
• a2) Ermitteln der sich aus den bei jeder Erfassung empfangenen Signalen ergebenden Koordinaten des Fahrzeugs, und Übertragen der ermittelten Koordinaten zusammen mit Daten bezüglich der Messgenauigkeit der empfangenen Signale, Daten bezüglich des Zeitpunkts einer jeden Erfassung sowie wahlweise Daten zur eindeutigen Zuordnung der übertragenen Daten zu der Positionsbestimmungseinrichtung durch die Positionsbestimmungseinrichtung mittels Mobilfunk zu der Recheneinrichtung, und
• b) durch die Recheneinrichtung
• b1) Überprüfen der an sie übertragenen Koordinaten durch die die Recheneinrichtung
• – unter Abgleich mit digitalen Straßendaten dahin, ob der reale Messfehler bei wenigstens einer der Erfassungen größer als der aus den Daten bezüglich der Messgenauigkeit der empfangenen Signale zu erwartende Messfehler ist,
• – ob bei wenigstens einer der Erfassungen eine Navigationssatelliten-Signalabschattung aufgetreten ist, derart dass nur die Signale von drei oder weniger der Navigationssatelliten gleichzeitig empfangen wurden oder nur die Signale von drei oder weniger Navigationssatelliten mit einem Signal-Rausch-Verhältnis gleichzeitig empfangen wurden, das größer ist als ein vorgegebenes Signal-Rausch-Verhältnis, und/oder
• – unter Abgleich mit digitalen Straßendaten, ob während den Erfassungen ein scheinbarer Positions-Sprung des Fahrzeugs erfolgt ist, und
• b2) Eintragen oder Belassen der Koordinaten, bei denen der reale Messfehler größer als der aus den Daten bezüglich der Messgenauigkeit der empfangenen Signale zu erwartende Messfehler ist, bei denen eine solche Navigationssatelliten-Signalabschattung aufgetreten ist, dass nur die Signale von drei oder weniger der Navigationssatelliten gleichzeitig empfangen wurden, bei denen eine solche Navigationssatelliten-Signalabschattung aufgetreten ist, dass nur die Signale von drei oder weniger der Navigationssatelliten mit einem Signal-Rausch-Verhältnis gleichzeitig empfangen wurden, das größer ist als ein vorgegebenes Signal-Rausch-Verhältnis, und/oder bei denen ein scheinbarer Positions-Sprung des Fahrzeugs erfolgt ist, in eine bei der Recheneinrichtung vorgesehene oder damit in Verbindung stehende Koordinaten-Problemstellen-Datenbank, und/oder Zuordnen der im vorstehenden Abschnitt von b2) genannten Koordinaten Straßenabschnitten einer digitalen Straßenkarte und Eintragen oder Belassen der betreffenden Straßenabschnitte in eine bei der Recheneinrichtung vorgesehene oder damit in Verbindung stehende Straßen-Problemstellen-Datenbank.

The method according to the present invention comprises the following steps:

• a) by the position-determining device
• a1) performing a plurality of successive, at predetermined time intervals or after predetermined distance covered distances taking place the signals received by the sensor of navigation satellites during a travel of the vehicle, and
• a2) determining the coordinates of the vehicle resulting from the signals received at each detection, and transmitting the determined coordinates together with data on the measurement accuracy of the received signals, data on the timing of each detection, and optionally data for uniquely assigning the transmitted data to the Position determination device by the position determination device by means of mobile radio to the computing device, and
• b) by the computing device
• b1) checking the coordinates transmitted to them by the computing device
• In comparison with digital road data, determining whether the real measurement error in at least one of the acquisitions is greater than the measurement error to be expected from the data relating to the measurement accuracy of the received signals,
• - Whether at least one of the observations a navigation satellite signal shadowing has occurred, so that only the signals of three or less of the navigation satellites were received simultaneously or receive only the signals of three or less navigation satellites with a signal-to-noise ratio simultaneously were greater than a predetermined signal-to-noise ratio, and / or
• In comparison with digital road data, whether during the surveys an apparent position jump of the vehicle has taken place, and
• b2) inputting or leaving the coordinates at which the real measurement error is greater than the measurement error expected from the data regarding the measurement accuracy of the received signals at which such navigation satellite signal shading has occurred that only the signals from three or less of the navigation satellites received simultaneously at which such navigation satellite signal shadowing has occurred that only the signals from three or less of the navigation satellites having a signal-to-noise ratio greater than a predetermined signal-to-noise ratio have been received simultaneously and / or where an apparent position jump of the vehicle has occurred, to a coordinate problem database provided or related to the calculator, and / or assigning the coordinates mentioned in the previous section of b2) to road sections of a digital road map and entry or loading sen of the respective road sections in a provided at the computing device or related road problem database.

