Method and system for determining the position of a mobile device

Abstract

Method for determining the position of a first mobile device, wherein the position of the first mobile device is determined by a positioning device using a GNSS based on a time-of-flight measurement of GNSS signals from various GNSS satellites received by a GNSS receiver of the first mobile device, comprising the steps: - Determining at least one GNSS error information from the GNSS signals of different GNSS satellites, which are received by a GNSS receiver provided on at least one second mobile device at a receiving position of the second mobile device, by means of an error detection device, - Transferring the determined error information from the GNSS to the positioning device of the first mobile device, and - Determining the position of the first mobile device by the position determination device, taking into account the GNSS error information determined at the receiving position of the at least second mobile device and transmitted to the position determination device, characterized in that a plurality of second mobile devices are provided, at whose respective receiving positions at least one GNSS error information is determined, wherein the GNSS error information determined at the respective receiving positions of the second mobile devices is transmitted to the position determination device and the position of the first mobile device is determined by the position determination device, taking into account at least a part of this GNSS error information determined at the various receiving positions of the second mobile devices, wherein one or more position-independent GNSS error information,The error information, which characterizes an accuracy error of the GNSS independently of a receiving position and which was determined using at least one fixed reference station, is transmitted to the error determination devices of the second mobile devices, wherein a position-dependent error information of the GNSS, which characterizes an accuracy error of the GNSS depending on a receiving position, is determined at the receiving position of the respective second mobile device from the GNSS signals of various GNSS satellites, which are received by the GNSS receiver of the respective second mobile device at its receiving position, taking into account the position-independent error information of a reference station by the error determination device.

Description

[0001] The invention relates to a method and a system for determining the position of a mobile device, wherein the position of the mobile device is determined by a position determination device using a GNSS based on a time-of-flight measurement of GNSS signals from various GNSS satellites, which are received by a GNSS receiver of the first mobile device.

[0002] The development of satellite navigation systems (GNSS: Global Navigation Satellite System), such as GPS, Galileo, and GLONASS, has made it possible to determine the position of mobile devices, such as vehicles, ships, aircraft, and handheld electronic devices, very accurately anywhere in the world. This is what makes applications like automatic route navigation and autonomous driving possible, as reliable and accurate vehicle positioning is a fundamental requirement for such technologies.

[0003] In a satellite navigation system, a number of satellites are in a predetermined orbit around the Earth and continuously transmit corresponding position signals (GNSS signals), which can be received by a signal receiver (GNSS receiver). By calculating the signal travel time of each received GNSS signal, the distance from the GNSS receiver to the respective GNSS satellite can be determined. Therefore, with a sufficient number of satellites (sufficient accuracy with four satellites) and their respective calculated distances to the GNSS receiver, and knowing the current position of each GNSS satellite in its orbit, the position of the GNSS receiver can be determined by calculating the intersection point of the spheres around each satellite, as determined by the distance measurement.

[0004] The accuracy of position determination depends primarily on two key factors. Firstly, there are satellite-related errors originating within the satellites themselves. These include, for example, clock errors in the satellites or orbital errors. Because highly precise synchronization of all satellites and the GNSS receiver is necessary for measuring the travel time of GNSS signals, a deviation in a satellite clock can negatively impact accuracy. Secondly, there are signal-related errors that arise from the signals' passage through spheres such as the ionosphere.For example, it is known that when a GNSS signal traverses the troposphere and ionosphere, the GNSS signal is affected with respect to its travel time, resulting in an accuracy error when calculating the travel time based on a fixed value of the signal speed.

[0005] To solve the problem of inaccuracies in satellite navigation systems, a so-called Differential Global Positioning System (DGPS) is used. The inaccuracies that arise in practice with a GNSS—based on temporal and spatial variations in signal velocities in the troposphere and ionosphere, as well as on orbital and clock errors of the satellites—can be corrected by determining these errors using a fixed reference station. Such a fixed reference station is generally a GNSS receiver whose position on Earth is known with high accuracy through other measurement methods. Based on a comparison between its own known position and the position determined by the GNSS, a corresponding error correction for the signal can then be calculated.Mobile devices located in the vicinity of such a stationary reference station can then receive a corresponding signal from the reference station containing the respective correction value(s) in order to increase the accuracy of the GNSS, which is faulty in its native configuration.

