Method for GNSS-based positioning of a vehicle using a positioning device

Abstract

The invention relates to a method for GNSS-based positioning of a vehicle (1) by means of a GNSS positioning device (3) taking into account integrity information (5) provided for GNSS correction data (4). The method comprises at least the following steps: a) receiving GNSS correction data (4) from a GNSS correction data providing system (2) for correcting runtime measurements for GNSS-based positioning, b) receiving at least one piece of integrity information (5) about the reliability of the GNSS correction data (4) from the GNSS correction data providing system (2), c) evaluating the at least one piece of integrity information (5) about the reliability of the GNSS correction data (4) received in step b), d) influencing the GNSS-based positioning of the vehicle (1) as a function of the evaluation in step c).

Description

Technical Field

[0001] The present invention relates to a method for GNSS-based positioning of a vehicle by means of a GNSS positioning device taking into account integrity information provided for GNSS correction data. In addition, a computer program for executing the method, a machine-readable storage medium storing the computer program, and a GNSS positioning device for executing the method are proposed. Background Art

[0002] Precise GNSS positioning using correction data is common in many application fields, such as surveying, avionics, agriculture, deformation monitoring, etc. Often a differential GNSS scheme is used, where multiple receivers are taken into account in order to calculate differences and thus eliminate errors that are common to both receivers.

[0003] Alternatively, a correction service can be considered in order to request a correction of the user's station point and time. The information transmitted is usually first the correction itself, typically provided as a range correction for each satellite in the form of an observation state representation (OSR=Observation State Representation) or as a correction for each physical error magnitude as a state space representation (SSR=State Space Representation). So far, the corrections have been provided without additional integrity information. Summary of the invention

[0004] A method for GNSS-based positioning of a vehicle by means of a GNSS positioning device taking into account integrity information provided for GNSS correction data is proposed, the method comprising at least the following steps:

[0005] a) receiving GNSS correction data from a GNSS correction data providing system to correct runtime measurements for GNSS based positioning,

[0006] b) receiving at least one piece of integrity information regarding the reliability of the GNSS correction data from a GNSS correction data providing system,

[0007] c) evaluating at least one piece of integrity information regarding the reliability of the GNSS correction data received in step b),

[0008] d) affecting the GNSS-based positioning of the vehicle based on the evaluation in step c).

[0009] The proposed sequence of steps a) to d) is exemplary and is traversed at least once in the proposed sequence in the conventional flow of the method for carrying out the method. In addition, steps a) to d), in particular steps a) and b) and / or c) and d) can be carried out at least partially in parallel or simultaneously.

[0010] The method can advantageously contribute to performing GNSS-based positioning in a vehicle based on integrity information about the reliability of the GNSS correction data. One advantage of the method is that, in particular, integrity information external to the vehicle can be used to improve the GNSS-based positioning on the vehicle side (safety and / or accuracy). In addition, the method can use GNSS correction data in the vehicle based on integrity information about the reliability of the GNSS correction data. As a result, GNSS correction data can also be advantageously used for safety-critical applications, i.e., for example, at least partially automated or autonomous driving. In this case, GNSS positioning can advantageously be performed accurately and reliably, so that GNSS positioning can also be used, at least temporarily, as the only positioning method or as one of a few positioning methods for safety-critical applications, i.e., for example, at least partially automated or autonomous driving. In particular, the integrity information can be (directly) jointly provided by a correction service provider (provider of the correction data).

[0011] The vehicle may be, for example, a motor vehicle, i.e., a (possibly electrically driven) automobile. Furthermore, the vehicle may be designed for at least partially automated and / or autonomous driving operation. For example, GNSS-based positioning may include determining the vehicle's own position, its own speed and / or its own acceleration. The integrity information provided for the GNSS correction data is typically integrity information of a GNSS correction data providing system or integrity information (about the provided correction data) provided by a GNSS correction data providing system.

