Method for providing GNSS sensor data

Abstract

Embodiments of the present disclosure relate to a method for providing GNSS sensor data. The invention relates to a method for providing GNSS sensor data (1), comprising at least the following steps: a) receiving GNSS satellite signals, b) evaluating the received GNSS satellite signals to obtain GNSS sensor data (1), c) evaluating the received GNSS satellite signals according to at least one GNSS-specific performance criterion (2, 3, 4, 5, 6, 7, 8, 9), and d) assigning the evaluation (10, 11) resulting from step c) to the corresponding GNSS sensor data (1).

Description

Technical Field

[0001] The present invention relates to a method for providing GNSS sensor data, a computer program for executing the method, a machine-readable storage medium having the computer program, and a GNSS sensor for executing the method. The present invention can be applied in particular to GNSS-based positioning systems for autonomous or semi-autonomous driving. Background Art

[0002] The Global Navigation Satellite System (GNSS) allows geospatial position determination at any point on Earth. GNSS satellites orbit the Earth and transmit coded signals, which a GNSS receiver uses to calculate the distance, or spacing, from the receiver to the satellite by estimating the time difference between the signal reception and transmission time. If a sufficient number of satellites are tracked (typically more than five), the estimated distance to the satellites can be converted, for example, by a GNSS sensor into an estimate of the receiver's position. Currently, there are over 130 GNSS satellites orbiting the Earth, meaning that a maximum of 65 of these satellites are typically visible above the local horizon.

[0003] Given the position of satellites in the sky and surrounding obstacles, there are always some satellites that are blocked and not visible in the (direct) line of sight of the receiver, but may be reflected and reach the receiver. The following question then arises: how can the performance of the estimated output be improved and how can erroneous position, velocity, orientation, acceleration, etc., obtained from GNSS sensors or GNSS-based positioning sensors be avoided as much as possible? Summary of the Invention

[0004] According to the present disclosure, a method for providing GNSS sensor data is proposed, the method comprising at least the following steps:

[0005] a) Receive GNSS satellite signals,

[0006] b) evaluating the received GNSS satellite signals to obtain GNSS sensor data,

[0007] c) evaluating the received GNSS satellite signals according to at least one GNSS-specific performance criterion,

[0008] d) Assigning the evaluation resulting from step c) to the corresponding GNSS sensor data.

[0009] To perform the method, steps a), b), c), and d) can be performed sequentially in a specified order, for example, at least once and / or repeatedly or a plurality of times. Furthermore, steps a), b), c), and d), particularly steps b) and c), can be performed at least partially in parallel or simultaneously. The method can be performed, for example, with the aid of a GNSS sensor. The GNSS sensor data can be provided as output data of the GNSS sensor.

[0010] The method is particularly useful for providing GNSS sensor data and associated evaluations of the performance, reliability, and / or quality (or quality) of the sensor data. The method advantageously enables the handling of critical environments and / or situations, particularly those in which ambient sensors or environmental sensors (e.g., vehicle camera sensors, lidar sensors, radar sensors, ultrasonic sensors) cannot, or at least cannot, be fully utilized to monitor environmental conditions. The method can particularly advantageously facilitate the implementation of (appropriate) mitigation measures to maximize the performance, reliability, and / or quality (or quality) of GNSS sensor data (e.g., output signals of GNSS positioning sensors or GNSS-based positioning sensors). The method can improve the selection of (appropriate, strategic) mitigation measures by, in particular, determining and providing, in particular in the form of an evaluation, boundary conditions regarding the availability and / or reliability of GNSS sensor input signals and / or aspects of the ambient environment.

[0011] For example, the method may further include a step e) in which (appropriate) mitigation measures are taken to improve the performance, reliability, and / or quality (or goodness) of the sensor data to be provided, taking into account the ratings assigned in step d). Mitigation measures may include, for example, weighting the sensor data according to the assigned ratings. Furthermore, mitigation measures may include not providing and / or not considering sensor data whose assigned ratings do not meet certain minimum requirements.