[0006] Since the correction becomes less accurate with increasing distance between the mobile device or GNSS receiver and the stationary reference station, larger distances can be bridged by interpolating between several reference stations.

[0007] While DGPS and fixed reference stations can reliably correct the so-called global error components of a GNSS—that is, those errors that do not exhibit spatial and temporal variance—the local error components—those GNSS errors that do exhibit spatial and temporal variance—can only be corrected to a limited extent using fixed reference stations. Furthermore, the accuracy of the error correction decreases with increasing distance from the reference station. Since the number of fixed reference stations is severely limited, the distance between them is relatively large, meaning that interpolation between reference stations can only represent the spatially and temporally varying errors to a very limited degree.

[0008] From DE 10 2013 205 486 A1 a tractor is known which, in the manner of a stationary reference station, sends out a correction signal which can be received by a handheld device in order to improve the position determination of the handheld device.

[0009] From DE 10 2015 009 650 A1 a method for locating a vehicle is known, whereby information is exchanged between vehicles regarding their own position in order to improve their own position determination based on this.

[0010] From EP 1 895 318 A1 a method for determining the global position is known, wherein stationary landmarks are detected using environmental sensors of a mobile reference receiver, the global position of which is known at least in one spatial direction, and the position of the mobile reference receiver is then determined based on the stationary landmarks detected.

[0011] It is therefore an object of the present invention to provide an improved method and an improved system with which the accuracy in determining a position of a mobile device can be significantly improved, particularly with regard to spatially and temporally varying errors.

[0012] The problem is solved according to the invention using the method according to claim 1 and the system according to claim 6.

[0013] According to claim 1, a method for determining the position of a first mobile device is proposed, wherein the position of the first mobile device is determined by a position determination device using a GNSS based on a time-of-flight measurement of GNSS signals from various GNSS satellites, which are received by a GNSS receiver of the first mobile device. The first mobile device is therefore the mobile device whose position is to be determined. To receive the GNSS signals from the GNSS satellites, the GNSS receiver is arranged on or in the mobile device and may optionally have a corresponding antenna. The position determination device, which is interconnected with the GNSS receiver, is preferably also arranged on or in the mobile device.In a centralized system, it is also conceivable that the positioning device is not part of the mobile device, meaning that the GNSS signals received by the GNSS receiver must first be transmitted to the positioning device using signal technology. However, the positioning device will usually be part of the mobile device.

[0014] A mobile device can be, in particular, a road vehicle such as a car or truck. It is also conceivable that the mobile device could be a ship or other watercraft, or an aircraft. Furthermore, it is also conceivable that the mobile device could be an electronic device, such as a laptop, tablet, or mobile device, for example, a smartphone.

[0015] The positioning device is designed to calculate and determine the position of the mobile device based on the GNSS signals received by the GNSS receiver. This calculation of the positions, based on the received GNSS signals, is performed according to the principles of a satellite navigation system, relying on the time-of-flight differences of the received GNSS signals. The determined position either refers directly to the specific reception location, i.e., the antenna or the GNSS receiver, or, due to the fixed installation position of the antenna or GNSS receiver relative to the mobile device, it is normalized to a reference point of the mobile device. In this respect, for larger devices such as vehicles, the position of the mobile device refers to a specific reference point relative to the mobile device.

[0016] According to the invention, it is now provided that an error information of the GNSS from the GNSS signals of various GNSS satellites, which are received by a GNSS receiver provided on at least one second mobile device at a receiving position of the second mobile device, is determined by an error determination device.