Also encompassed by the present invention are all other methods, which are based on the claims directed to the system of the present invention and its advantageous developments, the description of the system and its advantageous developments and refinements, the following description of a preferred embodiment and the figures and the Figure description for a skilled person readily apparent.

The present invention will be explained in more detail with reference to the accompanying drawings.

Showing:

1 An exemplary detection of a movement path of a vehicle by a juxtaposition of the positions from the GNSS measurements;

2 an example transmission of the detected movement path from the vehicle to a server;

3 an exemplary determination of problem areas at the server;

4 , an exemplary and graphically aggregated road problem site aggregation in a road problem database;

5 an exemplary transmission of a relevant problem areas area by online request of a vehicle-side terminal and transmission of the relevant problem areas area by the server.

The illustrations in the figures are purely schematic and not to scale. Within the figures, the same or similar elements are provided with the same reference numerals.

The embodiments explained below represent preferred embodiments of the present invention. Of course, the present invention is not limited to these embodiments.

The features and feature combinations mentioned in the above description as well as the features and feature combinations mentioned in the following description of embodiments, exemplary embodiments and the description of the figures and / or in the figures alone are not only in the respectively indicated combination, but also in other combinations or in Used alone, without departing from the scope of the present invention.

In the following, the present invention using the example of a motor vehicle 1 described. However, the present invention is not on motor vehicles 1 (Such as passenger cars, motorized bicycles and tricycles, trucks, buses, tracked vehicles, etc.) limited, but can be found in all known, non-rail-bound land and water vehicles use. Thus, for example, it is conceivable (and also encompassed by the scope of protection of the claims) that the present invention be applied to a bicycle with a mobile navigation device or mobile terminal with navigation function attached to it or carried by the operator of the bicycle (eg mobile phone, smartphone, tablet PC, PDA) is used. Also, the present invention can be applied to a watercraft, for example, a boat moving in a canal system of a city.

The description below with reference to a "motor vehicle" thus applies accordingly also to all other non-railbound land and water vehicles. Of course, as far as according to the present invention is spoken by "multiple vehicles", several different types of vehicles are included. For example, according to the present invention Coordinates of both motor vehicles 1 , as well as bicycles and boats to the same computing device 5 and data from the computing device 5 Of course, it can further be provided that of the computing device 5 only such data are transmitted to the respective vehicle type, which are of relevance for the respective vehicle type (for example, for a bicycle "problem point data" of motorways are unimportant and a normal boat does not need "problem location data" away from waterways).

The present invention is based in a simple case of a system that is a motor vehicle 1 associated navigation satellite-based position determining device 2 with a sensor 3 for receiving navigation satellites 4 . 4 ' of a global navigation satellite system emitted signals 14 . 14 ' , and an off-board digital computing device 5 comprising, wherein the position determining means 2 and the computing device 5 one communication device each 6 . 6 ' for the transmission of data by means of mobile radio (such as by means of a GSM radio standard, one of its further developments, UMTS, HSDPA, LTE, etc.) or are connected thereto.

Insofar as it is spoken in the present application, that the position determination device 2 the motor vehicle 1 "Assigned" is so not only a fixed in or on the motor vehicle 1 installed position determining device 2 but also, for example, a mobile navigation device located in or on the motor vehicle 1 located. This includes other mobile devices, such as a mobile phone, a smartphone, a PDA (Personal Digital Assistant), a tablet PC, a netbook, a notebook, etc. that have the ability to receive navigation satellites 4 . 4 ' of a global navigation satellite system emitted signals 14 . 14 ' and in the motor vehicle 1 are located.

The position determination device 2 is set to during a drive of the motor vehicle 1 a plurality of successive detections taken at predetermined time intervals or according to predetermined distance lengths from the sensor 3 received signals 14 . 14 ' from navigation satellites 4 . 4 ' resulting from the signals received at each acquisition 14 . 14 ' resulting coordinates 9 of the motor vehicle 1 to determine and the coordinates determined 9 together with data regarding the measurement accuracy of the received signals 14 . 14 ' and data relating to the timing of each mobile radio acquisition to the computing device 5 transferred to. The transmission to the computing device 5 can take place continuously or after in each case a prescribable number of acquisitions (for example 5, 10, 20 or 30) as a "discrete data packet". By means of the mobile radio devices 6 . 6 ' can a (possibly encrypted) network connection (for example, an Internet connection) between the vehicle (or the position-determining device 2 ) and the computing device 6 be produced and the data transmitted over this network.