[0012] In step a), GNSS satellite signals are received. GNSS satellite signals are signals transmitted by one or more GNSS satellites, typically by a large number of GNSS satellites, so that position determination can be performed by measuring the time of flight. GNSS satellite signals can be received directly by a GNSS sensor or by a receiver integrated into the GNSS sensor, or by a GNSS receiver assigned to and connectable to the GNSS sensor. The GNSS sensor can, for example, be a GNSS positioning sensor or a GNSS-based motion and / or position sensor. The GNSS sensor can, for example, be arranged in or on a (motor) vehicle, such as a car. The car can, for example, be a car configured for at least partially automatic and / or autonomous driving mode.

[0013] In step b), the received GNSS satellite signals are evaluated to determine GNSS sensor data. GNSS sensor data are typically output data or output signals of a GNSS sensor. GNSS sensor data, in particular, include and / or describe one or more of the following characteristics (of the vehicle's movement along the Earth's surface): (instantaneous) position, velocity, orientation, and / or acceleration. For example, the GNSS sensor data can be evaluated or determined independently of data and / or information from other (vehicle) sensors, such as environmental sensors (e.g., cameras, radar, lidar, and / or ultrasound) and / or (driving) state sensors (e.g., inertial sensors and / or wheel speed sensors), which can, for example, (directly) provide information about the (vehicle's surroundings) and / or the (driving) state of the (vehicle), for example, to other (vehicle) systems.

[0014] In step c), the received GNSS satellite signals are evaluated according to at least one GNSS-specific performance criterion. The at least one performance criterion is GNSS-specific and thus generally relates (exclusively) to characteristics of a GNSS system, which generally includes at least one or more GNSS satellites and at least one GNSS receiver. The performance criterion is particularly a criterion relating to the performance, reliability, and / or quality (or goodness) of the GNSS satellite signals and / or their reception. The performance criterion is particularly suitable for determining whether the received GNSS satellite signals can (at least partially) achieve sufficient performance (efficiency), in particular for a GNSS sensor.

[0015] The received GNSS satellite signals can be evaluated independently of data and / or information from other (vehicle) sensors acting as GNSS sensors, such as environmental sensors (e.g., cameras, radar, lidar, and / or ultrasound) and / or (driving) state sensors (e.g., inertial sensors and / or wheel speed sensors), which can, for example, (directly) provide information about the (vehicle surroundings) and / or the (driving) state of the (vehicle), for example, to other (vehicle) systems. This makes it possible, in particular, to perform an evaluation even without sensors that directly provide (non-GNSS-specific) environmental conditions.

[0016] For example, the evaluation may include one or more of the following (GNSS-specific) information, which can in particular be determined or reconstructed from the GNSS satellite signals (e.g. during the evaluation of the received GNSS satellite signals): the number of visible GNSS satellites, the horizontal delusion of precision (HDOP), the carrier to noise ratio (CN / O), the availability and / or timeliness of GNSS correction data, the number and / or type of received carrier frequencies, the elevation angle and / or the status of the navigation message.

[0017] For example, one or more of the following (GNSS-specific) information may be included in the evaluation as performance criteria:

[0018] Number of tracked satellites: This is particularly useful as a sign of critical reception situations, where the number of visible GNSS satellites can drop significantly, such as under a bridge, next to a sound barrier, before entering a tunnel, etc.

[0019] Horizontal Delusion of Precision (HDOP): As a sign of the geometry of visible satellites, position estimation can be a poor solution in critical environments (e.g., urban canyons) where only high-elevation satellites are visible, which typically leads to increased estimation uncertainty.

[0020] Availability of correction data: Especially when positioning is performed on a PPP basis using SSR correction data, the unavailability of SSR correction data will clearly indicate that the performance of the output signal of the GNSS sensor cannot be guaranteed.

