• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The positioning receiver according to the invention comprises means for storing configuration information and information on its reception conditions which are processed to calculate a current accuracy and / or prediction of the positioning calculation. Advantageously, at least part of this information is integrated into an evolution model of a Kalman filter integrated into the receiver. The invention notably allows a faster convergence towards a reference accuracy in a single-frequency operating mode and a smoothing of the transitions between single-frequency mode and dual-frequency mode. Advantageously, the precision information is provided graphically or in digital form to the user.
    公开号:FR3023922A1
    申请号:FR1456862
    申请日:2014-07-17
    公开日:2016-01-22
    发明作者:Denis Laurichesse
    申请人:Centre National dEtudes Spatiales CNES；
    IPC主号:
    专利说明:

    [0001] FIELD OF THE INVENTION [0001] The present invention applies to satellite navigation aids. More specifically, the invention aims to provide information to predict the accuracy that can be guaranteed by a system under present and future operating conditions, given the hardware and software configuration of the receiver of a user. BACKGROUND [0002] The first constellation of satellites emitting positioning signals has been put in place for military applications by the American State (Gobai Positioning System or GPS) since the beginning of the 1980s. have been used by professional civil applications (management of truck fleets, air navigation aids, geodetic surveys, etc ...), and now for general public applications (car navigation with on-board terminals and pedestrian navigation with terminals smart phone type). Other constellations were set up by the Russian state (GLONASS) and the Chinese state (Baïdou). A constellation of European satellites (Galileo) is being deployed. In general, these navigation systems are designated by the acronym GNSS (Global Navigation Satellite Systems). The basic principle of the positioning aid and satellite navigation is the calculation by a receiver with electronic data processing circuits of position, velocity and time (PVT) from electromagnetic signals of length. centimeter wave emitted by satellites in orbit. The calculation of the PVT data by a receiver from the satellite signals is affected by numerous errors of different types: impact of the crossing by the electromagnetic signals of the different layers of the atmosphere (troposphere, ionosphere), errors due to the reflections of the signals on objects in the vicinity of the receiver (multipath), clock errors, errors of electronic processing circuits, etc. For military applications, these errors are corrected notably by the use of specialized signals transmitted on reserved carriers ( P (Y) code of the GPS). Specific means of multi-sensor processing and fusion are also generally provided to guarantee the accuracy and integrity of measurements intended for critical uses. But these solutions are small and expensive. To meet the growing need for precision civil applications, various means have been developed to correct the main errors: acquisition of signals from several constellations, improvement of antennas to increase the robustness of reception, correlation loops in receivers, GPS differential that uses fixed base stations that broadcast a reference signal for correcting errors, terrestrial networks for broadcasting correction information, merging satellite data with data from on-board motion sensors, or giving receiver trajectory information (mapping, terrain models), etc. In parallel, for specific applications with a high need for integrity, such as air navigation, procedures have been developed to determine a protection radius to determine a safety zone in which she the navigation solution is guaranteed valid. [0004] There are thus different precise positioning techniques (designated by the acronym PPP or Precision Position Point). These techniques are based on the acquisition of GPS signals as well as the acquisition of signals from other constellations. Some of them use signals from two-frequency receivers (EP2140285) and even tri-frequency receivers (EP2335085). An environment cleared by very good weather is often considered an ideal case to implement these techniques. In a real case of use, the buildings, the trees, and other elements of the environment, will strongly degrade the conditions of reception and processing of the positioning aid signals. As a result, the measurements will be less good, to the point of causing a signal stall. In addition, the choice of a GNSS receiver is often made based on a compromise between technical performance, cost and need. For example, in an urban environment, with many multipaths, commercial sub-metric positioning solutions combine the acquisition of GPS signals, EGNOS signals, inertial sensors, cartography, a terrain model, etc. If the need is a precision of about ten meters, at that time, simpler GPS techniques will be sufficient, and the navigation software to position the receiver "at best". For some applications, it is necessary not only that the receiver provides an accurate measurement of position / navigation, but especially that it gives a confidence index of the measure. Indeed, by way of non-limiting example, the guarantee of a centimeter measurement for a vehicle in autonomous