[0012] For example, before step a), the determination of the GNSS correction data can be carried out by a (or the) GNSS correction data providing system. For example, the GNSS correction data can be determined by differential GNSS measurements. Here, for example, multiple GNSS receivers can be considered to calculate the difference between the runtime measurements of the GNSS receivers in order to thus eliminate errors common to the two GNSS receivers. Alternatively or cumulatively, a reference measurement can be performed with the aid of a fixed-position GNSS receiver, the geodesic position of the fixed-position GNSS receiver or the position on the surface of the earth is known. The GNSS correction data can be determined (and subsequently provided) according to the position and / or according to the time. The GNSS correction data providing system can, for example, be operated by a GNSS correction service provider.

[0013] The GNSS correction data may include, among other things, runtime corrections, health information of satellites and / or their constellations, interference indexes and / or quality indicators of the atmosphere. For example, the GNSS correction data may include one or more of the following (runtime) corrections:

[0014] Geometric corrections, e.g. corrections involving satellite clocks, satellite orbits and / or satellite bias;

[0015] Atmospheric correction, especially tropospheric correction, which can also be a geometric correction if necessary;

[0016] Ionospheric correction;

[0017] Qualitative information, such as satellite health information, satellite constellation information, geomagnetic disturbance index and / or weather behavior index.

[0018] The GNSS correction data provision system may, for example, comprise at least one (possibly stationary) GNSS receiver and an evaluation device for determining GNSS correction data from received GNSS signals. Furthermore, the GNSS correction data provision system may comprise a (GNSS) transmitter, by means of which the GNSS correction data (preferably together with integrity information) may be provided to other GNSS receivers. In this case, the transmitter may transmit the data or information, for example, to a satellite, which may then distribute the information to a plurality of receivers.

[0019] Furthermore, before step a), at least one piece of integrity information about the reliability of the GNSS correction data can be determined, for example, by the GNSS correction data providing system. For example, this can also be determined by an evaluation device of the GNSS correction data providing system. For example, at least one piece of integrity information can be determined based on the position and / or based on the time. The integrity information can be, for example, a confidence value or a confidence interval. For example, the integrity information can include a probability statement that indicates the probability of the GNSS correction data being correct. Alternatively or additionally, the integrity information can include information about the extent to which an integrity check is performed on the part of the GNSS correction data providing system. For example, the user (e.g. a vehicle and / or a GNSS positioning device) can then decide for himself whether the user, for example in the event of a failure of the integrity check (in the correction service), still uses the data or, for example, performs other checks of his own.

[0020] Alternatively or in addition, the integrity information may include measures and / or conclusions about the integrity or reliability of the GNSS correction data. For example, the measures and / or conclusions may be provided in the form of an interference message, in particular by outputting a specific interference level, in particular a plurality of defined interference levels, and / or by outputting a specific integrity value, in particular a plurality of defined integrity values ​​(determination and). The interference level or integrity value may be defined according to the reliability of the GNSS correction data, or in other words describe or characterize, in particular quantify, the reliability of the GNSS correction data. Furthermore, the integrity information may be provided, for example, in the form of a so-called "flag". Such a flag may be a particularly advantageous option for displaying an interference level or integrity value. If necessary, multiple interference levels or integrity values ​​or multiple flags may also be used to display the integrity of different (e.g. atmosphere-specific, satellite-specific and / or satellite constellation-specific) parameters of the GNSS correction data.

[0021] In particular, at least one piece of integrity information may include constellation-specific integrity information and / or satellite-specific integrity information and / or atmosphere-specific integrity information. In order to determine exemplary constellation-specific integrity information, for example, it may be determined based on the presence of signals of a subset of satellites of a particular GNSS (e.g., GALILEO) and analysis of observation and correction data to determine how the integrity of the constellation should be assessed overall. The GNSS operator may load the wrong system time of the GNSS onto the satellite via an uplink station, which is then used incorrectly by the user, resulting in differences in the data of the various GNSSs. The differences may be identified by the user through the constellation-specific integrity information. For example, in order to determine exemplary satellite-specific integrity information, the correction data of a single satellite may be evaluated in terms of its integrity. An example of a satellite showing anomalies in the transmitted data due to aging of its atomic clock may be used for explanation. The anomalies may be identified by the user through the satellite-specific integrity information. In order to determine exemplary atmosphere-specific integrity information, for example, the signals of a single or multiple satellites from a certain area may be analyzed for runtime delays to determine whether the signals transmitted by them are locally disturbed by the atmosphere. The disturbance may be identified by the user through the atmosphere-specific integrity information.