[0021] Carrier-to-noise ratio, especially of the tracked GNSS signal: In critical environments, the carrier-to-noise ratio (CN / O) typically drops significantly.

[0022] • Elevation angle: The elevation angle of a satellite may be an (indirect) indicator of the quality of a GNSS satellite signal (the input signal to a GNSS sensor) and / or the probability of multipath propagation.

[0023] Navigation message health status: Navigation messages typically describe ephemeris, NAGO messages, etc., which can describe the reliability of GNSS satellite signals.

[0024] As a result of the evaluation, a (specific) indicator can be provided and / or outputted, which can indicate whether the performance (efficiency), reliability, and / or quality (or quality) of the GNSS satellite signals (and the GNSS sensor data determined therefrom) is sufficient. This indicator can thus (indirectly) allow inferences to be drawn about the environmental conditions during the reception of the GNSS satellite signals, or can also (indirectly) represent an indicator of the environmental conditions. For example, a so-called "flag" can be used as an indicator. The flag can generally take one of two values: sufficient performance (efficiency), reliability, and / or quality (or quality) of the GNSS satellite signals (PE) or insufficient performance (NPE). A corresponding indicator is particularly advantageous for enabling the initiation of containment measures as quickly and / or with minimal computational effort, in particular to describe and / or ensure the performance of the GNSS sensor output signals.

[0025] As a result of the evaluation, for example, when one or more of the following criteria are met, a flag may be set (and thus assigned to the GNSS sensor data) as insufficient performance (efficiency), reliability, and / or quality (or excellence) of the GNSS satellite signal (English: Not Performance Ensured; NPE for short):

[0026] Number of visible satellites

[0027] HDOP>b

[0028] Correction data is not available and / or the age of correction data for a certain (minimum) number of satellites is > c

[0029] CN / O for a specific (minimum) number of signals <d

[0030] Elevation angles of a specific (minimum) number of satellites <e

[0031] The navigation messages from a specific number of satellites are abnormal.

[0032] As an alternative to NPE, in particular for the opposite criteria, a flag of PE (Performance Ensured) can be output, indicating that the performance (efficiency), reliability, and / or quality (or goodness) of the GNSS satellite signals (and the GNSS sensor data derived therefrom) is sufficient (thus, the GNSS sensor data is usable). Specific thresholds can be predefined for the values a, b, c, d, and / or e, and these thresholds can be adjusted, for example, through experiments and / or simulations.

[0033] ​In step d), the evaluation generated in step c) is assigned to the corresponding GNSS sensor data. The evaluation can be assigned to the corresponding GNSS sensor data (e.g., instantaneous position, velocity, orientation, and / or acceleration) by, for example, providing or outputting the evaluation (by the GNSS sensor) in parallel and / or simultaneously with the GNSS sensor data. Thus, the evaluation can be assigned, for example, in the form of an identifier that is set or remains set during the output of the GNSS sensor data, thereby being assigned to the corresponding GNSS sensor data. Furthermore, the assignment can also be performed, for example, in the form of a value pair comprising the evaluation and the corresponding GNSS sensor data.

[0034] According to one advantageous embodiment, at least one GNSS-specific performance criterion relates to the number of GNSS satellites (visible or unobstructed GNSS satellites) from which GNSS satellite signals are received (in particular without reflections or multipath propagation). This performance criterion can be used to check, for example, whether the number of receivable or visible GNSS satellites is below a definable threshold.

[0035] According to another advantageous embodiment, at least one GNSS-specific performance criterion is related to the geometric constellation of available GNSS satellites. This performance criterion can be used, for example, to check whether the horizontal delusion of precision (HDOP) for a specific minimum number of satellites is above a definable threshold.

[0036] According to another advantageous embodiment, at least one GNSS-specific performance criterion is related to the relative arrangement of at least one GNSS satellite and the GNSS receiver. By means of this performance criterion, it can be checked, for example, whether the elevation angles of a specific minimum number of satellites are below a definable threshold value.