The majority of successive acquisitions may in the simplest case be two consecutive acquisitions, however, as in 1 is shown schematically - take a greater number of observations, up to a large number of observations in the course of a journey or during a journey of the motor vehicle 1 ,

As far as in the 1 . 2 and 3 a dashed line between the determined coordinates 9 is shown (of which in the figures for clarity, only two in each case with the reference numeral 9 are provided), this dashed line is only the determined by means of GNSS measurements apparent movement of the motor vehicle 1 make it visually clearer so that deviations from the real vehicle path ("ground truth") 10 are easier to see for the viewer of the figures. According to the invention, however, it is not necessary (but optionally possible) that of the position-determining device 2 next to the coordinates 9 also calculates an apparent motion sequence and to the computing device 5 is transmitted. Likewise, it may be provided that an apparent movement sequence from the computing device 5 is determined.

Is the vehicle located 1 at a problem site or in a problem zone where in a detection process only signals from so few (or no) navigation satellites can be received or only signals with such a bad "quality" that the position determination device 2 no coordinates of the vehicle assigned to it 1 can calculate or estimate, it can be provided or is advantageously provided that instead of coordinates corresponding information ("measurement failure") with respect to the respective detection of the position determination device 2 to the computing device 5 is transmitted.

The temporal or spatial distances of the observations are not subject to any particular restriction and it may be provided that a continuous recording or quasi-continuous acquisitions are made. To those of the motor vehicle 1 to the vehicle external, digital computing device 5 To keep the amount of data to be transmitted as small as possible, is the position determination device 2 but advantageously set up or are - in a plurality of participating vehicles 1 - the position-determining devices 2 set up during a journey of the respective motor vehicle 1 two or more consecutive, at a constant time interval of 1, 2, 3, 4, 5, 6, 7, 8, 9 or 10 seconds or after each traveled distance of 2, 3, 4, 5, 6, 7, 8 , 9, 10, 15, 20, 25, 30, 40, 50, 60, 70, 80, 90 or 100 meters detections of the respective sensor 3 received signals 14 . 14 ' from navigation satellites 4 . 4 ' to perform, ie, after each discrete temporal or spatial distance, and the resulting data to the computing device 5 transferred to. Alternatively, however, it can also be provided in an advantageous manner that the position-determining device (s) 2 continuous or quasi-continuous (ie at very short time intervals of, for example, 0.1 s, 0.2 s, 0.3 s, 0.4 s, 0.5 s or very short route sections of, for example, 0.1 m, 0.2m, 0.3m, 0.4m, 0.5m, 0.6m, 0.7m, 0.8m, 0.9m, 1.0m) and only the data of the captures to the computing device 5 which correspond to the above-mentioned time intervals or the distances indicated above.

In a plurality of participating position determining devices 2 can also be provided that the temporal or spatial distance of the surveys, their data to the computing device 5 be transmitted to the various position-determining devices 2 is different.

Also, the transmission of the data from the motor vehicle 1 to the external computing device 5 take place at discrete time intervals (for example at intervals of one 30 seconds, one minute, two minutes, three minutes, four minutes, five minutes, etc.), in which case optionally the data relating to a plurality of acquisitions is determined by means of a "data packet" can be transmitted. For a majority of positioning devices 2 can of course be provided that the data transmission at the individual position determining devices 2 is different, for example, takes place after different time intervals.

The system according to the present invention comprises only a single position determining device 2 , so it is not necessary - but optionally possible that the position determining device 2 is also set up data for the unique assignment of the transmitted data to the position-determining device 2 by means of mobile communication to the computing device 5 transferred to.

The system according to the present invention comprises a plurality of position determining means 2 so it is not necessary - but optionally possible that the position-determining devices 2 are also adapted to data for the unique assignment of the transmitted data to the respective position-determining device 2 by means of mobile communication to the computing device 5 to transmit, if in a transmission process of a position-determining device 2 the data are transmitted with respect to at least two acquisitions, since in each case one of a plurality of acquisitions of each position-determining device takes place in temporal and / or spatial sequence 2 to the computing device 5 what is the execution of the mentioned tasks by the computing device 5 is sufficient.

The system according to the present invention comprises a plurality of position determining means 2 and if only the data of a single acquisition is transmitted to the computing device in a transmission process, it is necessary that the relevant position-determining device (s) 2 is also set up / are, data for unambiguous assignment of the transmitted data to the respective position determination device 2 by means of mobile communication to the computing device 5 because only so an assignment of a plurality of acquisitions to the respective position determination device 2 is possible.

The assignment of the transmitted data to a position determination device 2 For example, for reasons of data protection, it can be anonymized in a manner known to the person skilled in the art, for example by means of an anonymous ID.