[0017] The determination of at least one error information from the GNSS, which includes an accuracy error of the GNSS, is carried out in particular for spatially and temporally varying accuracy errors, such as those caused by the troposphere and ionosphere.

[0018] The second mobile device also features a GNSS receiver to receive GNSS signals from the GNSS satellites and forward them to the fault detection unit. The fault detection unit can be integrated into or attached to the mobile device, meaning that each mobile device has its own fault detection unit, allowing each mobile device to perform fault detection decentrally. Alternatively, a central fault detection unit could be provided for all mobile devices. In this case, the mobile devices would be configured to transmit the GNSS signals received by their respective GNSS receivers, or the signal characteristics derived from them, to the central fault detection unit for evaluation.The determination of fault information by the fault detection device is thus based on the received GNSS signals from the various GNSS satellites, which are received by a mobile device. This makes it possible to determine the corresponding fault information at the receiving position of the second mobile device—that is, the current position at the time the GNSS signals were received by the mobile device's GNSS receiver—so that the fault information determined at that receiving position can be assigned to the corresponding receiving position.

[0019] It is conceivable that the fault detection device is part of the positioning device of the second mobile unit, since the second mobile unit can also be configured to determine its position using a GNSS. It is also conceivable that the first mobile unit has both a positioning device and a fault detection device. The roles of the first and second mobile units are then interchangeable.

[0020] The GNSS error information determined at the receiving position of the second mobile device is now transmitted to the positioning device of the first mobile device, so that the positioning device of the first mobile device has access to GNSS error information for determining the position of the first mobile device. The positioning device of the first mobile device is configured to determine the position of the first mobile device taking into account the GNSS error information determined at the receiving position of at least the second mobile device and transmitted to the positioning device. This means that the positioning device of the first mobile device has access to spatially and temporally varying error information, which significantly improves error correction for such locally confined errors.

[0021] If a large number of second mobile devices exist, each detecting at least one GNSS error at its respective receiving position, a very good picture of the spatially and temporally varying errors can be obtained. This increases the probability that a first mobile device, attempting to determine its position, will be near a receiving position of a second mobile device that has detected a GNSS error. As a result, the spatially and temporally varying error, or propagation error, of the GNSS signals can be corrected much more effectively and accurately. The second mobile devices thus function like a stationary reference station, with the error detection device for each mobile device at its respective receiving position enabling the determination of GNSS error information from the received GNSS signals.

[0022] Advantageously, the determination of at least one error information is carried out using the second mobile device in the moving or stationary state of the second mobile device.

[0023] According to the invention, a plurality of second mobile devices are provided, at each of whose receiving positions at least one GNSS error message is determined. The GNSS error messages determined at the respective receiving position of the second mobile device are transmitted to the position determination unit of the first mobile device, and the position of the first mobile device is determined by the position determination unit taking into account these GNSS error messages determined at the various receiving positions of the second mobile device. It is conceivable that the position determination unit of the first mobile device determines its own position by considering all the transmitted GNSS error messages.

[0024] It is also conceivable that only those error information are taken into account when determining the position of the first mobile device whose respective receiving position lies within a given radius or within a given environment, so that only error information with a close spatial relationship to one's own position is used when determining one's own position.

[0025] However, it is also conceivable that when considering the error information, it is weighted depending on the distance of the first mobile device to the respective reception position of the respective error information, so that in particular error information with a reception position very close to the first mobile device is weighted more highly and thus has a greater influence on the determination of the position than error information with a reception position that is significantly further away from the position of the first mobile device.

[0026] In a further advantageous embodiment, it is also conceivable that only those error information pieces are transmitted to the position determination device of the first mobile device whose respective receiving position lies within a predefined environment or within a predefined radius relative to the first mobile device. Thus, not the error information of all second mobile devices is transmitted, but only that error information which, with respect to its respective receiving position, is relevant for determining the position of the first mobile device. This allows the amount of data to be transmitted to be scaled more effectively.