[0037] According to another advantageous embodiment, at least one GNSS-specific performance criterion relates to the requirement for GNSS correction data. This performance criterion can be used, for example, to check whether (new) GNSS correction data, in particular for a certain minimum number of satellites, is available or has been received. Alternatively or additionally, this performance criterion can be used to check whether the age of (possibly known) GNSS correction data, in particular for a certain minimum number of satellites, is greater than a definable threshold.

[0038] According to another advantageous embodiment, at least one GNSS-specific performance criterion relates to requirements for the quality of the received GNSS satellite signals. This performance criterion can be used, for example, to check whether the carrier-to-noise ratio (CN / O) of a specific minimum number of satellites is below a definable threshold.

[0039] According to another advantageous embodiment, at least one GNSS-specific performance standard relates to requirements for navigation messages contained in GNSS satellite signals. This performance standard can be used, for example, to verify the correctness of navigation messages, particularly for a certain minimum number of satellites. Navigation messages also typically contain a component describing the health or health status (or technical status) of the satellites. This component can be verified in this regard.

[0040] According to another advantageous embodiment, at least one GNSS-specific performance criterion relates to requirements for the (number of) available carrier frequencies for GNSS satellite signals. This performance criterion can be used to check, for example, whether two carrier frequencies, in particular a specific minimum number of satellites, can be received.

[0041] In principle, any combination of two or more of the above-mentioned performance criteria can be used.

[0042] According to another advantageous embodiment, it is provided that during a definable (definable) time period at least one definable (definable) evaluation (eg NPE) or all evaluations are not assigned (so-called transition period). ). In this regard, the determinable time period can be a defined transition time period. During the transition time period, in particular, the evaluation of "not enough performance (efficiency), reliability and / or quality (or goodness) of GNSS satellite signals (English: Not PerformanceEnsured; abbreviated: NPE)" will not be assigned. In addition, it can be stipulated that GNSS sensor data is at least not provided separately during the transition time period. During the transition time period, GNSS sensor data can be obtained, for example, with the help of (multiple) sensor fusion technologies, so that the GNSS sensor data output can, for example, be transitioned. For example, the transition time period can be used during and / or after entering an area where GNSS satellites are expected to be severely obscured (for example, when entering a tunnel or entering an urban canyon). As a result, GNSS sensor data can still be output for a certain time period, and sufficient reliability can still be assumed for it, because it can, for example, still be based on signals received before entering the area. Here, the reliability is at least still sufficient for sensor fusion technology (for example, for fusion with inertial data or inertial navigation data and / or environmental sensor data).

[0043] According to another advantageous embodiment, after at least one determinable (definable) evaluation (e.g., NPE) has been obtained, this evaluation is also assigned to subsequently acquired GNSS sensor data within a determinable (definable) time interval (recovery time). The determinable time interval can, for example, relate to a recovery time in which an evaluation of "Not Performance Ensured" (NPE) is always assigned, even though the evaluation result is actually "Performance Ensured" (PE). The recovery time can be used, for example, during and / or after exiting an area where significant obstruction of GNSS satellite signals is expected (e.g., when exiting a tunnel or leaving an urban canyon). This allows a specific waiting period until sufficient reliability can be assumed again.

[0044] According to another advantageous embodiment, the GNSS sensor data is provided together with the assigned evaluation. For example, this can be provided to a higher-level (vehicle) system and / or a user interface. By outputting, for example, an NPE flag, the higher-level (vehicle) system or user can decide whether the corresponding GNSS sensor signal should be blocked or not considered.

[0045] According to another advantageous embodiment, only GNSS sensor data is provided for which the assigned rating meets at least one specific minimum requirement. This minimum requirement can, for example, be that the assigned rating is not "Not Performance Ensured" (NPE) and / or corresponds to "Performance Ensured" (PE). This data can also be provided to higher-level (vehicle) systems and / or user interfaces, for example.