driving on a road is essential. It is also essential to be able to inform the driver of a foreseeable deterioration in the short term of the confidence of the position measurement so that he can regain control of the vehicle. In air navigation, we define a radius of protection around the aircraft in which relief obstacles must not penetrate, but this protection radius does not vary depending on the conditions of reception of navigation signals. To take another example of a consumer location receiver, the "Plan" function of an i-phoneTM provides an indication of accuracy of the location measurement under given reception conditions, in the form of a radius circle. variable according to these conditions (large circle in the case of bad conditions, small circle in the case of good conditions). These indications are however not proportional to the accuracy in distance, except when the location is based on triangulation from Wi-Fi signals. [0007] Thus, no system of the prior art makes it possible today to determine a accuracy of measuring the current and future position of a navigation signal receiver according to the hardware and software configuration of the receiver and its current position, so as to adapt, where appropriate, the processing to obtain a given accuracy. The satisfaction of this need is particularly important at a time when the Galileo constellation will become available, especially because it will allow for the first time the acquisition by civil receivers of modulated signals at different frequencies. The applicant has indeed experimentally found that dual-frequency signals could deliver a lower accuracy in certain environments, especially in the presence of multipaths, to the accuracy delivered by single-frequency signals. It is therefore very useful to be able to adapt the processing methods of the positioning signals according to the conditions of use in which the receiver is located.
    [0002] SUMMARY OF THE INVENTION [0008] The object of the invention is to solve this problem not solved by the prior art by determining information on the current and future accuracy of the position determined by a positioning signal receiver, said information being depending on the hardware and software configuration of the receiver and reception conditions at the current position of the receiver. For this purpose, the invention discloses a device for receiving positioning signals from at least one satellite constellation, said device comprising: at least one means for accessing information on absolute and / or relative values an accuracy of position measurements in a configuration of said receiver, said configuration determined by elements selected from a group comprising processors for processing positioning signals, antennas for receiving said signals, a list of constellations, a list of links external to correction data of the positioning signals; at least one raw data processing means for positioning, speed, time per satellite axis; said device being characterized in that it further comprises: at least one means for calculating information characterizing a precision of the calculation of a position of the receiver from the reception conditions, information on the absolute values and / or relating to an accuracy of position measurements in the configuration of said receiver and the result of the processing of raw positioning data, speed, time per satellite axis. Advantageously, the processing means comprises at least one Kalman filter, and the receiving device of the invention further comprises a means of adjusting one of a covariance matrix and a table of model noise parameters of the at least one Kalman filter based on information on the absolute and / or relative values of the precision and / or confidence indicator of the position measurements in a configuration of said receiver. Advantageously, the reception conditions are defined according to the positions and heights of obstacles in the vicinity of at least one element of said device. Advantageously, a path of at least one element of said device is predicted from a current vector of position, speed, time. Advantageously, positioning signals of at least two satellite constellations are acquired by said device. Advantageously, RTIGS type corrections are acquired by said device. Advantageously, the accuracy is calculated taking into account the hardware configuration information of said receiving device relating to the antenna and / or the processing processor of the positioning signals of said receiving device. Advantageously, a switching between a single-frequency reception mode and a dual-frequency reception mode is activated in reception conditions at the current and / or future location of said reception. Advantageously, configuration elements of said device are activated / deactivated according to predetermined precision objectives and / or confidence indicator, in reception conditions at the current location and / or future of said reception. Advantageously, the device of the invention further comprises a means for communicating the information characterizing a precision and / or a confidence indicator of the position of the receiver to at least one user or application. Advantageously, the means for calculating information characterizing a precision and / or a confidence indicator for calculating a position of the receiver, determining reception conditions, accessing information