[0022] Furthermore, the GNSS correction data providing system may use different levels of integrity checking, in particular with regard to the scope and / or protection of the integrity checking, if necessary, and preferably provides (informing the user) of the level(s) of integrity monitoring or integrity checking used.

[0023] For example, the at least one piece of integrity information includes one or more of the following information, which may be provided in the form of a (warning) flag if necessary:

[0024] The integrity or reliability of geometric corrections, e.g. involving satellite clocks, satellite orbits and / or satellite biases;

[0025] The integrity or reliability of atmospheric corrections, especially tropospheric corrections;

[0026] The integrity or reliability of ionospheric corrections;

[0027] The integrity or reliability of qualitative information, such as satellite health information (satellite-specific integrity information), satellite constellation information (satellite constellation-specific integrity information), geomagnetic disturbance index and / or weather behavior index.

[0028] The at least one integrity information preferably comprises at least one indicator for displaying the integrity and / or reliability of the available (or provided by the GNSS correction data providing system) information(s) about the (current and / or local) GNSS satellite geometry and / or at least one indicator for performing an integrity and / or reliability check of the available (or provided by the GNSS correction data providing system) information(s) about the (current and / or local) atmospheric conditions. Alternatively or additionally, the at least one integrity information may also comprise at least one indicator for the integrity and / or reliability of the available (or provided by the GNSS correction data providing system) information(s) about the (current and / or local) state (e.g. activity, age and / or health) of at least one GNSS satellite. If the relevant integrity and / or reliability does not meet (predeterminable) requirements for a navigation solution that is particularly as safe as possible, this indicator may be output, for example, in the form of a warning indicator.

[0029] The at least one piece of integrity information comprises, for example, at least one satellite-specific flag, a satellite constellation-specific flag and / or an atmosphere-specific flag, which is used to indicate the integrity and / or reliability of the (multiple) information available (or provided by the GNSS correction data providing system). The flags can be output in stages for describing the reliability, wherein in particular the selection can be made according to the severity of the respective interference. In the simplest case, the flags can be output in two stages or in binary form, wherein in the case of no interference, for example, flag 0 or no flag can be output, and in the case of interference, flag 1 or a warning flag can be output. The at least one piece of integrity information can comprise, for example, at least one flag for indicating the integrity and / or reliability of the (multiple) information available (or provided by the GNSS correction data providing system), the flag being selected from the following set of possible flags:

[0030] GPS satellite geometry (alarm) mark;

[0031] GLONASS satellite geometry (alert) flag;

[0032] Galileo satellite geometry (alarm) flag;

[0033] Regional tropospheric (alert) flag;

[0034] Regional ionospheric (alert) flag.

[0035] Furthermore, the association of the integrity information with the associated GNSS correction data can also be performed by a GNSS correction data provision system. In this case, for example, data pairs or data sets from GNSS correction data and the associated integrity information can be created so that the data and information can be provided jointly, respectively. Furthermore, the GNSS correction data and at least one piece of integrity information for at least one GNSS positioning device can be (jointly) provided by a GNSS correction data provision system. The (joint) provision can be performed, for example, via a transmitter of the GNSS correction data provision system. Furthermore, the provision can include distribution to, for example, a large number of GNSS receivers via at least one (usually geostationary) satellite, the Internet and / or (mobile) radio.

[0036] In step a), GNSS correction data are received from a GNSS correction data providing system to correct runtime measurements for GNSS-based positioning. For example, the GNSS correction data may be received via at least one satellite, via the Internet and / or via (mobile) radio. The GNSS correction data may be determined and / or provided according to the examples presented above. In particular, the GNSS correction data may include one or more of the information described above.