As in 1 is shown schematically, by means of the satellite 4 . 4 ' a global navigation satellite system emitted signals 14 . 14 ' (ie the coordinates determined by GNSS measurements) 9 partly significant from the real vehicle path ("ground truth") 10 differ.

Such deviations occur at "problem sites" where GNSS measurements are given with incorrect measurement error values. For example. For example, many successive acquisitions may be made along an urban canyon or a row of houses where the position-determining device 2 from the received signals from navigation satellites 4 . 4 ' Coordinates of the vehicle 1 can be calculated. However, in the case of street canyons or rows of houses, multipath propagation of the satellite signals may deviate the measurement from reality (see 3 , Drift 11 ), ie the actual measuring error becomes larger, but the indication of the measuring error from the sensor 3 stay constant. Such a "drift" is without matching with digital Road maps difficult to recognize, since apparently there is a continuous movement, as it corresponds to that along a road.

Also rides through tunnels 12 may be problem areas for satellite-based localization, as satellite signal shadowing measurement failures and / or invalid position jumps (see 3 , invalid position jump 13 ) occur in the measurements.

For indicating the measuring error or the measuring accuracy from the sensor 3 information may be used or the information used by GNSS positioning devices in accordance with known transmission standards (e.g. NMEA standard 0180 ) to provide. So the mentioned includes NMEA standard 0180 For example, the data set "GBS", which contains among other things the information "Expected error in latitude", "Expected error in longitude" and "Expected error in altitude". The "GSA" dataset of the said standard comprises among others the information "PDOP in meters", "HDOP in meters" and "VDOP in meters" (PDOP = Horizontal Dilution of Precision; VDOP = Vertical Dilution of Precision ); and the "GSV" dataset includes the information "satellites in view" and "SNR in dB" (SNR = signal-to-noise ratio).

Advantageously, according to the present invention, not only GNSS data from a motor vehicle 1 and to the external computing device 5 but transmitted by a plurality of motor vehicles 1 , This results in an advantageous manner usually not only a larger geographical coverage for the detection of problem areas, but it can from the large number of overlapping motion paths of different vehicles 1 Problem areas can also be determined with high quality. In addition, the problem areas can be validated by new motion paths in short time intervals. This also makes (re) usability of so-called FloatingCarData possible from swarm data functions.

• – unter Abgleich mit digitalen Straßendaten dahin überprüft, ob der reale Messfehler bei wenigstens einer der Erfassungen größer als der aus den Daten bezüglich der Messgenauigkeit der empfangenen Signale 14, 14' zu erwartende Messfehler ist, etwa ob sich aufgrund der empfangenen Signale eine Drift 11 ergibt oder eine unerwartet große Standardabweichung auftritt,
• – dahin überprüft, ob bei wenigstens einer der Erfassungen eine Navigationssatelliten-Signalabschattung (Navigationssatelliten-Signaldämpfung) aufgetreten ist, derart dass nur die Signale 14, 14' von drei oder weniger der Navigationssatelliten 4, 4' gleichzeitig empfangen wurden oder nur die Signale 14, 14' von drei oder weniger Navigationssatelliten 4, 4' mit einem Signal-Rausch-Verhältnis gleichzeitig empfangen wurden, das größer ist als ein vorgegebenes Signal-Rausch-Verhältnis, und/oder
• – unter Abgleich mit digitalen Straßendaten dahin überprüft, ob während den Erfassungen ein scheinbarer Positions-Sprung 13 des Kraftfahrzeugs 1 erfolgt ist.

The to the computing device 5 transmitted coordinates 9 according to the present invention by the computing device 5 .

• - Verifies, under comparison with digital road data, whether the real measurement error in at least one of the acquisitions greater than that from the data with respect to the accuracy of the received signals 14 . 14 ' expected measurement error is, for example, whether due to the received signals a drift 11 results or an unexpectedly large standard deviation occurs,
• - Checks whether at least one of the observations a navigation satellite signal shading (navigation satellite signal attenuation) has occurred, so that only the signals 14 . 14 ' of three or less of the navigation satellites 4 . 4 ' were received at the same time or only the signals 14 . 14 ' of three or less navigation satellites 4 . 4 ' were received simultaneously with a signal-to-noise ratio greater than a predetermined signal-to-noise ratio, and / or
• - checked against digital road data to see if there is an apparent position jump during the acquisitions 13 of the motor vehicle 1 is done.