[0046] According to another aspect, a computer program for executing the method proposed herein is provided. In other words, this particularly relates to a computer program (product) comprising instructions which, when executed by a computer, cause the computer to execute the method described herein.

[0047] According to another aspect, a machine-readable storage medium is provided, on which a computer program as provided herein is saved or stored. The machine-readable storage medium is typically a computer-readable data carrier.

[0048] According to another aspect, a GNSS sensor is proposed, which is configured to carry out the method described herein. The GNSS sensor may be a GNSS sensor for a (motor) vehicle. In other words, the GNSS sensor may also be described in particular as follows: the GNSS sensor may be arranged in or on the vehicle. The GNSS sensor may be designed as a GNSS positioning sensor or a GNSS-based motion and position sensor, or it may be a component of such a sensor. Thus, the GNSS sensor may, for example, constitute a positioning device for a vehicle. The GNSS sensor may, for example, include an operator and / or a control unit (controller) which may execute instructions to implement the method. For this purpose, the operator or the control unit may, for example, execute a specified computer program. For example, the operator or the control unit may access a specified storage medium in order to execute the computer program.

[0049] The details, features and advantageous embodiments discussed in conjunction with the method may also be present in the computer program and / or storage medium and / or GNSS sensor described herein, and vice versa. In this respect, reference is made in full to the statements made there for a more detailed description of these features. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The solution proposed herein and its technical context are explained in more detail below with reference to the accompanying drawings. It should be noted that the present invention is not limited to the illustrated embodiments. In particular, unless explicitly stated otherwise, aspects of the concepts illustrated in the drawings may be extracted and combined with other components and / or findings in other drawings and / or this specification.

[0051] in:

[0052] Figure 1 Schematically shows an exemplary flow chart of the method presented here,

[0053] Figure 2 An exemplary flow chart schematically shows step c) of the method,

[0054] Figure 3 An exemplary flow chart schematically shows step d) of the method,

[0055] Figure 4 Another exemplary flow chart of step d) of the method is schematically shown, and

[0056] Figure 5 An exemplary application of the GNSS sensor described herein is schematically shown. DETAILED DESCRIPTION

[0057] Figure 1An exemplary flow chart of the method presented here is schematically shown. The method is used to provide GNSS sensor data 1 (see Figure 2 、 Figure 3 and Figure 4 The order of steps a), b), c), and d) shown in blocks 110 , 120 , 130 , and 140 is exemplary and may be executed, for example, at least once, in the order shown to perform the method.

[0058] In block 110, GNSS satellite signals are received according to step a). In block 120, the received GNSS satellite signals are evaluated according to step b) to determine GNSS sensor data 1. In block 130, the received GNSS satellite signals are evaluated according to at least one GNSS-specific performance criterion 2, 3, 4, 5, 6, 7, 8, or 9 according to step c). In block 140, the evaluation 10 or 11 generated in step c) is assigned to the corresponding GNSS sensor data 1 according to step d).

[0059] Figure 2 An exemplary flow chart of step c) of the method is schematically shown. In this regard, Figure 2 In particular, examples of various performance criteria 2, 3, 4, 5, 6, 7, 8, and 9 that can be used in the evaluation of GNSS satellite signals are shown. Figure 2 For example, it is shown that at least one GNSS-specific performance criterion 2 can relate to the number of visible GNSS satellites. Using performance criterion 2, it is checked, for example, whether the number of visible GNSS satellites is below a definable threshold value.

[0060] Furthermore, in this regard, Figure 2 For example, it is shown that at least one GNSS-specific performance criterion 3 may relate to the geometric constellation of available GNSS satellites. Using performance criterion 3 , for example, it is checked whether the horizontal delusion of precision (HDOP) is greater than a definable threshold value.

[0061] Furthermore, in this regard, Figure 2 For example, it is shown that at least one GNSS-specific performance criterion 4 can relate to the relative arrangement of at least one GNSS satellite and a GNSS receiver. Using the performance criterion 4 , it is checked, for example, whether the elevation angle of a particular satellite is below a definable threshold value.