[0037] In step b), at least one piece of integrity information about the reliability of the GNSS correction data is received from the GNSS correction data providing system. For example, the at least one piece of integrity information may be received via at least one satellite, via the Internet and / or via (mobile) radio. The at least one piece of integrity information may be determined and / or provided according to the above examples. In particular, the at least one piece of integrity information may include one or more of the information described above.

[0038] In step c), at least one piece of integrity information about the reliability of the GNSS correction data received in step b) is evaluated. For example, the evaluation can be performed by the GNSS positioning device itself. Alternatively, the evaluation can be performed by a device of the vehicle that is connected to the GNSS positioning device and / or can access the GNSS positioning device. In step c), multiple (different from each other or different types of) integrity information received in step b) can also be evaluated. If multiple integrity information or multiple types of integrity information are evaluated, the integrity information can, for example, differ from each other in the following way: whether it is satellite-specific (satellite-related), satellite constellation-specific (satellite constellation-related) or atmosphere-specific (atmosphere-related). For example, at least one received satellite-specific integrity information and / or satellite constellation-specific integrity information and / or atmosphere-specific integrity information can therefore be evaluated. Preferably, at least one received satellite constellation-specific integrity information and / or atmosphere-specific integrity information is evaluated.

[0039] In step d), the GNSS-based positioning of the vehicle is influenced as a function of the evaluation in step c). In particular, in step d), the GNSS-based positioning of the vehicle is changed as a function of the evaluation in step c). For example, the influence or change can be made as a function of the interference level evaluated in step c) or the integrity value evaluated in step c). The influence or change in step d) can also be made, for example, in a graded manner. Thus, for example, a grade of influence or change can be made as a function of the interference level evaluated in step c) or the integrity value evaluated in step c). It can also be provided that if the evaluation shows that the GNSS signal is not sufficiently reliable, the influence of the GNSS signal on the positioning of the vehicle is reduced (for example, the weight is reduced). In this case, for example, the influence of environmental sensor data and / or inertial data and / or map data on the positioning can be increased. The environmental sensor data can be provided by environmental sensors of the vehicle (for example, cameras, RADAR, LIDAR, ultrasound). The inertial data can be provided by an internal unit of the vehicle, which can, for example, evaluate wheel speed sensors, acceleration sensors and / or steering angle sensors of the vehicle. For example, the map data can be taken from a digital map of the vehicle's surroundings. If necessary, the presented sensor data can be used for localization within the scope of sensor fusion.

[0040] In this case, the evaluation of the GNSS correction data can also be performed by at least one GNSS positioning device taking into account at least one integrity information. This can also affect the GNSS-based positioning. For example, a decision on whether to use or not to use the GNSS correction data can be made based on the integrity information, in particular a sufficient (confidence) value of the integrity information. The evaluation can also include, for example, weighting the received GNSS correction data based on the at least one integrity information.

[0041] In order to influence the GNSS-based positioning, the GNSS positioning device can, for example, select at least one specific measure from a large number of defined measures as a function of the at least one piece of integrity information evaluated. The specific measures are in particular measures for (further) using or for processing (related) GNSS correction data. The large number of defined measures can include, for example, at least two or more of the following measures: weighting (in particular devaluation or reduction of weight), monitoring, use or non-use or rejection of measurement or navigation data, system restart, error output, adaptation of the monitoring sensitivity (in real time) to the current situation, integrity defect display at the output of the positioning device and / or adaptation of the information about the reliability of the positioning result. As a further measure, for example, it can even be provided that the entire system is set to be invalid, in particular if the service area of ​​the correction data providing system is left behind.

[0042] Alternatively or additionally, the plurality of defined measures may include one or more of the following measures or one or more of the following measures may be adopted according to the evaluated at least one integrity information:

[0043] Delete / reset the correction database in the GNSS positioning device’s software;

[0044] Reset the parameters / Kalman filter in the GNSS positioning device’s software;

[0045] Switch the correction data source;

[0046] Dynamically adapting navigation estimates, for example by accepting lower accuracy to increase robustness;

[0047] Weighting of GNSS observations;

[0048] Dynamically adapt monitor thresholds;

[0049] Adjust the protection level;

[0050] Reset the navigation system;

[0051] Discarding satellite / constellation observation or navigation data;

[0052] Registered in the error memory.