The "predetermined signal-to-noise ratio" will suitably be selected by a person skilled in the art. Under normal reception conditions, GPS operates at a signal-to-noise ratio C / N ₀ in the range of 41 to 45 dBHz (C = carrier energy, N ₀ = noise power density). Among other things, depending on the sensor used 3 and at the position determining device 2 used hardware and software (GPS chip), a signal-to-noise ratio can be specified, from which the signals 14 . 14 ' a navigation satellite 4 . 4 ' can still be used for a position determination (about 25 dBHz, 28 dBHz, 30 dBHz, 33 dBHz, 36 dBHz).

An "invalid position jump" 13 can be determined, for example, that based on the to the computing device 5 transmitted coordinates 9 apparently one for a motor vehicle 1 untypical or even impossible movement results. An example of an "invalid position jump" 13 is exemplary in 3 shown; the car 1 Here, in an otherwise continuous forward movement, it seems that suddenly not only does a backward movement occur, but it also moves away considerably from the actual course of the road. Another example of an "invalid position jump" 13 would be, for example, if the motor vehicle 1 on the basis of the transmitted data in a first acquisition and a third acquisition in the range of the real predetermined road course 10 However, at the second, temporally located between the first and third detection detection seems to be a real given road course 10 significantly different position held.

Checking the received coordinates 9 on problem spots can be at the computing device 5 automatically or semi-automatically. With respect to the computer programs and algorithms used for this purpose, there are no particular restrictions and it can all for this suitable computer programs and algorithms are used.

Detected problem areas, ie such coordinates 9 in which the real measurement error is greater than that from the data relating to the measurement accuracy of the received signals 14 . 14 ' expected measurement error is (ie where, for example, a drift 11 has been detected) in which such a navigation satellite signal shading (navigation satellite signal attenuation) has occurred that only the signals 14 . 14 ' of three or less of the navigation satellites 4 . 4 ' were received at the same time (up to a measurement failure) in which such a navigation satellite signal shading has occurred, that only the signals 14 . 14 ' of three or less of the navigation satellites 4 . 4 ' with a signal-to-noise ratio greater than a given signal-to-noise ratio (up to a measurement failure), and / or where there is an apparent position jump 13 of the motor vehicle 1 is done, are then in a at the computing device 5 provided or related coordinate problem database 7 registered or left in it (if a problem area already contained in the database has been validated by new data).

It is also possible that as an alternative or in addition to the coordinate problem database 7 a street problem database 7 ' created and / or maintained, and the coordinates mentioned in the immediately preceding paragraph 9 Road sections are assigned to a digital road map and the respective road sections in one at the computing device 5 intended or related road problem database 7 ' or left in it (a graphically prepared example of such a road problem database 7 ' or a snippet of such a road problem database 7 ' is in 4 shown).

The geographic coverage of the coordinate problem database 7 and / or the Road Problem Database 7 ' is not subject to any particular restriction and may also include all problem areas known worldwide. The database (s) 7 . 7 ' will be held for further use.

An example of a possible use of the database (s) 7 . 7 ' is in 4 shown schematically. For example, a transmission of a relevant problem area can be done by an online request / response process.

In this case, a position determination device 2 or even another vehicle-side terminal 8th (For example, a vehicle-side digital computing device, a "head unit") while transmitting its own current position on the computing device 5 (the server) a defined section of the problem database 7 . 7 ' from. This "defined section" can, for example, a certain radius around the position of the motor vehicle 1 include (about 50 km, 100 km, 150 km, etc.). This request may, for example, at predetermined intervals (for example, every 10 minutes, 20 minutes, 30 minutes, etc.) or after covering a predetermined distance (eg., 10 km, 20 km, 30 km, 40 km, 50 km, etc. ) respectively.

If a request is made by a "different vehicle-side terminal" 8th , the system according to this special embodiment also includes this terminal 8th ,

Due to the request transfers the computing device 5 the requested section from the problem database 7 . 7 ' to the motor vehicle 1 (or the position-determining device 2 or the terminal 8th ). The excerpt from the problem site database 7 . 7 ' can in the vehicle 1 held (for example, in a working memory) and / or stored (for example, in a flash memory, on a hard disk, etc.) are. A retention / storage may be longer term or limited in time. Thus, for example, it may be provided that after a renewed successful request / response process that was previously the case with the motor vehicle 1 existing excerpt from the problem site database 7 . 7 ' against the newly obtained excerpt from the problem database 7 . 7 ' is replaced. By the latter embodiment, on the one hand, the required memory requirement (in the main memory and / or in the storage device) in the motor vehicle 1 be kept small and at the same time contains the memory / storage device only a currently valid set of problem areas. As stated above, problem areas can "age", ie only occur temporarily, for example due to certain terrestrial (eg construction site) or atmospheric conditions (eg weather phenomena such as rain, snow, thunderstorms, storms).