on the absolute values and / or relative accuracy of position measurements in the configuration of said receiver, processing raw positioning data, speed, time per satellite axis, are not co-located. Advantageously, the information on absolute values and / or relative accuracy of position measurements in a configuration of said receiver are not co-located. [0021] Advantageously, state variables of the Kalman filter represent ionospheric error corrections. Advantageously, an evolution model of the state variables of the Kalman filter representing ionospheric error corrections is defined in order to optimize the convergence time of the position calculation, velocity, time in case of loss of at least a positioning signal. Advantageously, the information characterizing a precision of the calculation of a position of the receiver is provided to a user of said device either in graphic form, or in digital form, or in a combined form of the two forms. The invention also discloses a method for receiving positioning signals from at least one satellite constellation, said method comprising: at least one step of accessing information on absolute and / or relative values of a precision of position measurements in a configuration of a receiver, said configuration determined by elements selected from a group comprising processors for processing positioning signals, antennas for receiving said signals, a list of constellations, a list of external links correction data of the positioning signals; at least one step of processing the raw positioning data, speed, time per satellite axis; said method being characterized in that it further comprises: at least one step of calculating information characterizing a precision of the calculation of a position of the receiver from the reception conditions, information on the absolute values and / or relating to an accuracy and / or a confidence indicator of position measurements in the configuration of said receiver and the result of the processing of the raw positioning data, speed, time per satellite axis. The invention also discloses a system for providing positioning information, characterized in that it comprises a plurality of reception devices according to the invention. Another advantage of the invention is to enable, from the information on the current and future accuracy of the position measurement, an adaptation of the processes to provide position data having a precision determined by current and future needs. of the user. Another advantage of the invention is to provide access to the user treatments that will provide the greatest possible accuracy depending on the hardware and software configuration of the receiver and current and future conditions of use of said receiver. Advantageously, the precision information is provided to the user continuously, either in graphical form or in digital form. The solution of the invention also differs from the prior art in its robustness and its flexibility of adaptation to GNSS signal receiving systems, in single-frequency, dual-frequency, tri-frequency, or more. It is also possible, according to the invention, to perform multi-constellation combinations (GPS, Galileo, Baïdou, Glonass, etc.), with satellite-based augmentation systems (SBAS) or WAAS-Wide Area Augmentation. System), such as EGNOS, Inmarsat, Argos, with AIS (Automatic Identification System) type systems or with cellular (3G, 4G) or local (WiFi, WiMax) telecommunication systems. Also, in a preferred embodiment, the receiver of the invention comprises a Kalman filter which can be parameterized to integrate the errors due to various phenomena, including the crossing of the ionosphere, in its model 3023 922 7 evolution, which ensures a better continuity of the localization in case of loss of signal. BRIEF DESCRIPTION OF THE DRAWINGS The invention will be better understood and its different features and advantages will emerge from the description of its various embodiments and from the following figures appended to the present application: FIG. 1 illustrates an architecture of a system configured to implement the invention in several of its embodiments; FIG. 2 represents a general flow diagram of the processes of a position calculation process according to the invention in several of its embodiments; FIG. 3 represents a flow diagram of the processes for determining the accuracy of the measurements according to the invention in several of its embodiments; FIGS. 4a and 4b show examples of parameterization of a Kalman filter of a receiver in several embodiments of the invention; FIGS. 5a to 5d illustrate the impact of taking into account the errors due to the crossing of the ionosphere on the continuity of the measurements, in several embodiments of the invention; - Figure 6 illustrates the problem of multi-trips in urban environment; FIGS. 7a to 7d illustrate the accuracies and convergence times of the measurements in a dual-frequency configuration and in a single-frequency configuration in several embodiments of the invention. DETAILED DESCRIPTION OF THE INVENTION [0032] FIG. 1 illustrates an architecture of a system configured to implement the invention in several of its embodiments. [0033] There are many types of GNSS receivers, which can be more or less compact. As a purely illustrative and non-limiting example of the field of application of the invention, FIG. 1 represents a terminal constituted by a