[0053] Furthermore, it can be provided, for example, that in order to influence the GNSS-based positioning, the information about the reliability of the positioning result of the GNSS positioning device is adapted using the at least one integrity information evaluated in step c). For example, the information about the reliability of the positioning result can be a confidence interval, within which the (true) position lies. The corresponding confidence interval can also be generally referred to as a so-called "protection level". For example, the confidence interval can be determined (also) as a function of the at least one integrity information about the reliability of the GNSS correction data, in particular increased in the case of less reliable correction data and / or reduced in the case of more reliable correction data.

[0054] According to an advantageous design, the influence according to step d) may differ depending on whether the following integrity information is evaluated in step c), the integrity information describing interference related to at least one GNSS satellite itself and / or interference related to the position of at least one GNSS satellite, or describing interference of at least one propagation path between a GNSS satellite and a vehicle. In particular, the influence according to step d) may differ depending on whether the following integrity information is evaluated in step c), the integrity information containing an alarm flag, the alarm flag relating to at least one GNSS satellite itself and / or its position; or the integrity information containing an alarm flag, the alarm flag relating to at least one propagation path between a GNSS satellite and a vehicle.

[0055] According to a further advantageous embodiment, it is provided that the influence according to step d) is greater when evaluating the satellite constellation-specific and / or satellite-specific integrity information in step c) than when evaluating the atmosphere-specific integrity information (5) in step c). For example, it can be provided that the influence according to step d) is greater when evaluating the satellite constellation-specific and / or satellite-specific integrity information in step c) than when evaluating the atmosphere-specific integrity information in step c), the evaluation of the satellite constellation-specific and / or satellite-specific integrity information allowing conclusions to be drawn about satellite constellation-specific and / or satellite-specific interferences, while the evaluation of the atmosphere-specific integrity information allows conclusions to be drawn about atmosphere-specific interferences. In particular, it can be provided that the influence according to step d) is greater when evaluating the satellite constellation-specific and / or satellite-specific integrity information containing the warning flag in step c) than when evaluating the atmosphere-specific integrity information containing the warning flag in step c).

[0056] According to another advantageous design proposal, it is proposed that in step c), when the atmosphere-specific integrity information is evaluated, in step d), the GNSS-based positioning is adaptively continued. For example, it can be proposed that in step c), when atmosphere-specific integrity information that allows conclusions about atmosphere-specific interference to be drawn, the GNSS-based positioning is adaptively continued. In particular, it can be proposed that in step c), when the atmosphere-specific integrity information containing warning signs is evaluated, in step d), the GNSS-based positioning is adaptively continued. Here, for example, it can be proposed that the influence of GNSS signals on vehicle positioning is reduced (for example, the weight is reduced). For example, in order to compensate, the influence of environmental sensor data and / or inertial data and / or map data on positioning can be increased. In addition, it can be proposed that measures for adapting GNSS-based positioning are determined based on the interference level determined from the integrity information.

[0057] According to another advantageous embodiment, it is proposed that suitable GNSS satellites are selected and / or available GNSS satellite signals are weighted for adapting GNSS-based positioning. If, for example, atmosphere-specific interference is only locally present, satellites that are strongly subject to local interference can be excluded from positioning or their weights can be reduced accordingly for adapting GNSS-based positioning.

[0058] According to another advantageous design, it is proposed that in step c), in case of evaluation of satellite constellation-specific integrity information, in step d), GNSS-based positioning is interrupted. For example, it can be proposed that in step c), in case of evaluation of satellite constellation-specific integrity information, which leads to the conclusion of constellation-specific interference, GNSS-based positioning is interrupted in step d). In particular, it can be proposed that in step c), in case of evaluation of satellite constellation-specific integrity information containing an alarm flag, GNSS-based positioning is interrupted in step d). In this case, interruption of GNSS-based positioning is advantageous, because in the case of interference involving the entire satellite constellation, GNSS-based positioning cannot usually be performed reliably. In contrast, for example, in the case of atmospheric interference, measures (based on empirical values) can usually be taken, which allow the GNSS-based positioning to be adapted.