It can thus be stated that, in accordance with the invention presented here, transmission of preferably concatenated GNSS measurements (including measurement accuracy) takes place as a path of movement of a vehicle (for example at regular time intervals) 1 or from a plurality of vehicles 1 to an off-board, digital computing device (server) 5 , on the part of the computing device 5 a (partially) automated analysis of problem areas is performed and detected problem areas are recorded and aggregated (kept). Also a (re) usability FloatingCarData from swarm data functions is possible.

With increasing number of vehicles 1 , the GNSS motion paths to the computing device 5 send, increases the geographical coverage for the detection of problem areas and the update frequency of the problem areas.

From a variety of overlapping motion paths of different vehicles 1 problem areas can be determined with high quality and the problem areas can be validated by new movement paths at short intervals.

By the Vorhalt of, possibly even world known problem areas on the computing device 5 or a database 7 . 7 ' to which the computing device 5 Has access, and the transmission of only the relevant problem areas area through an online request / response process between a vehicle 1 and the computing device 5 does not need a comprehensive onboard problem database 7 . 7 ' be held and eliminates a memory required for this purpose.

And by a transmission of a problem areas area at regular, especially regular time intervals is the problem site knowledge of the terminal (such as the position determination device 2 or another vehicle-side terminal 8th ) always up to date.

Briefly summarized, the present invention relates to a system and a method for the detection and storage of location-related problem areas of navigation satellite-supported position determination. According to the method of a position determination device 2 with a sensor 3 of a vehicle 1 during a drive of the vehicle 1 a plurality of successive detections taken at predetermined time intervals or according to predetermined distance lengths from the sensor 3 received signals 14 . 14 ' from navigation satellites 4 . 4 ' performed and among other things so determined coordinates 9 (And also the measurement failures) by means of a mobile radio equipment 6 to a vehicle-external computing device 5 transfer. From the computing device 5 become problematic coordinates 9 Navigation satellite-based positioning determined and this in one at the computing device 5 provided or related coordinate problem database 7 entered or left in, and / or it will be the problematic coordinates 9 Road sections associated with a digital road map and the respective road sections in one of the computing device 5 intended or related road problem database 7 ' registered or left in it.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• US 2012/0209519 A1 [0012]
• EP 2437232 A1 [0013]
• DE 102013018807 A1 [0014]

Cited non-patent literature

• NMEA standard 0180 [0070]
• NMEA standard 0180 [0070]

Claims (10)

