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141.发明公开
公开(公告)号：EP3482228A1
公开(公告)日：2019-05-15
申请号：EP17761622.4
申请日：2017-08-04
申请人： BlackBerry Limited
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142.发明授权
公开(公告)号：EP3032279B1
公开(公告)日：2019-03-20
申请号：EP14196812.3
申请日：2014-12-08
发明人： Lukcin, Ivana , Rügamer, Alexander
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公开(公告)号：EP3226587B1
公开(公告)日：2019-02-20
申请号：EP14908155.6
申请日：2014-12-17
发明人： LU, Henghui , LONG, Shuiping , CHEN, Xiaochen
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公开(公告)号：EP3374798A1
公开(公告)日：2018-09-19
申请号：EP16810238.2
申请日：2016-11-10
CPC分类号： G01S19/423 , G01S19/20 , G01S19/33 , G01S19/36 , G01S19/426
摘要： The invention relates to a 1st system (3) for receiving and processing satellite signals from satellites of global navigation systems, particularly for a vehicle (F), with a signal path (P1, P2) having: – a signal conditioning unit (4, 5, 104, 105) for conditioning received satellite signals, an analysis unit (6, 106) for analysing the conditioned satellite signals, and – a position finding unit (7, 107) for ascertaining measured values (M1, M2), comprising an ego position (Pos1, Pos2), ego speed (v1, v2) and/or a satellite time (t1, t2), using the satellite signals (S) provided by the analysis unit (6, 106), characterized in that the system (3) has two separate signal paths (P1, P2) that each process mutually independent satellite signals (S) to produce a position (P). The invention also relates to a corresponding method.
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公开(公告)号：EP3130945B1
公开(公告)日：2018-05-02
申请号：EP15180639.5
申请日：2015-08-11
发明人： Thiel, Christian , Barnard, Paul , Herbst, James , Lenninger, Ralf Johannes , Försterling, Frank
CPC分类号： G01S19/48 , G01C21/30 , G01C21/3602 , G01S19/40 , G01S19/42
摘要： A method and a system for precision vehicle positioning based on a digital road description database containing fourth data sets with object-based information about at least one of a road object, a road furniture object and a geographic object is disclosed. First data sets based on the fourth data sets are forwarded to a vehicle. The vehicle is collecting ambient data like images along its path, generating second data sets comprising at least location information and detailed object-based information. During driving and after generating second data sets, the vehicle tries to identify in the second data sets the same driving-relevant objects and/or object reference points and/or groups of driving-relevant objects and/or object reference points as are contained in the first data sets. Furthermore, the vehicle aligns the same driving-relevant objects and/or object reference points and/or groups of driving-relevant objects and/or object reference points between the second data sets and the first data sets, and derives a position value for its own position.
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公开(公告)号：EP3287811A1
公开(公告)日：2018-02-28
申请号：EP15889713.2
申请日：2015-10-13
发明人： CHEN, Kongzhe , GAO, Qingyu , HU, Gang , LI, Tao , ZHANG, Sijing
IPC分类号： G01S19/42
摘要： A method and device for GNSS point positioning, including: creating a dynamic model and an observation model of Kalman filtering respectively; acquiring a first predicted status value and a variance matrix for the first predicated status value respectively on basis of the created dynamic model and observation model; calculating a gain matrix based on the acquired variance matrix for the first predicted status value, the design matrix and the observation error variance matrix; calculating a second predicted status value based on the acquired first predicted status value, the design matrix, an observation value and the gain matrix; calculating a variance matrix for the second predicated status value based on the acquired variance matrix for the first predicated status value, the gain matrix and the design matrix; acquiring a smoothed velocity; calculating a next-moment status value and a variance matrix for the next-moment status value based on the acquired smoothed velocity, the second predicted status value and the variance matrix for the second predicted status value.
摘要翻译： 一种GNSS点定位的方法和装置，包括：分别建立卡尔曼滤波的动态模型和观测模型; 基于所创建的动态模型和观测模型分别获取第一预测状态值的第一预测状态值和方差矩阵; 基于所获取的用于第一预测状态值的方差矩阵，设计矩阵和观测误差方差矩阵来计算增益矩阵; 基于所获取的第一预测状态值，设计矩阵，观测值和增益矩阵来计算第二预测状态值; 基于所获取的第一预测状态值，增益矩阵和设计矩阵的方差矩阵，计算第二预测状态值的方差矩阵; 获取平滑速度; 基于获取的平滑速度，第二预测状态值和第二预测状态值的方差矩阵，计算下一时刻状态值的下一时刻状态值和方差矩阵。
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公开(公告)号：EP2872922B1
公开(公告)日：2017-11-15
申请号：EP13741955.2
申请日：2013-07-16
发明人： LIU, Jie , JIN, Yuzhe , PRIYANTHA, Nissanka Arachchige Bodhi , HART, Edward , DE PAULA, Amanda Souza
CPC分类号： G01S19/09 , G01S5/0036 , G01S19/254 , G01S19/258 , G01S19/34 , G01S19/42
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公开(公告)号：EP3236289A1
公开(公告)日：2017-10-25
申请号：EP17167060.7
申请日：2017-04-19
申请人： Clarion Co., Ltd.