[0059] According to another advantageous embodiment, it is proposed that a warning message is outputted according to the influence according to step d). The type of the warning message can be indicated, for example, according to the interference level, which can be determined from the integrity information. For example, the warning message can be outputted to other systems of the vehicle and / or the driver of the vehicle.

[0060] According to another aspect, a computer program for executing the method described herein is provided. In other words, this relates in particular to a computer program (product) comprising instructions which, when the program is executed by a computer, cause the computer to execute the method described herein.

[0061] According to another aspect, a machine-readable storage medium is provided, on which a computer program as described herein is stored or disposed. The machine-readable storage medium is typically a computer-readable data carrier.

[0062] According to another aspect, a GNSS positioning device for a vehicle is proposed, wherein the GNSS positioning device is designed to perform the method described herein. The GNSS positioning device can be, for example, a GNSS sensor of a (motor) vehicle (e.g., a car). The GNSS positioning device can be part of a GNSS system, which also includes at least one GNSS correction data providing system and / or another GNSS positioning device if necessary. For example, the GNSS positioning device can be a component of a mobile and position sensor for a (motor) vehicle. For example, the vehicle can be designed for at least partially automated or autonomous driving operation, for example, by a correspondingly designed control device. The mobile and position sensor and / or the GNSS positioning device are particularly arranged in or at the vehicle. The GNSS positioning device can include, for example, a computer and / or a control device (controller) that can execute instructions to execute the method. To this end, the computer or control device can, for example, execute the described computer program. For example, the computer or control device can access the described storage medium so that the computer program can be executed.

[0063] The details, features and advantageous embodiments discussed in connection with the method may also be present in the computer program and / or storage medium and / or GNSS positioning device presented here, and vice versa. In this regard, reference is made to the statements made there in full for more detailed characterization of the features. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] The solution and its technical environment introduced here are explained in more detail below with reference to the accompanying drawings. It should be noted that the present invention is not intended to be limited to the embodiments shown. In particular, unless otherwise explicitly stated, some aspects of the facts explained in the figures can also be extracted and combined with other components and / or cognitions from other figures and / or this specification. The accompanying drawings schematically show:

[0065] Figure 1 An exemplary process of the method described herein is shown.

[0066] Figure 2 shows an exemplary structure of a GNSS system, and

[0067] Figure 3 An exemplary flow chart of a portion of the method described herein is shown. DETAILED DESCRIPTION

[0068] Figure 1 An exemplary sequence of the method described here is schematically shown. The method is used to locate a vehicle 1 (see FIG. 1 ) by means of a GNSS positioning device 3 taking into account integrity information 5 provided for GNSS correction data 4. Figure 2 ) performs GNSS-based positioning. The order of steps a) to d) shown by blocks 110, 120, 130 and 140 is exemplary and can be traversed at least once in the order shown to perform the method.

[0069] In box 110, according to step a), GNSS correction data 4 are received from a GNSS correction data providing system 2 for correcting runtime measurements for GNSS-based positioning. In box 120, according to step b), at least one piece of integrity information 5 about the reliability of the GNSS correction data 4 is received from the GNSS correction data providing system 2. In box 130, according to step c), the at least one piece of integrity information 5 about the reliability of the GNSS correction data 4 received in step b) is evaluated. In box 140, according to step d), the GNSS-based positioning of the vehicle 1 is influenced depending on the evaluation in step c).

[0070] Figure 2 Schematically shows an exemplary structure of a GNSS system 14. The GNSS system 14 includes, for example, a GNSS correction data providing system 2 and a GNSS positioning device 3. Figure 2 For example, it can be seen that the GNSS positioning device 3 can be part of the vehicle 1 or the GNSS positioning device 3 can be arranged in the vehicle 1 and / or at the vehicle 1. The GNSS positioning device 2 is designed to carry out the method described here. The GNSS correction data 4 and the associated integrity information 5 can be provided or forwarded, for example, by the GNSS correction data providing system 2 via the GNSS satellite 7. For example, a propagation path 6 is provided between the GNSS satellite 7 and the vehicle 1 or the GNSS positioning device 3.