[0027] In a further advantageous embodiment, error information from the GNSS, determined by means of at least one stationary reference station, is transmitted to the position determination device of the first mobile device, the position of the first mobile device being determined by the position determination device taking into account the error information from the GNSS, which is determined by means of the second mobile device, and taking into account the error information from the GNSS, which is determined by means of the stationary reference station (EN).

[0028] This makes it possible to obtain global error components of the GNSS directly from the fixed reference stations, while the spatially and temporally varying errors originate from the error information of the second mobile device. Thus, for the correction determination of the position of the first mobile device using the GNSS, the correction information is based on two different data sources: fixed reference stations on the one hand, and mobile devices on the other. Without significantly increasing the number of fixed reference stations, the accuracy of a DGPS can therefore be achieved using a known GNSS.

[0029] Therefore, it is particularly advantageous if one or more position-independent error information from the GNSS, which characterizes an accuracy error of the GNSS independently of a receiving position and which was determined by means of at least one fixed reference station, is transmitted to the position determination device of the first mobile device, and wherein a position-dependent error information from the GNSS, which characterizes an accuracy error of the GNSS depending on a receiving position (spatially and / or temporally) and which was determined by means of at least one second mobile device, is transmitted to the position determination device of the first mobile device, wherein the position of the first mobile device is determined by the position determination device taking into account the position-independent error information of the GNSS and the position-dependent error information of the GNSS.

[0030] Furthermore, one or more position-independent error information from the GNSS, which characterizes an accuracy error of the GNSS independently of a receiving position and which were determined by means of at least one fixed reference station, are transmitted to the error determination device of the second mobile device, wherein a position-dependent error information from the GNSS, which characterizes an accuracy error of the GNSS depending on a receiving position, is determined at the receiving position of the at least one second mobile device from the GNSS signals of various GNSS satellites, which are received by the GNSS receiver of the at least one second mobile device at the receiving position of the second mobile device, taking into account the position-independent error information of the at least one reference station by the error determination device.

[0031] Knowing the position-independent error information, i.e., the global error components of the total GNSS error, the remaining errors are the spatially and temporally varying errors, which are primarily caused by the influence of signal propagation time in the troposphere and ionosphere. For example, it is conceivable that the GNSS signals from the satellites are received over an extended period using the error determination device. With a sufficient number of GNSS signals and the associated position determination of the second mobile device, a measure of the propagation time error can then be derived, which can then be defined as position-dependent error information at the receiving position of the second mobile device.

[0032] Position-independent error information from GNSS includes, in particular, clock errors of a GNSS satellite, orbital errors of a GNSS satellite, signal bias, and / or global atmospheric errors. Position-dependent error information can be a local, atmospheric error, caused especially by the troposphere and / or ionosphere.

[0033] The invention is explained in more detail using the attached figures as examples. They show: Fig. 1 - Schematic representation of the system in a decentralized embodiment; Fig. 2 - Schematic representation of the system according to the invention in a central embodiment; Fig. 3 - Diagram illustrating the operating principle of the present method according to the invention.

[0034] Fig. Figure 1 shows the system 10 according to the invention for determining the position of a first mobile device 11 using a satellite navigation system 100, which consists of a plurality of satellites 110 and which are designed to transmit GNSS signals 120, on the basis of which the position of the first mobile device 11 is then to be determined. The satellite navigation system 100 and its satellites are not part of the system 10, but merely the basis on which the system 10 is based.

[0035] In the exemplary embodiment of the Fig. The mobile devices 11 are motor vehicles whose position is to be determined with high accuracy. The first mobile device 11 has a position determination unit 13 for this purpose, which is connected to a GNSS receiver 14. The GNSS receiver 14 also has an antenna with which the GNSS signals 120 from the satellites 110 can be received at the mobile device 11.