smart phone 110 equipped with signal acquisition functionalities of at least one constellation of satellites 140 for assisting navigation. The terminal must be provided with a specific antenna 120a, 120b for acquiring the satellite signal or signals. It is possible to provide an external antenna 130 which improves the conditions of acquisition and tracking of the navigation signal. The indoor and remote antennas can be mono, bi or tri-frequency. The position of the remote antenna is chosen to optimize the reception (especially on a motor vehicle, a boat or a plane) and can be mounted in a radome to limit the impact of multi-trips. In a configuration of this type, the confidence index of the position measurement will be very good, as explained below. If the configuration of the antenna is minimal and / or if the terminal environment generates many multipaths, the confidence index will be lower than in the previously described situation. The smart phone also has a receiving antenna 120b of 3G or 4G radio communication signals. In the case where the terminal is not a smart phone, it is possible to add to the terminal a key for this reception via a USB port. Alternatively, the terminal can be connected to a wired network, either directly via an Ethernet port or via WiFi or Bluetooth access. The antenna or antennas of the terminal allow the acquisition of signals from one or more constellations of navigation aid satellites, 140a, 140b, GPS and often GLONASS. Depending on the position of the terminal relative to the satellites of these 15 constellations and the local reception conditions, the quality of the acquisition and / or tracking of the signals of the minimum number of satellites required for processing (three in general) will be more or less good. The ability to acquire signals from multiple constellations therefore improves the availability, accuracy and confidence index of position measurements. There are also satellites which transmit signal correction signals of the basic constellations (so-called SBAS signals), such as the EGNOS and INMARSAT satellites. The satellite signals are processed either by an integrated circuit or an electronic card of the terminal, specialized in the function, or by processing blocks of an integrated chipset 150, which also performs other functions, in the case of a smart phone. Specialized electronic cards or chips are produced by the U-Blox company (for example, under the reference Neo-7PTM, for a PPP application), the company CSR (for example, under reference SiRFatlasVlTM), and the company Broadcom (for example, under reference BCM2075). The processing of each of the satellite axes performed by these chips and specialized cards to calculate the PVT is generally accessible to the application developers, which allows some flexibility to implement the invention. Chipset location blocks for smartphones are, for example, Qualcomm's gpsOneTM technology, integrated into the SnapDragon TM smartphone host chipset. The positioning data from the processing performed in the specialized units can be merged with mapping data 160. The terminal 110 can also obtain correction information via wireless or wired communication by accessing the Internet. to data provided by specialized networks 170 providing, for example, differential corrections as well as real-time absolute correction data (for example RTIGS data or Real Time International GNSS Service data) in standardized format RTCM SC-104 (ie standardization committee 104 of the Radio Technical Commission for Maritime Services). According to the invention, the terminal can access either locally or remotely data allowing one of its processors to calculate the current accuracy of the measures, possibly corrected, positioning, and the evolution over time of said precision as a function of the predicted trajectory of the terminal, of the evolution of the reception conditions and possible modifications of its hardware configuration parameters (ie toggle between two-frequency and single-frequency processing as a function of the multipaths). FIG. 2 represents a general flowchart of the processes of a position calculation process according to the invention in several of its embodiments. Note that most of the steps described below are optional, since their execution depends on the configuration of the navigation signal receiver in which the invention is implemented and that it can go from a simple block annex from a radio communication chipset in a smart phone to a sophisticated receiver having many additional hardware and software elements to improve the reception and processing conditions of the navigation signals. At initialization, the receiver is in a reference configuration set by default and begins by acquiring satellite signals constellations corresponding to this configuration (steps 210a, 210b). In addition, the receiver can optionally acquire SBAS correction signals (step 230). Once a sufficient number of satellite axes is hung, 220a, 220b processing, correlation codes carried by the single or multifrequency signals and / or the phase of the carrier (s) allow the calculation of the PVT vectors per axis and SBAS corrections (step 240). RTIGS corrections may further be acquired by terrestrial or satellite radio network (step 250). Hybridization of radionavigation measurements with data from inertial sensors, heading determination or mapping may be provided (step 260).