[0062] Furthermore, in this regard, Figure 2For example, at least one GNSS-specific performance criterion 5, 6 is shown, which may relate to a requirement for GNSS correction data. Performance criterion 5 is used, for example, to check whether (new) GNSS correction data are available or have been received. Performance criterion 6 is used, for example, to check whether the age of (possibly known) GNSS correction data is greater than a definable threshold.

[0063] Furthermore, for that matter, Figure 2 For example, at least one GNSS-specific performance criterion 7 can relate to requirements for the quality of received GNSS satellite signals. Performance criterion 7 can be used to check, for example, whether the carrier-to-noise ratio (CN / O) of a specific number of satellites is below a definable threshold.

[0064] Furthermore, in this regard, Figure 2 For example, at least one GNSS-specific performance criterion 8 can relate to requirements for navigation messages contained in GNSS satellite signals. Performance criterion 8 can be used to check, for example, whether navigation messages, in particular from a specific number of satellites, are abnormal.

[0065] Furthermore, for that matter, Figure 2 For example, it is shown that at least one GNSS-specific performance criterion 9 can relate to requirements for usable carrier frequencies of GNSS satellite signals. Performance criterion 9 is used to check, for example, whether two carrier frequencies of a specific number of satellites are received.

[0066] Figure 2 The path shown between performance criteria 2, 3, 4, 5, 6, 7, 8, and 9 illustrates the integration of performance criteria 2, 3, 4, 5, 6, 7, 8, and 9 into the overall evaluation. Which path is followed after performance criteria 2, 3, 4, 5, 6, 7, 8, and 9 depends on whether the relevant criteria are met (+) or (-). The integration of performance criteria 2, 3, 4, 5, 6, 7, 8, and 9 is exemplary; of course, only a few criteria or, if necessary, additional criteria may also be included in the evaluation.

[0067] In addition, Figure 211 may not be assigned during a definable time period, and optionally how at least one definable evaluation 10 or all evaluations 10, 11 may not be assigned during a definable time period. This is achieved, for example, by means of a first time criterion 14 and a first counter 15. First time criterion 14 verifies, for example, whether a defined transition time period has expired. In this regard, the defined transition time period represents an example of a definable time period. If the transition time period has not yet expired, evaluation 10 and / or evaluations 10 and 11 may not be output and assigned. In this case, counter 15 may be incremented by, for example, one value or one time step, and the method may be repeated, if necessary, in a new time step or with newly received GNSS satellite signals.

[0068] Once the transition period has expired, an evaluation 10 can be output and assigned. Evaluation 10 can be, for example, a statement that sufficient performance or quality cannot be guaranteed for the GNSS sensor data 1 determined based on the received and evaluated GNSS satellite signals. This can be achieved, for example, by setting evaluation 10 to a so-called "flag" with the content NPE (Not Performance Ensured). By setting the flag, corresponding evaluation information can be assigned to the GNSS sensor data 1.

[0069] In addition, Figure 2 1 also shows an example of how, after at least one definable evaluation 10 is present, this evaluation 10 can also be assigned to subsequently ascertained GNSS sensor data within a definable time interval, and optionally how, after at least one definable evaluation 10 is present, this evaluation 10 can also be assigned to subsequently ascertained GNSS sensor data within a definable time interval. This is achieved, for example, with the aid of a second time criterion 16 and a second counter 17. Second time criterion 16, for example, verifies whether a defined recovery time period has expired. In this regard, the defined recovery time period represents an example of a definable time interval. If the recovery time period has not yet expired, particularly if an evaluation 10 has already been output and assigned, this evaluation 10 can optionally be output and assigned again. In this case, counter 17 can also be incremented by, for example, one value or one time step, and the method can be repeated, if necessary, in a new time step or with newly received GNSS satellite signals.