[0036] Based on the GNSS signals 120 received by the GNSS receiver 14 of the first mobile device 11, the positioning device 13 of the first mobile device 11 can determine the position of the first mobile device 11 relative to a reference point of the first mobile device 11. For this purpose, the travel time of the individual signals 120 from the satellites 110 is determined, and the position is thus established. This can be done, for example, using hyperbolic navigation.

[0037] Furthermore, the system 10 in the first mobile device 11 includes a communication module 15 which is configured to communicate with other communication modules of other devices or stations, as explained below.

[0038] Furthermore, in the exemplary embodiment of the Fig. 1 Two further second mobile devices 12 are provided, which are identical with respect to their underlying functionality. Each of the mobile devices 12, which is also a vehicle, has a fault detection device 16 that is connected to a GNSS receiver 14 arranged on the second mobile devices 12. The second devices 12 also have a communication module 15 that is connected to the fault detection device 16 and serves to exchange data with other devices.

[0039] The error detection device 16 of the second mobile device 12 is configured to determine error information from the GNSS 100 at the receiving position of the respective second mobile device 12, depending on the GNSS signals 120 received by the respective GNSS receiver 14. This error information from the GNSS 100 can include not only global error components (orbital errors, clock errors) but also atmospherically induced error information that varies spatially and temporally. Thus, locally referenced error information from the GNSS 100 can be determined for the respective receiving position of the second mobile device 12, which then also includes the spatially and temporally varying error components. Therefore, it is particularly advantageous if each error piece of information determined by a second mobile device 12 is related to the receiving position and time.

[0040] Determining error information based on received GNSS signals can be achieved by receiving signals from more than the required number of satellites. GNSS measurements are usually overdetermined, meaning that significantly more than the four necessary satellites are received. This allows for the determination of additional parameters beyond just position and receiver clock, such as the spatially and temporally varying, atmospherically induced error components. Input parameters for the calculation can include pseudoranges and phase measurements of the individual (more than four) satellites and their received signals. Output parameters would be the three-dimensional coordinates (X, Y, Z) and the receiver clock error (Δ). T) and a set of atmospheric correction parameters. The receiver clock error and a set of atmospheric correction parameters each represent error information from the GNSS within the meaning of the present invention. From a multitude of error-prone measurements for the individual satellites, both the position and the atmosphere are calculated at a single step / time point.

[0041] To increase the accuracy in determining the GNSS error, it is conceivable that the error determination unit 16 of the second mobile devices 12 receives corresponding error information from a stationary reference station 20 via the communication module 15, from which the global, i.e., position-independent, error components of the GNSS error can be extracted. This makes it possible to improve the error determination of spatially and temporally varying errors, both in terms of accuracy and computation speed, since convergence can now be achieved much earlier. The error information of the GNSS determined by the error determination units 16 of the second mobile devices 12 is then transmitted to the first mobile device 11 using the communication modules 15 and received by the communication module 15 there.Based on the received error information, the position determination device 13 is configured to determine the position of the first mobile device 11 based on the GNSS 100, taking this error information into account and compensating for the GNSS error by means of a corresponding correction based on the transmitted error information. Therefore, no further fixed reference stations are required; instead, mobile devices are sufficient to increase the accuracy with respect to the spatially and temporally varying errors of the GNSS.

[0042] It is also conceivable that the first mobile device receives corresponding error information from the stationary reference station 20 via its communication module 15, thereby improving the position determination itself. This is particularly advantageous if the second mobile device only transmits the local error components, i.e., the atmospherically induced error components of the GNSS error. In this case, the global error components can then be determined by the stationary reference station 20.

[0043] In a second embodiment, which is described in Fig. As shown in Figure 2, the individual second mobile devices 12 do not transmit their detected error information directly to the first mobile device 11, but rather to a central unit 30. The central unit 30 has a communication module 31 for this purpose, enabling communication with the mobile devices. The error information detected and transmitted by the second mobile devices 12 is then received by the communication module 31 of the central unit 30 and stored in a digital data storage device 32. Advantageously, the error information is assigned to the receiving position and the time of detection, so that the corresponding error information is characterized both spatially and temporally. A vehicle, i.e., the first mobile device 11, which now wants to determine its position, receives the error information from the data storage device 32 at its corresponding current position, specifically in relation to its current position.This is roughly determined beforehand and serves as a guideline. Based on the roughly determined position of the first device 11, all error information within a predefined radius or environment is then read from the digital data storage 32 and transmitted to the communication module 15 of the first mobile device 11.