    [0003] The main processor of the terminal can then compute a location (step 270), taking into account, if necessary, in a Kalman filter a model of evolution of the errors due to various phenomena, such as the crossing of the channel. the ionosphere and the troposphere, the clocks, orbits and ephemeris of the satellites of the constellation, etc. [0043] The current accuracy and confidence of the measurement are then calculated (step 290), in a manner that will be detailed below in the description in 5 comments in Figure 3 and Figure 4. These calculations take into account the configuration of the receiver, whose parameters are stored in a system configuration database 280, and the progress of the previous steps , whose parameters characterizing the environment of the receiver can be stored, at least temporarily, in the database 280. The trajectory of the receiver over a time interval Born can be calculated from the calculated PVT vector (step 29A) and an evolution of the accuracy and confidence of the measurements can also be predicted. The receiver can be programmed to automatically trigger an update of its configuration from precision and confidence objectives determined, in particular by the application, these being linked to the configuration parameters by heuristics powered by the operation. These updating operations are illustrated by the return arrows connecting the precision / confidence calculation 290, the system configuration database 280 and the acquisition steps 210a, 210b. , processing 220a, 220b, correction SBAS 230, 240 240, correction RTIGS 250 and hybridization 260. Said heuristics may where appropriate take into account objectives of consumption or stealth of the terminal or robustness of the measurement. [0044] FIG. 3 represents a flowchart of the processes for determining the accuracy of the measurements according to the invention in several of its embodiments. According to the invention, a database is provided for storing permanent and variable elements characterizing all or part of the following elements: Precisions, confidence indicators and convergence indicators of the satellite constellations whose signals may be acquired and processed by the receiver at the receiving location, taking into account the availability of a single carrier frequency or carrier frequencies (Table 310); - the precision variations obtained by combining signals from at least two constellations (table 320); - Errors, measured by their impact on measurement accuracy, which affect signals from a given constellation in a given location; these errors are notably those resulting from the crossing of the troposphere and ionosphere layers, clock errors, ephemeris errors, etc. (Table 330); Precision gains, as well as aging (i.e., time loss) obtained by integrating correction data, such as SBAS, RTIGS, inertial aids, map aids (Table 340); - The gains in precision resulting from a selection of antennas (tables 350); - The gains in precision, resulting from a selection of chips specialized in the processing of navigational aid signals (table 360); Multi-path type disturbances on the precision resulting from types of interfering objects (trees, buildings, etc.), (table 370); - The attenuation of disturbances resulting from choice of configuration of the receiver, such as the establishment of a radome on the antenna or antennas, the location of the antennas. Other tables relating to other elements that may affect the precision or the confidence index of the measurements can be added in the context of the present invention. The description of the fields of the various tables indicated is in no way limiting. Other fields may be added, if the physical or logical reality of the data they represent has an impact on the accuracy of the measurements or their index of confidence. All tables in the database can be located in the receiver. But some of them can be located on a remote server managed by a service operator. The different tables can be organized according to a relational model or according to an object model, so that they can be combined in the calculation of the overall accuracy resulting from the various errors and the different corrections. The data model of the database making it possible to perform this calculation will be determined according to rules accessible to those skilled in the field of navigational aid systems. The combination of the different tables according to the data model is used to define the overall accuracy and / or confidence indicator of the measurements, taking into account management rules that a person skilled in the art can define. Alternatively or additionally, certain parameters of the tables 35 described above may be provided to one or more Kalman filters, as illustrated by FIGS. 4a and 4b and the comments which accompany it below. FIGS. 4a and 4b show examples of parameterization of a Kalman filter of a receiver in several embodiments of the invention. [0053] It is conventional to integrate a Kalman filter in a signal processing loop of a GNSS receiver. The filter can be simple type, extended type (Extended Kalman Filter or EKF) or type "Unscented" (Unscented Kalman Filter or UKF). The configuration may comprise a single filter that processes all the data of the satellite axes of the constellation (s) or a filter by axis of a constellation can be provided. Data for increasing the accuracy of measurements such as SBAS, ABAS, WAAS or AIS signals, as well as data from inertial sensors can be integrated into the filter (s). [0054] A Kalman filter is characterized by a state vector, an evolution model, a measurement model. The state vector includes the variables that will be iteratively calculated in the filter. The evolution model is defined according to the physical laws that determine the evolution of the different state variables. The measurement model takes into account the noise affecting the accuracy of the measurements. A covariance matrix is defined to compute the evolution bounds of the variables according to the evolution model and the measurement model. A gain factor is set or calculated to determine the temporal evolution of the variables. According to the invention, in several of its preferred embodiments, the changes in the corrections to be applied to the main errors, due in particular to the crossing of the ionosphere, are modeled in the Kalman filter (s). FIG. 4a shows examples of parameterization of various errors in the covariance matrix and the model noise of a Kalman filter in several embodiments of the invention. In the illustrated configuration, the receiver is able to receive and process signals from two constellations (GPS and GLONASS). Signals of other constellations can be added without difficulty to those skilled in the art. In the parameterization illustrated in the figure, the clock errors, and the biases of the two constellations are modeled. The same is true of tropospheric and ionospheric delays, as well as phase ambiguities.