[0071] The influence according to step d) may differ, for example, depending on whether in step c) integrity information 5 describing disturbances relating to at least one GNSS satellite 7 itself and / or disturbances relating to the position of at least one GNSS satellite 7 or describing disturbances relating to at least one propagation path 6 between a GNSS satellite 7 and the vehicle 1 is evaluated. It can be provided that the influence according to step d) is greater when satellite constellation-specific and / or satellite-specific integrity information 5 is evaluated in step c) than when atmosphere-specific integrity information 5 is evaluated in step c).

[0072] Furthermore, in step c), the GNSS-based positioning can be adaptively continued in step d) when the atmosphere-specific integrity information 5 is evaluated. In this case, suitable GNSS satellites 7 can be selected and / or the available GNSS satellite signals can be weighted for adapting the GNSS-based positioning. Alternatively or additionally, provision can be made that in step d), the GNSS-based positioning is interrupted when the satellite constellation-specific integrity information 5 is evaluated in step c). Furthermore, a warning message can be outputted depending on the effect according to step d).

[0073] Figure 3 An exemplary sequence of a part of the method described here is schematically shown. It can be seen that the method can work with the following data provided by a (vehicle-external) GNSS correction data providing system 2. The data here include in particular GNSS correction data 4 for correcting runtime measurements for GNSS-based positioning and integrity information 5 about the reliability of the GNSS correction data 4. In addition, it can be seen by way of example that steps c) and d) can be performed by a (vehicle-internal) GNSS positioning device 3.

[0074] In addition, Figure 3 1 shows by way of example that in block 140 or during step d), a (suitable) measure 8, 9, 10, 11, 12, 13 for influencing the GNSS-based positioning of the vehicle 1 can be selected based on the at least one piece of integrity information 5. This is an example of the following: if necessary, as in the case of the GNSS positioning device 3, at least one specific measure can be selected from a large number of defined measures 8, 9, 10, 11, 12, 13 for influencing the GNSS-based positioning of the vehicle 1 based on the at least one piece of integrity information 5.

[0075] Furthermore, for example, information about the reliability of the positioning result of the GNSS positioning device 3 can be adapted with the at least one piece of integrity information 5 .

[0076] Users seeking to perform precise positioning with the aid of GNSS often rely to a certain extent on GNSS corrections, which provide services to users by providing GNSS correction data. If the user and / or the correction service advantageously monitors the overall system behavior, this can help to increase the trust or integrity of the information provided. In this regard, the correction service can typically be responsible for monitoring the following GNSS elements:

[0077] Signals in Space (SIS), such as satellite clock anomalies, orbital maneuvers, instrument signal delays,

[0078] Atmospheric delays, such as ionospheric and tropospheric delays,

[0079] • Navigation data errors and transmission errors, such as errors in the navigation information content provided by the GNSS provider via the navigation data messages.

[0080] The GNSS correction data can be used to provide a service for providing corrections for the elements to a user, which can be, for example, a vehicle 1 and / or a GNSS positioning device 3, in order to correct the GNSS signals, thereby advantageously enabling, for example, the most accurate possible calculation of position, velocity, orientation and / or time (PVAT) for the user.

[0081] The method is characterized in particular in that integrity information about the GNSS correction data is taken into account on the vehicle side, which integrity information can be incorporated into the correction data information. This can advantageously increase the reliability of positioning results for particularly safety-critical applications, such as autonomous driving.

[0082] In this context, the consideration of the integrity information of the correction data can be done in different ways, in particular depending on the potential exposure and / or weight of the information. For example, the service can provide information about the monitoring status of one or more of the (GNSS) elements mentioned above as integrity information, for example:

[0083] Status information (multiple), e.g., no monitoring, out of correction service range, not enough ground stations to observe relevant parameters, not enough satellites to overdetermine, etc.

[0084] Warning and / or Alarm: The element is classified as low critical, medium critical or, for example, very critical with respect to a certain error tolerance.