System for determining and storing location-related problem areas Navigation satellite-supported position determination comprising a vehicle ( 1 ), navigation satellite-based position determining device ( 2 ) with a sensor ( 3 ) to receive from Navigation satellites ( 4 . 4 ' ) of a global navigation satellite system emitted signals ( 14 . 14 ' ), and an off-board, digital computing device ( 5 ), wherein the position determining device ( 2 ) and the computing device ( 5 ) each have a communication device ( 6 . 6 ' ) for the transmission of data by means of mobile radio or are connected thereto, characterized in that a) the position-determining device ( 2 ) is arranged during a journey of the vehicle ( 1 ) a plurality of successive detections taken at predetermined time intervals or according to predetermined route lengths by the sensor ( 3 ) received signals ( 14 . 14 ' ) of navigation satellites ( 4 . 4 ' ) resulting from the signals received at each acquisition ( 14 . 14 ' ) resulting coordinates ( 9 ) of the vehicle ( 1 ) and the determined coordinates ( 9 ) together with data regarding the measurement accuracy of the received signals ( 14 . 14 ' ) and data relating to the time of each detection by means of mobile radio to the computing device ( 5 ) and b) the computing device ( 5 ) is set up, b1) the coordinates transmitted to it ( 9 ) - to check, under comparison with digital road data, whether the real measurement error in at least one of the acquisitions is greater than that of the data relating to the measurement accuracy of the received signals ( 14 . 14 ' ) is to be checked to see whether at least one of the detections a navigation satellite signal shadowing has occurred, so that only the signals ( 14 . 14 ' ) of three or less of the navigation satellites ( 4 . 4 ' ) or only the signals ( 14 . 14 ' ) of three or less navigation satellites ( 4 . 4 ' ) were received simultaneously with a signal-to-noise ratio greater than a predetermined signal-to-noise ratio, and / or - to check, while matching with digital road data, whether there was an apparent position jump during the acquisitions ( 13 ) of the vehicle ( 1 ) and b2) the coordinates ( 9 ), in which the real measurement error is greater than that from the data relating to the measurement accuracy of the received signals ( 14 . 14 ' ) is to be expected measurement errors in which such a navigation satellite signal shadowing has occurred that only the signals ( 14 . 14 ' ) of three or less of the navigation satellites ( 4 . 4 ' ) were received at the same time, where such a navigation satellite signal shading has occurred that only the signals ( 14 . 14 ' ) of three or less of the navigation satellites ( 4 . 4 ' ) were received simultaneously with a signal-to-noise ratio that is greater than a predetermined signal-to-noise ratio, and / or in which an apparent position jump ( 13 ) of the vehicle ( 1 ) has taken place, in one at the computing device ( 5 ) or related coordinate problem database ( 7 ), and / or - the coordinates mentioned in the previous section of b2) ( 9 ) Assign road sections to a digital road map and route the relevant road sections to a computer ( 5 ) or related road problem database ( 7 ' ) or to be left in it. System according to claim 1, characterized in that it comprises a plurality of navigation satellite-based position-determining devices ( 2 ) with one sensor each ( 3 ) for receiving navigation satellites ( 4 . 4 ' ) of a global navigation satellite system emitted signals ( 14 . 14 ' ), each of the position determining devices ( 2 ) another vehicle ( 1 ) and wherein a) each position-determining device ( 2 ) is arranged during a journey of the vehicle assigned to it ( 1 ) a plurality of successive, at predetermined time intervals or after a given distance traveled recordings made by their sensor ( 3 ) received signals ( 14 . 14 ' ) of navigation satellites ( 4 . 4 ' ) resulting from the signals received at each acquisition ( 14 . 14 ' ) resulting coordinates ( 9 ) of the vehicle assigned to it ( 1 ) and the determined coordinates ( 9 ) together with data regarding the measurement accuracy of the received signals ( 14 . 14 ' ) and data relating to the time of each detection by means of mobile radio to the computing device ( 5 ) and b) the computing device ( 5 ) is set up, b1) the coordinates transmitted to it ( 9 ) of each vehicle ( 1 ) - to check, under comparison with digital road data, whether the real measurement error in at least one of the acquisitions is greater than that of the data relating to the measurement accuracy of the received signals ( 14 . 14 ' ) is to be checked to see whether at least one of the detections of the respective position-determining device ( 2 ) a navigation satellite signal shadowing has occurred, such that only the signals ( 14 . 14 ' ) of three or less of the navigation satellites ( 4 . 4 ' ) or only the signals ( 14 . 14 ' ) of three or less navigation satellites ( 4 . 4 ' ) were received simultaneously with a signal-to-noise ratio which is greater than a predetermined signal-to-noise ratio, and / or - to check whether, during the acquisitions, an apparent positional jump of the respective vehicle (in comparison with digital road data) 1 ) and b2) the coordinates ( 9 ), in which the real measurement error is greater than that from the data relating to the measurement accuracy of the received signals ( 14 . 14 ' ) is to be expected measurement errors in which such a navigation satellite signal shadowing has occurred that only the signals ( 14 . 14 ' ) of three or less of the navigation satellites ( 4 . 4 ' ) were received at the same time, where such a navigation satellite signal shading has occurred that only the signals ( 14 . 14 ' ) of three or less of the navigation satellites ( 4 . 4 ' ) were received simultaneously with a signal-to-noise ratio that is greater than a predetermined signal-to-noise ratio and / or in which an apparent position jump ( 13 ) of the respective vehicle ( 1 ) has taken place, in one at the computing device ( 5 ) or related coordinate problem database ( 7 ), and / or - the coordinates mentioned in the previous section of b2) ( 9 ) Assign road sections to a digital road map and route the relevant road sections to a computer ( 5 ) or related road problem database ( 7 ' ) or to be left in it. System according to claim 1 or 2, characterized in that the position-determining device ( 2 ) is further arranged or the position-determining devices ( 2 ) are further adapted to provide data for the unique assignment of the transmitted data to the respective position determining device ( 2 ) by means of mobile radio to the computing device ( 5 ) transferred to. System according to one of the preceding claims, characterized in that the computing device ( 5 ) is further adapted to store data of the coordinate problem database ( 7 ) and / or the road problem database ( 7 ' ) to the position-determining device ( 2 ), the position determining devices ( 2 ) and / or another vehicle-side terminal ( 8th ) by means of its communication device ( 6 ' ) to be transmitted. System according to one of the preceding claims, characterized in that the computing device ( 5 ) is further adapted to the coordinates entered or left in the problem database ( 9 ) and / or in the road problem database ( 7 ' ) registered or left road sections with data relating to one at the time of each acquisition at the respective coordinates ( 9 ) or road sections, terrestrial or atmospheric state, and in the case of registered or 9 ) and / or road sections in the event of a change or omission of the terrestrial or atmospheric state given at the time of the respective detection, it is to be expected that the real measurement error is equal to or less than that from the data relating to the measurement accuracy of the received signals ( 14 . 