    [0004] Other errors may be added without departing from the scope of the invention. The modeling includes, for each error, a factor of the filter covariance matrix and a model noise, which are determined by experience rules and / or simulations and tests. In the example, all errors are set in a single filter. However, it is possible to provide several filters. FIG. 4b shows examples of measurement noise parameterization included in the Kalman filter of various measured parameters and errors, in particular the tropospheric and ionospheric delays, when these parameters are acquired from an SBAS system. Figures 5a to 5d illustrate the impact of taking into account the errors due to the crossing of the ionosphere on the continuity of the measurements, in several embodiments of the invention. Figures 5a to 5d, illustrate the case of a navigation receiver capable of receiving signals on two frequencies L1 and L2, as will be the case receivers able to receive signals from the Galileo constellation. FIG. 5a illustrates, in a receiver of the prior art, the loss at two successive instants, 510a, first of the signal L2 and, at a later time, 530a of the two signals L1, 520a, and L2, 540a. Since, in a conventional manner, the error corrections due to the crossing of the ionosphere are made by correlation of the signals L1 and L2, the loss of one of the frequencies causes an instantaneous increase of these errors. The operation of the receiver in an embodiment of the prior art is illustrated in FIG. 5b, in which the accuracy of the location measurement only converges at times 510b, 520b towards the reference accuracy, of the order of 10cm. . It should be noted that the SBAS-type corrections are not able to correct this reset bias since the correction accuracy provided by these measurements is only of the order of one meter. Corrections of the RTIGS type can only allow a sufficient catch-up of the bias in exceptional conditions in which the density of the measurements is very high, which can not be assumed in the generality of the cases. FIGS. 5c and 5d illustrate the impact of the integration, according to several preferred embodiments of the invention, of an evolution model of the ionospheric corrections in the Kalman filter. In FIG. 5c, we see the impacts 510c, 520c of the propagation in the Kalman filter of the ionospheric error correction model on the accuracy of the measurement. In FIG. 5d, it can be seen that the instants 510d, 520d, at which the measurement accuracies converge towards the reference value are earlier than the instants 510b, 520b. In the case where only the frequency L1 is available, the convergence is ensured by the combination of the positioning calculation on this frequency and the propagation of the ionospheric error. In the case where the two frequencies L1 and L2 are lost, the positioning calculation is performed from the determined position before the losses using the propagation of the ionospheric error. Figure 6 illustrates the problem of multipath in urban environment. A receiver 610 is positioned between two buildings 620. Some signals 630 reach him in a direct line. Other 640 signals arrive after reflection on buildings. A standard receiver is not able to differentiate between direct signals 630 and reflected signals 640, which will cause a positioning error. To correct multipath errors, the different types of obstacles at a given reception location, with their height characteristics, and multipath propagation / correction models, can be stored in the described database. in relation to FIG. 3. The applicant has experimentally found that the multipaths affect in a more penalizing way the receivers operating in dual-frequency mode than the receivers operating in single-frequency mode. Thus, surprisingly, a receiver operating in single-frequency mode, assisted by appropriate corrections (in particular of the RTIGS type, of the antenna selection or antenna protection type, or of the local multi-path correction type, may to provide a precision and a confidence index of better quality than a receiver operating in two-frequency or tri-frequency mode, the use of the invention thus makes it possible to guarantee conditions of precision and of confidence index that are potentially better with a receiver operating under conditions adapted to reception conditions [0068] FIGS. 7a to 7d illustrate the accuracies and convergence times of the measurements in a dual-frequency configuration and in a single-frequency configuration in several embodiments of the invention. The various operating configurations are defined in the following manner in the figures (ie in dual frequency operation). e (case of FIGS. 7a and 7b), or in operation in single-frequency