[0044] The positioning device 13 of the first mobile unit is configured to determine its own position based on the GNSS signals 120 and taking into account the transmitted error information. It is conceivable that interpolation occurs between the individual error information from the various second mobile units and, if applicable, a reference station, since the first mobile unit is generally not located exactly at one of the receiving positions of the second mobile units 12. The first mobile unit will typically be moving, so the provided error information must be continuously evaluated and interpolated between it.

[0045] An example illustrates this. Fig. Figure 3 is presented in the form of a diagram. The y-axis represents an example of an atmospherically induced error component, while the x-axis defines the receiving location. At the two outermost locations, RS1 and RS2, there is a reference station, RS1 and RS2 respectively, which provides highly accurate error information. However, the atmospherically induced error component changes between reference stations RS1 and RS2 because the two reference stations are geographically very far apart.

[0046] The first mobile device 11 now wants to determine its own position, taking into account the corresponding error information from the GNSS. If the first mobile device 11 only had access to the atmospheric error components of the reference stations RS1 and RS2, it would have to interpolate between them with respect to their spatial separation, which would lead to an atmospheric error component F1. This error component results from, for example, a purely linear interpolation between the two reference stations RS1 and RS2.

[0047] The actual course of the atmospherically induced error component, which is represented as curve F nativ in the Fig. However, as shown in Figure 3, it deviates significantly from the interpolated error curve, so that a considerable inaccuracy would arise when determining its own position by the first mobile device 11.

[0048] Between reference stations 1 and 2 is a second mobile device 12, which, using its error detection device, has determined error information regarding the spatially and temporally varying errors of the GNSS. This atmospherically induced error component, or the error information based on it, is now transmitted by the second mobile device 12 to the first mobile device 11, which is attempting to determine its position.

[0049] Knowing the error information from the two reference stations RS1 and RS2, as well as the error information determined by the second mobile device 12, the actual course of the spatially and temporally limited errors between the two reference stations RS1 and RS2 can now be interpolated much more accurately, as shown by the interpolated curve F2. As can be seen, the atmospherically induced error component at the position of the first mobile device 11 deviates significantly less from the interpolated curve F2 than from the interpolated curve F1, resulting in a considerably higher accuracy in position determination.

