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1. WO2018151404 - METHOD FOR MEASURING UNCERTAINTY OF GNSS-BASED POSITION ESTIMATION

Publication Number WO/2018/151404
Publication Date 23.08.2018
International Application No. PCT/KR2017/014982
International Filing Date 19.12.2017
IPC
G01S 19/20 2010.1
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
19Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
01Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS , GLONASS or GALILEO
13Receivers
20Integrity monitoring, fault detection or fault isolation of space segment
G01S 19/42 2010.1
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
19Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
38Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
39the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS , GLONASS or GALILEO
42Determining position
G05D 1/02 2006.1
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
G05D 1/00 2006.1
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
CPC
G01S 19/20
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
19Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
01Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
13Receivers
20Integrity monitoring, fault detection or fault isolation of space segment
G01S 19/42
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
19Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
38Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
39the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
42Determining position
G05D 1/00
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
G05D 1/02
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
Applicants
  • 고려대학교 산학협력단 KOREA UNIVERSITY RESEARCH AND BUSINESS FOUNDATION [KR]/[KR]
Inventors
  • 정우진 CHUNG, Woo-Jin
  • 이우식 LEE, Woo-Sik
Agents
  • 특허법인 남촌 NAMCHON INTERNATIONAL PATENT AND LAW FIRM
Priority Data
10-2017-002047915.02.2017KR
Publication Language Korean (ko)
Filing Language Korean (KO)
Designated States
Title
(EN) METHOD FOR MEASURING UNCERTAINTY OF GNSS-BASED POSITION ESTIMATION
(FR) PROCÉDÉ DE MESURE D'INCERTITUDE D'UNE ESTIMATION DE POSITION BASÉE SUR GNSS
(KO) GNSS 기반의 위치 추정의 불확실성을 측정하는 방법
Abstract
(EN) The present invention relates to a method for measuring the uncertainty of a GNSS-based position estimation, the method comprising the steps of: (A) measuring a sensor factor uncertainty value of a sensor factor uncertainty group under conditions where no environment factor uncertainty group and no model factor uncertainty group are generated; (B) measuring a model factor uncertainty value of the model factor uncertainty group under conditions where the environment factor uncertainty group is not generated while applying the sensor factor uncertainty value thereto; (C) measuring an environment factor uncertainty value of the environment factor uncertainty group while applying the sensor factor uncertainty value and the model factor uncertainty value thereto; and (D) measuring an uncertainty value of the GNSS-based position estimation on the basis of the sensor factor uncertainty value, the model factor uncertainty value, and the environment factor uncertainty value, wherein the sensor factor uncertainty group, the environment factor uncertainty group, and the model factor uncertainty group are obtained by grouping a plurality of uncertainty factors causing uncertainty of the GNSS-based position estimation according to causes that generate uncertainty. Accordingly, uncertainty generated during GNSS sensor-based position measurement, which is used for a self-driving vehicle that employs a GNSS sensor or for self-driving of an outdoor moving robot, for example, can be accurately measured and reflected for accurate position estimation of the self-driving vehicle.
(FR) La présente invention concerne un procédé de mesure d'incertitude d'une estimation de position basée sur GNSS, le procédé comprenant les étapes consistant : (A) à mesurer une valeur d'incertitude de facteur de capteur d'un groupe d'incertitudes de facteur de capteur dans une condition dans laquelle aucun groupe d'incertitudes de facteur d'environnement et aucun groupe d'incertitudes de facteur de modèle ne sont générés ; (B) à mesurer une valeur d'incertitude de facteur de modèle du groupe d'incertitudes de facteur de modèle dans une condition dans laquelle le groupe d'incertitudes de facteur d'environnement n'est pas généré tout en lui appliquant la valeur d'incertitude de facteur de capteur ; (C) à mesurer une valeur d'incertitude de facteur d'environnement du groupe d'incertitudes de facteur d'environnement tout en lui appliquant la valeur d'incertitude de facteur de capteur et la valeur d'incertitude de facteur de modèle ; et (D) à mesurer une valeur d'incertitude de l'estimation de position basée sur GNSS sur la base de la valeur d'incertitude de facteur de capteur, de la valeur d'incertitude de facteur de modèle et de la valeur d'incertitude de facteur d'environnement, le groupe d'incertitudes de facteur de capteur, le groupe d'incertitudes de facteur d'environnement et le groupe d'incertitudes de facteur de modèle étant obtenus par regroupement d'une pluralité de facteurs d'incertitude provoquant l'incertitude de l'estimation de position basée sur GNSS en fonction de causes qui génèrent l'incertitude. En conséquence, l'incertitude générée au cours d'une mesure de position basée sur un capteur GNSS, qui est utilisée pour un véhicule autonome qui utilise un capteur GNSS ou pour la conduite autonome d'un robot mobile extérieur, par exemple, peut être mesurée et réfléchie avec précision en vue d'une estimation de position précise du véhicule autonome.
(KO) 본 발명은 GNSS 기반의 위치 추정의 불확실성을 측정하는 방법에 관한 것으로, (A) 센서 요인 불확실성 그룹의 센서 요인 불확실성 값이 환경 요인 불확실성 그룹 및 모델 요인 불확실성 그룹이 발생하지 않는 조건 하에서 측정되는 단계와, (B) 상기 모델 요인 불확실성 그룹의 모델 요인 불확실성 값이 상기 환경 요인 불확실성 그룹이 발생하지 않는 조건 하에서 측정되되 상기 센서 요인 불확실성 값이 적용되어 측정되는 단계와, (C) 상기 환경 요인 불확실성 그룹의 환경 요인 불확실성 값이 상기 센서 요인 불확실성 값 및 상기 모델 요인 불확실성 값이 적용되어 측정되는 단계와, (D) 상기 센서 요인 불확실성 값, 상기 모델 요인 불확실성 값 및 상기 환경 요인 불확실성 값에 기초하여 상기 GNSS 기반의 위치 추정의 불확실성 값이 측정되는 단계를 포함하며; 상기 센서 요인 불확실성 그룹, 상기 환경 요인 불확실성 그룹 및 상기 모델 요인 불확실성 그룹은 상기 GNSS 기반의 위치 추정의 불확실성을 야기하는 복수의 불확실성 요인이 불확실성의 발생 원인에 따라 그룹핑되는 것을 특징으로 한다. 이에 따라, GNSS 센서를 이용하는 자율 주행 차량 또는 실외 이동 로봇의 자율 주행 등에 이용되는 GNSS 센서의 위치 측정에서 발생하는 불확실성을 정확히 측정하여 자율 주행 차량의 정확한 위치 추정에 반영할 수 있다.
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