mode, in the case of FIGS. 7c and 7d): - GPS signals without RTIG or ionospheric correction; - GPS signals and Glonass signals without RTIG or ionospheric correction; - GPS signals with RTIG correction; - GPS signals and Glonass signals with RTIG correction; - GPS signals and Glonass signals with RTIG correction and ionospheric correction; - GPS signals and Glonass signals with RTIG correction and correction of integer ambiguities. Figures 7a and 7b illustrate graphically and with the numerical results the operating conditions of a navigation signal receiver in dual-frequency mode. It can be seen that the accuracy is centimeter in all operating conditions with corrections but that the convergence time is never less than 20 minutes. Figures 7c and 7d illustrate graphically and with the numerical results the operating conditions of a navigation signal receiver in single-frequency mode. We see that the precision passes from the order of the cm to a decimetric order. But the horizontal convergence time is of the order of the mn instead of 20 minutes in the case where the ionospheric corrections are propagated. The examples described above are only illustrative of some of the embodiments of the invention. They do not limit in any way the scope of the invention which is defined by the claims which follow.
    权利要求:
    Claims (17)
    [0001]
    REVENDICATIONS1. Apparatus (110) for receiving positioning signals from at least one satellite constellation (140), said device comprising: - At least one means for accessing information on absolute and / or relative values with a precision of position measurements in a configuration of said receiver, said configuration determined by elements selected from a group comprising processors (150) for processing positioning signals, antennas (120a, 120b, 130) for receiving said signals, a list of constellations (140a, 140b), a list of external links (170) to correction data of the positioning signals; At least one means for processing the raw positioning data, speed, time per satellite axis; Said device being characterized in that it further comprises: - At least one means for calculating information characterizing a precision of the calculation of a position of the receiver from the reception conditions, information on the absolute values and / or relating to an accuracy of position measurements in the configuration of said receiver and the result of the processing of raw positioning data, speed, time per satellite axis.
    [0002]
    The receiving device according to claim 1, wherein the processing means comprises at least one Kalman filter, said receiving device further comprising means for adjusting one of a covariance matrix and a model noise parameter table of the at least one Kalman filter from the absolute and / or relative values of the accuracy and / or confidence indicator of the position measurements in a configuration of said receiver.
    [0003]
    3. receiving device according to one of claims 1 to 2, wherein the reception conditions are defined according to the positions and heights of obstacles in the vicinity of at least one element of said device.
    [0004]
    4. receiving device according to one of claims 1 to 3, wherein a path of at least one element of said device is predicted from a current vector position, speed, time.
    [0005]
    5. Receiving device according to one of claims 1 to 4, wherein positioning signals of at least two satellite constellations are acquired by said device.
    [0006]
    6. receiving device according to one of claims 1 to 5, wherein RTIGS type corrections are acquired by said device.
    [0007]
    Receiving device according to one of claims 1 to 6, wherein the accuracy is calculated taking into account the hardware configuration information of said receiving device relating to the antenna and / or the processing processor of the positioning signals. said receiving device.
    [0008]
    8. Reception device according to one of claims 1 to 7, wherein switching between a single-frequency reception mode and a dual-frequency reception mode is activated under receiving conditions at the current location and / or future of said reception.
    [0009]
    9. Receiving device according to one of claims 1 to 8, wherein 20 configuration elements of said device are activated / deactivated according to predetermined precision objectives and / or confidence indicator, in receiving conditions instead of current and / or future of said reception.
    [0010]
    The receiving device according to one of claims 1 to 9, further comprising means for communicating information characterizing a precision and / or a confidence indicator of the position of the receiver to at least one user or application.