发明人： OKADA, Kazuhiro
CPC分类号： G01S19/47 , G01C21/165 , G01S19/39 , G01S19/49
摘要： It is an object to enable a state concerning a present location to be estimated with high precision by a Kalman filter. A navigation system 1 includes a GPS reception unit 5 that receives a GPS signal, an observation unit 21 that observes observables including a GPS vehicle position based on the received GPS signal, and an estimation unit 22 that estimates state quantities concerning the present location based on the observables observed by the observation unit 21 and on the Kalman filter, and the estimation unit 22 calculates prediction values of the state quantities and errors of the prediction values, calculates estimation values of the state quantities and errors of the estimation values, based on the prediction values, the errors of the prediction values and errors of the observables observed by the observation unit 21, and, when calculating the estimation values and the errors of the estimation values, assigns a weight based on a period from a first timing to a second timing in which the GPS signal received in the first timing is not reflected in observation of the GPS vehicle position by the observation unit 21, to an error of the GPS vehicle position.
摘要翻译： 目的是通过卡尔曼滤波器以高精度估计当前位置的状态。 导航系统1包括接收GPS信号的GPS接收单元5，基于接收到的GPS信号观测包括GPS车辆位置的观测量的观测单元21以及估计单元22，估计单元22基于 由观测单元21和卡尔曼滤波器观测的可观测量以及估计单元22计算状态量的预测值和预测值的误差，基于该估计值计算估计值的估计值和估计值的误差 预测值，预测值的误差和由观测单元21观测的可观测量的误差，并且当计算估计值和估计值的误差时，基于从第一时刻到第二时刻的时段分配权重 在第一次定时接收到的GPS信号没有反映出观测到的GPS车辆位置的定时 根据GPS车辆位置的误差确定合适单位21。
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公开(公告)号：EP3228985A1
公开(公告)日：2017-10-11
申请号：EP16202709.8
申请日：2014-05-05
发明人： SIERCKS, Knut , METZLER, Bernhard , VAN DER ZWAN, Elmar Vincent , FIDLER, Thomas , PARYS, Roman , VELIZHEV, Alexander , SCHEJA, Jochen
CPC分类号： G01C15/006 , G01C11/02 , G01C11/04 , G01C15/002 , G01S19/13 , G06T7/0002 , G06T7/0004 , G06T7/579 , G06T7/70 , G06T7/97 , G06T2207/10028 , G06T2207/30244 , H04N5/2251 , H04N5/2252 , H04N5/2254 , H04N5/2257 , H04N5/23238 , H04N5/23293 , H04N5/23296 , H04N5/247
摘要： The invention relates to a surveying subsystem comprising a camera module, a profiler and a control and evaluation unit, the surveying subsystem being adapted to be used as part of a surveying system that is adapted to determine positions of a position measuring resource, particularly a GNSS-antenna or a retro-reflector mounted - together with the surveying subsystem - on a surveying pole.
The images taken by the camera - when moving along a path through a surrounding - are used within a SLAM process so as to derive a 6-dof-travelling-history for the surveying subsystem including translational and rotational information in 6 degrees of freedom for the moved path based on the SLAM-evaluation.
According to the invention, the control and evaluation unit has stored a program with program code for controlling and executing a spatial representation generation functionality in which coordinates for points of the surrounding are determined as the spatial representation based on the profiler measurement data in combination with the derived 6-dof-travelling-history.摘要翻译： 测量子系统技术领域本发明涉及一种测量子系统，该子系统包括摄像机模块，剖面仪以及控制和评估单元，该测量子系统适于用作测量系统的一部分，该测量系统适于确定位置测量资源，特别是GNSS 天线或反射镜与测量子系统一起安装在测量杆上。 在SLAM过程中使用相机拍摄的图像 - 当沿着通过周围的路径移动时 - 为测量子系统导出6自由度行程历史记录，其中包括6自由度的平移和旋转信息，用于 移动路径基于SLAM评估。 根据本发明，控制和评估单元已经存储了程序，该程序具有用于控制和执行空间表示生成功能的程序代码，其中，基于探查器测量数据与周围环境的组合，将周围的点的坐标确定为空间表示 派生6自由度旅行历史。
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公开(公告)号：EP3226034A1
公开(公告)日：2017-10-04
申请号：EP16305387.9
申请日：2016-04-01
CPC分类号： G01S19/426 , G01S19/22 , G01S19/32 , G01S19/52
摘要： The invention discloses an improved GNSS receiver which determines a location of the receiver by combining a first location determined from the standard PVT and a second location determined by integrating the velocity from the standard PVT. The combination is based on a weighting of the error budgets of the first position and the second location. The improved receiver is preferably based on a standard receiver with an add-on software module which receives and processes data transmitted from the standard receiver by, for example, NMEA messages. The improved receiver allows a determination of a more precise and smoother trajectory in a simple way.
摘要翻译： 本发明公开了一种改进的GNSS接收器，其通过组合从标准PVT确定的第一位置和通过对来自标准PVT的速度进行积分确定的第二位置来确定接收器的位置。 该组合基于第一位置和第二位置的错误预算的权重。 改进的接收机优选地基于具有附加软件模块的标准接收机，附加软件模块通过例如NMEA消息接收和处理从标准接收机发送的数据。 改进的接收器允许以简单的方式确定更精确和更平滑的轨迹。
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