[0070] When the recovery period has expired, an evaluation 11 can be output and assigned. Evaluation 11 can be, for example, a statement that sufficient performance or quality is ensured for the GNSS sensor data 1 determined based on the received and evaluated GNSS satellite signals. This can be achieved, for example, by resetting or deactivating the previously set flag with the content NPE as evaluation 11. Alternatively or additionally, a flag with the content PE (Performance Ensured) can be set. By deactivating the NPE flag and / or setting the PE flag, corresponding evaluation information can be assigned to the GNSS sensor data 1.

[0071] Figure 3 An exemplary flow chart of step d) of the method is schematically shown. Here, it is shown by way of example that GNSS sensor data 1 can be provided together with associated evaluations 10 , 11 , for example to a higher-level vehicle system and / or a user interface.

[0072] Figure 4 Another exemplary flow chart for step d) of the method is schematically shown. Here, by way of example, only GNSS sensor data 1 whose assigned evaluations 10, 11 meet certain minimum requirements are provided. For example, provision can be made only for GNSS sensor data 1 whose assigned evaluations do not correspond to evaluations 10 or do not contain an NPE identifier. This can be provided, for example, to a higher-level vehicle system and / or user interface.

[0073] Figure 5 An exemplary application of the GNSS sensor 12 described here is schematically shown. The GNSS sensor 12 is configured to carry out the described method. Furthermore, the GNSS sensor 12 is integrated, for example, into a (motor) vehicle 13, such as a car, which is preferably configured for at least partially automated and / or autonomous driving.

Claims

1. A method for providing GNSS sensor data (1) performed by a GNSS sensor (12), comprising at least the following steps: a) Receive GNSS satellite signals, b) evaluating the received GNSS satellite signals to obtain GNSS sensor data (1), c) evaluating the received GNSS satellite signals according to at least one GNSS-specific performance criterion (2, 3, 4, 5, 6, 7, 8, 9), d) assigning the evaluation (10, 11) resulting from step c) to the corresponding GNSS sensor data (1), e) Only GNSS sensor data (1) are provided whose assigned evaluation (10, 11) meets at least one specific minimum requirement.

2. The method according to claim 1, wherein the at least one GNSS-specific performance criterion (2) is related to the number of GNSS satellites from which GNSS satellite signals are received.

3. The method according to claim 1 or 2, wherein at least one GNSS-specific performance criterion (3) is related to the geometric constellation of available GNSS satellites.

4. The method according to claim 1 or 2, wherein at least one GNSS-specific performance criterion (4) is related to the relative arrangement of at least one GNSS satellite and a GNSS receiver.

5. The method according to claim 1 or 2, wherein at least one GNSS-specific performance criterion (5, 6) is related to requirements for GNSS correction data.

6. The method according to claim 1 or 2, wherein at least one GNSS-specific performance criterion (7) relates to requirements on the quality of received GNSS satellite signals.

7. The method according to claim 1 or 2, wherein at least one GNSS-specific performance criterion (8) relates to requirements for navigation messages contained in GNSS satellite signals.

8. The method according to claim 1 or 2, wherein at least one GNSS-specific performance criterion (9) is related to requirements on usable carrier frequencies for GNSS satellite signals.

9. The method according to claim 1 or 2, wherein at least one determinable evaluation (10) or all evaluations (10, 11) are not assigned during a determinable time period.

10. The method according to claim 1 or 2, wherein, after at least one definable evaluation (10) is present, the evaluation (10) is also assigned to subsequently ascertained GNSS sensor data within a definable time interval.

11. The method according to claim 1 or 2, wherein the GNSS sensor data (1) are provided together with an assigned evaluation (10, 11).

12. A computer program product for performing the method according to any one of claims 1 to 11.

13. A machine-readable storage medium having a computer program stored thereon, the computer program being configured to execute the method according to any one of claims 1 to 11.

14. A GNSS sensor (12) configured to perform the method according to any one of claims 1 to 11.

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