    [0011]
    11. Reception device according to one of claims 1 to 10, wherein the means for calculating information characterizing a precision and / or a confidence indicator for calculating a position of the receiver, determining the conditions of reception, access to information on absolute values and / or relative accuracy of position measurements in the configuration of said receiver, processing raw positioning data, speed, time by satellite axis, are not co -localisés.
    [0012]
    12. Receiving device according to one of claims 1 to 11, wherein the information on absolute values and / or relative accuracy of position measurements in a configuration of said receiver are not collocated.
    [0013]
    Receiving device according to one of claims 2 and 3 to 12, in that they depend on claim 2, wherein state variables of the Kalman filter represent ionospheric error corrections.
    [0014]
    14. Receiving device according to claim 13, in which an evolution model of the state variables of the Kalman filter representing ionospheric error corrections is defined in order to optimize the convergence time of the calculation of position, velocity, time in case of loss of at least one positioning signal.
    [0015]
    15. Receiving device according to one of claims 1 to 14, wherein the information characterizing a precision of the calculation of a position of the receiver is provided to a user of said device either in graphical form, or in digital form, or in a combined form of both forms.
    [0016]
    16. A method for receiving positioning signals from at least one satellite constellation, said method comprising: - At least one step of accessing information on absolute and / or relative values of a precision of position measurements in a configuration of a receiver, said configuration determined by elements selected from a group comprising processors for processing positioning signals, antennas for receiving said signals, a list of constellations, a list of external links to data for correcting the signals; positioning signals; At least one step of processing the raw data of positioning, speed, time per satellite axis; Said method being characterized in that it further comprises: - At least one step of calculating information characterizing a precision of the calculation of a position of the receiver from the reception conditions, information on the absolute values and / or relating a precision and / or a confidence indicator of position measurements in the configuration of said receiver and the result of the processing of the raw positioning data, speed, time per satellite axis.
    [0017]
    Positioning information supply system, characterized in that it comprises a plurality of reception devices according to one of claims 1 to 15.5.
    类似技术:
    公开号 | 公开日 | 专利标题
    FR3023922A1|2016-01-22|POSITIONING AND NAVIGATION RECEIVER WITH CONFIDENCE INDICATOR
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    同族专利:
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    EP3170026B1|2020-06-10|
    US10732295B2|2020-08-04|
    KR20170027779A|2017-03-10|
    CN106796296A|2017-05-31|
    EP3170026A1|2017-05-24|
    WO2016008991A1|2016-01-21|
    FR3023922B1|2021-04-16|
    US20170199281A1|2017-07-13|
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    法律状态:
    2015-06-29| PLFP| Fee payment|Year of fee payment: 2 |
    2016-01-22| PLSC| Publication of the preliminary search report|Effective date: 20160122 |
    2016-06-28| PLFP| Fee payment|Year of fee payment: 3 |
    2017-06-28| PLFP| Fee payment|Year of fee payment: 4 |
    2018-06-28| PLFP| Fee payment|Year of fee payment: 5 |
    2020-06-25| PLFP| Fee payment|Year of fee payment: 7 |
    2021-06-24| PLFP| Fee payment|Year of fee payment: 8 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1456862A|FR3023922B1|2014-07-17|2014-07-17|TRUST INDICATOR POSITIONING AND NAVIGATION RECEIVER|FR1456862A| FR3023922B1|2014-07-17|2014-07-17|TRUST INDICATOR POSITIONING AND NAVIGATION RECEIVER|
    US15/326,096| US10732295B2|2014-07-17|2015-07-16|Positioning and navigation receiver with a confidence index|
    KR1020177001494A| KR20170027779A|2014-07-17|2015-07-16|Positioning and navigation receiver with a confidence index|
    EP15738363.9A| EP3170026B1|2014-07-17|2015-07-16|Positioning and navigation receiver with a confidence index|
    CN201580038858.XA| CN106796296A|2014-07-17|2015-07-16|Positioning and navigation neceiver with confidence index|
    PCT/EP2015/066299| WO2016008991A1|2014-07-17|2015-07-16|Positioning and navigation receiver with a confidence index|
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