14 ' ) is to be expected measurement errors, the signals ( 14 . 14 ' ) of four or more of the navigation satellites ( 4 . 4 ' ) are received simultaneously, the signals ( 14 . 14 ' ) of four or more of the navigation satellites ( 4 . 4 ' ) are received simultaneously with a signal-to-noise ratio that is greater than a predetermined signal-to-noise ratio and / or no apparent position jump ( 13 ) of the vehicle ( 1 ), the relevant coordinates ( 9 ) in the coordinate problem database ( 7 ) and / or the road sections concerned in the road problem database ( 7 ' ) with a time-limited or atmospheric state-specific validity mark. System according to claim 5, characterized in that the computing device ( 5 ) is set up to provide coordinates with a time-limited validity mark ( 9 ) in the coordinate problem database ( 7 ) and / or road sections in the road problem database ( 7 ' ) after the end of the respective temporal validity from the problem database. System according to one of the preceding claims, characterized in that the position-determining device ( 2 ) or the position-determining devices ( 2 ) are set up at the beginning of a journey of the respective vehicle ( 1 ) during a journey of the respective vehicle ( 1 ), after covering a predefinable distance and / or at predeterminable time intervals by means of the respective communication device ( 6 ) the coordinates of the current position of the respective vehicle ( 1 ) together with a request for a transmission of data of the coordinate problem database ( 7 ) and / or the road problem database ( 7 ' ) to the computing device ( 5 ), and the computing device ( 5 ) is adapted, by means of its communication device ( 6 ' ) to the respective vehicle ( 1 ) those in the coordinate problem database ( 7 ) contained coordinates ( 9 ) and / or those in the road problem database ( 7 ' ) contained road sections transmit the current position of the vehicle ( 1 ) and a predeterminable surrounding area around the current position of the vehicle ( 1 ). System according to claim 7, characterized in that the position-determining device ( 2 ) is adapted to it from the computing device ( 5 ) transmitted coordinates ( 9 ) from the coordinate problem database ( 7 ) and / or road sections from the road problem database ( 7 ' ) - in a vehicle ( 1 ) to store assigned memory device and / or - to provide at least one other vehicle-side device available. System according to claim 8, characterized in that the position-determining device ( 2 ) is set up to transfer the coordinates ( 9 ) and / or road sections in each case to be replaced by those according to a request according to claim 7 of the computing device ( 5 ) to the position-determining device ( 2 ) be transmitted. Method for determining and storing location-related problem areas Navigation satellite-supported position determination by means of a vehicle-assigned, navigation satellite-based position-determining device with a sensor for receiving signals sent by navigation satellites of a global navigation satellite system, and an off-board digital computing device, wherein the position determination device and the computing device each have a communication device or are connected to it, with which they can transmit data by means of mobile radio, comprising the following steps: a) by the position-determining device a1) performing a plurality of successive, at predetermined time intervals or after predetermined distance covered distances taking place the signals received by the sensor of navigation satellites during a travel of the vehicle, and a2) determining the coordinates of the vehicle resulting from the signals received at each detection, and transmitting the determined coordinates together with data on the measurement accuracy of the received signals, data on the timing of each detection, and optionally data for uniquely assigning the transmitted data to the Position determination device by the position determination device by means of mobile radio to the computing device, and b) by the computing device b1) checking the coordinates transmitted to them by the computing device In comparison with digital road data, determining whether the real measurement error in at least one of the acquisitions is greater than the measurement error to be expected from the data relating to the measurement accuracy of the received signals, - Whether at least one of the observations a navigation satellite signal shadowing has occurred, so that only the signals of three or less of the navigation satellites were received simultaneously or only the signals of three or less navigation satellites were received with a signal-to-noise ratio, the greater is as a predetermined signal-to-noise ratio, and / or In comparison with digital road data, whether during the surveys an apparent position jump of the vehicle has taken place, and b2) entering or leaving the coordinates at which the real measurement error is greater than the measurement error to be expected from the data related to the measurement accuracy of the received signals at which such navigation satellite signal shadowing has occurred that only the signals from three or less of the navigation satellites received simultaneously at which such navigation satellite signal shadowing has occurred that only the signals from three or less of the navigation satellites having a signal-to-noise ratio greater than a predetermined signal-to-noise ratio have been received simultaneously and / or in which an apparent position jump of the vehicle has taken place, in a provided in the computing device or related coordinate problem database, and / or Assigning the coordinates mentioned in the previous section of b2) to road sections of a digital road map and registering or leaving said road sections in a road problem database provided or related to the computing device.

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