[0085] This is only an example, which may also be relevant for correction services.Other and / or additional integrity information for various elements is possible.

[0086] On the user side, in particular on the vehicle side, the information can then be further interpreted, in particular depending on certain monitoring possibilities and the system design of the user (e.g. vehicle). Typical reactions might be rejection of measurement or navigation data (payload of the GNSS transmitted signal), weighting of the measurements (in particular in the sense of devaluation), real-time adaptation of the monitoring sensitivity to the current situation, display of incomplete integrity at the output of the user system or even setting the entire system to inactivity, in particular if the service area is left and / or satellite constellation-specific interference is reported. Figure 3 The corresponding selection of measures 8, 9, 10, 11, 12, and 13 is explained by way of example.

[0087] It is also conceivable that the history of the data can be rejected or modified, in particular depending on the type of processing on the user side, for example in the case of navigation based on a Kalman filter or a sequential least squares method.

[0088] On the user side, the evaluation and / or classification of the integrity information provided by the correction service can be advantageously further coordinated, in particular depending on the intended application. Thus, for example, a compromise between availability and integrity as security can be considered. In this case, the reaction on the user side can be more strictly defined with respect to a conservative but safe rejection measure or less strictly defined in the direction of higher availability, for example.

[0089] The method may advantageously contribute to improving or increasing the reliability of positioning results for particularly safety-critical applications, such as autonomous driving.

Claims

1. A method for GNSS-based positioning of a vehicle (1) by means of a GNSS positioning device (3) taking into account integrity information (5) provided for GNSS correction data (4), the method comprising at least the following steps: a) receiving GNSS correction data (4) from a GNSS correction data providing system (2) by means of the GNSS positioning device (3) in the vehicle (1) to correct for atmospheric delays used for the GNSS-based positioning, b) receiving, by means of the GNSS positioning device (3) in the vehicle (1), at least one piece of integrity information (5) about the reliability of the GNSS correction data (4) from the GNSS correction data providing system (2), c) evaluating, by means of the GNSS positioning device (3) in the vehicle (1), the at least one piece of integrity information (5) received in step b) regarding the reliability of the GNSS correction data (4), d) influencing the GNSS-based positioning of the vehicle (1) by means of the GNSS positioning device (3) in the vehicle (1) according to the evaluation in step c), e) transmitting the GNSS-based position of the affected vehicle (1) from the GNSS positioning device (3) in the vehicle to a control device of the vehicle (1), f) controlling said vehicle (1) using said transmitted GNSS-based positioning of said affected vehicle (1), The impact according to step d) varies depending on whether the following integrity information (5) is evaluated in step c): The integrity information describes interference related to at least one GNSS satellite (7) itself; The integrity information describes disturbances related to the position of at least one GNSS satellite (7); The integrity information describes disturbances involving at least one propagation path (6) between at least one GNSS satellite (7) and the vehicle (1).

2. The method according to claim 1, wherein the influence according to step d) is greater when satellite constellation-specific and / or satellite-specific integrity information (5) is evaluated in step c) than when atmosphere-specific integrity information (5) is evaluated in step c). 3 . The method according to claim 1 , wherein, in step c), the GNSS-based positioning is adaptively continued in step d) while evaluating the atmosphere-specific integrity information ( 5 ).

4. The method according to claim 3, wherein for adapting the GNSS based positioning, suitable GNSS satellites (7) are selected and / or available GNSS satellite signals are weighted.

5. The method according to claim 1 or 2, wherein in step d) the GNSS-based positioning is interrupted in case of evaluation of satellite constellation-specific integrity information (5) in step c).

6. The method according to claim 1 or 2, wherein a warning message is outputted by means of the GNSS positioning device (3) in the vehicle (1) as a function of the influence according to step d).

7. A computer program product for executing the method according to any one of claims 1 to 6. 8 . A machine-readable storage medium having a computer program stored thereon, the computer program being configured to execute the method according to claim 1 .

9. A GNSS positioning device (2) for a vehicle (1), wherein the GNSS positioning device (2) is configured to perform the method according to any one of claims 1 to 6.

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