Claims

[1] Method for determining the position of a first mobile device, wherein the position of the first mobile device is determined by a positioning device using a GNSS based on a time-of-flight measurement of GNSS signals from different GNSS satellites received by a GNSS receiver of the first mobile device, comprising the steps: - Determining at least one GNSS error information from the GNSS signals of different GNSS satellites, which are received by a GNSS receiver provided on at least one second mobile device at a receiving position of the second mobile device, by means of an error detection device, - Transferring the determined error information from the GNSS to the positioning device of the first mobile device, and - Determining the position of the first mobile device by the positioning device, taking into account the error information from the GNSS determined at the receiving position of the at least second mobile device and transmitted to the positioning device, characterized by, that a plurality of second mobile devices are provided, at whose respective receiving positions at least one error information from the GNSS is determined, wherein the error information from the GNSS determined at the respective receiving positions of the second mobile devices is transmitted to the position determination device and the position of the first mobile device is determined by the position determination device taking into account at least a part of this error information from the GNSS determined at the various receiving positions of the second mobile devices, wherein one or more position-independent error information from the GNSS, which characterize an accuracy error of the GNSS independently of a receiving position and which were determined by means of at least one fixed reference station, are transmitted to the error determination devices of the second mobile devices,wherein a position-dependent error information of the GNSS, which characterizes an accuracy error of the GNSS depending on a receiving position, is determined at the receiving position of the respective second mobile device from the GNSS signals of various GNSS satellites, which are received by the GNSS receiver of the respective second mobile device at its receiving position, taking into account the position-independent error information of a reference station by the error determination device. [2] Method according to claim 1, characterized by, that a plurality of second mobile devices are provided, at whose respective receiving positions at least one error information from the GNSS is determined, whereby only the error information of those receiving positions of the second mobile devices that lie within a specified environment of the first mobile device is taken into account when determining the position of the first mobile device by the position determination device. [3] Method according to claim 1 or 2, characterized by, that at least one error information from the GNSS determined by means of at least one fixed reference station is transmitted to the position determination device, wherein the position of the first mobile device is determined by the position determination device taking into account the at least one error information from the GNSS determined at the receiving position of the at least one second mobile device and the at least one error information from the GNSS determined by means of the at least one fixed reference station. [4] Method according to any one of the preceding claims, characterized by , that the position-independent fault information is transmitted to the fault detection device provided on at least one second mobile device. [5] Method according to claim 4, characterized by, that the position-independent error information is a clock error of a GNSS satellite, an orbital error of a GNSS satellite, a signal bias, and / or global atmospheric errors, and / or that the position-dependent error information is a local atmospheric error, in particular an error caused by the ionosphere. [6] System for determining the position of a first mobile device, the system comprising a position determination device configured to determine the position of the first mobile device by means of a GNSS based on a time-of-flight measurement of GNSS signals from different GNSS satellites received by a GNSS receiver of the first mobile device, wherein at least one error determination device is provided, configured to determine at least one error information of the GNSS from the GNSS signals of different GNSS satellites received by a GNSS receiver provided on at least a second mobile device at a receiving position of the second mobile device, and the system is configured to transmit the determined error information of the GNSS to the position determination device.wherein the position determination device is designed to determine the position of the first mobile device taking into account the error information of the GNSS determined at the receiving position of the at least second mobile device and transmitted to the position determination device, characterized bythat for a plurality of second mobile devices, a fault detection device is provided, which is configured to determine at least one fault information from the GNSS at the receiving position of the respective second mobile device, wherein the system is configured to transmit the determined fault information from the respective second mobile devices to the position determination device of the first mobile device, and wherein the position determination device is configured to determine the position of the first mobile device taking into account the fault information from the GNSS determined at the respective receiving positions of the second mobile device and transmitted to the position determination device, wherein the fault detection device is configured to receive one or more position-independent fault information from the GNSS,The system is designed and further equipped to determine position-dependent error information of the GNSS, which characterizes an accuracy error of the GNSS independent of a receiving position and which were determined using at least one fixed reference station, from the GNSS signals of various GNSS satellites received by the GNSS receiver of the second mobile devices at their receiving position, taking into account the position-independent error information. [7] System according to claim 6, characterized by, that the system is designed to transmit only the error information of those receiving positions of the second mobile device that lie within a specified environment of the first mobile device to the position determination device of the first mobile device. [8] System according to claim 6, characterized by , that the position determination device of the first mobile device is designed to only consider the error information of those receiving positions of the second mobile device that lie within a predetermined environment of the first mobile device when determining the position of the first mobile device. [9] System according to any one of claims 6 to 8, characterized by, that the position determination device of the first mobile device is designed to receive at least one error information from the GNSS determined by means of at least one fixed reference station and is set up to determine the position of the first mobile device taking into account the at least one error information from the GNSS determined at the receiving position of the at least one second mobile device and the at least one error information from the GNSS determined by means of the at least one fixed reference station. [10] System according to any one of claims 6 to 9, characterized by , that the position-independent error information is a clock error of a GNSS satellite, an orbital error of a GNSS satellite, a signal bias, and / or global atmospheric errors, and / or that the position-dependent error information is a local atmospheric error, in particular an error caused by the ionosphere.

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