Device and method for processing position data, system for determining a motion path,

Abstract

The invention relates to a device and a method for processing position data, in particular for fusing position data from a satellite navigation system with position data from an initial sensor system. The position data are fused according to predetermined time intervals, specifically for segments of the route. The position data from the initial sensor system can be adjusted according to a correction function.

Description

Technical area

[0001] The present invention relates to a device and a method for processing position data. The present invention further relates to a system for determining a movement path using such a device. background

[0002] Numerous modern applications, such as navigation systems, require highly precise determination of position data and trajectories, which are determined based on such position data. Data from satellite navigation systems (Global Navigation Satellite System, GNSS) such as GPS, Galileo, etc. can be used for this purpose. However, such systems reach their limits in urban areas and inside buildings.

[0003] In addition, approaches based on inertial sensor systems are also known, which can determine the movement of an object using acceleration sensors and angular rate sensors and can derive position changes and thus movement paths from this sensor data.

[0004] For example, the publication WO 2017 / 127 912 A1 describes a navigation system that combines data from a GNSS and an inertial sensor system. Disclosure of the invention

[0005] The present invention provides a device and a method for processing position data, as well as a system for determining a movement path, having the features of the independent patent claims. Further advantageous embodiments are the subject of the dependent patent claims. Accordingly, it is provided:

[0006] A device for processing position data, comprising a first input device, a second input device, a first buffer device, a second buffer device, and a processing device. The first input device is configured to receive first position data from a satellite navigation system. The first buffer device is configured to temporarily store the received first position data. The second input device is configured to receive second position data from an initial sensor system. The second buffer device is configured to temporarily store the received second position data. The processing device is configured to read stored first position data of a predetermined time interval from the first buffer device.Furthermore, the processing device is designed to read stored second position data of this predetermined time interval from the second buffer device. Furthermore, the processing device is designed to correct the read second position data. The correction can be performed, in particular, using a correction function. Furthermore, the processing device is designed to merge the read first position data with the corrected read second position data of the predetermined time interval to form a route section. Furthermore, it is planned:

[0007] A system for determining a movement path, comprising a device according to the invention for processing position data, as well as a receiving device and an inertial sensor system. The receiving device is designed to receive signals for a satellite navigation system. Furthermore, the receiving device is designed to determine a first spatial position using the received signals and to provide it to the first input device of the device for processing position data. The inertial sensor system is designed to determine a second spatial position. The second spatial position can be determined, in particular, using sensor data from at least one inertial sensor. The second spatial positions thus obtained are provided to the second input device. Finally, it is planned:

[0008] A method for processing position data. The method comprises a step for receiving first position data from a satellite navigation system. The method further comprises a step for temporarily storing the received first position data. In addition, the method comprises a step for receiving second position data from an initial sensor system. The received second position data can also be temporarily stored. The method further comprises a step for reading out temporarily stored first position data for a predetermined time interval and a step for reading out temporarily stored second position data for the predetermined time interval. In addition, the method comprises a step for correcting the read-out second position data according to a correction function.Finally, the method includes a step of merging the read-out first position data and the corrected second position data for the predetermined time interval. This allows a route section to be determined from the position data. Advantages of the invention

[0009] A spatial position can currently be determined using various systems. On the one hand, there are satellite navigation systems (GNSS), which can receive signals from multiple satellites and calculate a spatial position using these received signals from the satellites. In addition, there are approaches using inertial sensors, such as acceleration sensors, gyroscopes, etc., which can derive a speed and direction of movement from the sensor data and, in turn, estimate the movement and thus position of an object.

[0010] Position data from satellite navigation systems can be subject to interference, particularly in densely built-up urban environments or inside buildings. Therefore, individual position information may be temporarily inaccurate, while position information and movement paths averaged over a longer period are relatively precise. Inertial sensor systems, on the other hand, generally exhibit high accuracy for short periods. However, due to drift or similar factors, the position information based on such systems can lose significant accuracy and reliability over longer periods.

[0011] The present invention takes this insight into account and creates a concept for merging position information from satellite navigation systems and inertial sensor systems. In particular, the inventive concept is intended to achieve high quality and accuracy of the position information and movement paths.

[0012] For this purpose, the invention provides for combining / merging position data from satellite navigation systems and inertial sensor systems, and correcting the sensor data using a suitable correction function. Furthermore, it is provided for processing position data from the satellite navigation system and the inertial sensor system in a single step for a given period of time or route section. For each such interval, a suitable correction function can be determined and applied to the position data within this segment of a movement path.

[0013] Since, as already explained above, position data from a satellite navigation system can generally provide relatively precise information over longer periods of time (if necessary, averaged or filtered), a correction function for the position data from the inertial sensor system can be derived from the position data of the satellite navigation system. The thus corrected position data from the inertial sensor system thus provides relatively accurate position data within the respective time interval. In this way, the section of the movement path within the time interval can be determined very precisely.

[0014] According to one embodiment, the first buffer device is designed to validate the received first position data. In this case, the first buffer device can be designed to temporarily store only validated first position data. Furthermore, the second buffer device can be designed to validate the received second position data and temporarily store only validated second position data. Such validation processes can, for example, allow position data that is faulty or identified as inaccurate or invalid to be discarded in advance. Thus, only reliable, valid position data is used for further processing. For validation purposes, it can be checked, for example, whether the data is identical sensor data multiple times in succession and thus the data may not have been updated, or whether the data is a null word or something similar.

[0015] According to one embodiment, the processing device is designed to determine the correction function using first position data for the beginning and end of the route section. Since the first position data of the navigation system tend to be subject to smaller tolerances over longer periods of time, this data can be used, for example, to correct for possible drift or similar in the data from the inertial sensor system.

[0016] According to one embodiment, the processing device is configured to calculate a plurality of route sections for a plurality of different predetermined time intervals. Accordingly, the processing device can be configured to determine a movement path using the plurality of route sections. The movement path can be formed by combining the plurality of different route sections.

[0017] According to one embodiment, the plurality of predetermined time intervals adjoin one another without overlapping. Preferably, the end point of a route segment of a first time interval corresponds to a starting point of a route segment of the subsequent time interval. Such an embodiment enables resource- and computing-time-efficient processing.

[0018] According to an alternative embodiment, the plurality of predetermined time intervals overlap. By using overlapping time intervals or route sections, the accuracy of determining a movement path can be further increased.

[0019] According to one embodiment, the correction function includes a component for a rotational correction. Additionally or alternatively, the correction function can include a component for a scaling correction. Accordingly, rotational deviations and / or stretching or compression in the motion data can be compensated by the inertial sensor system.

[0020] According to one embodiment, the processing device is designed to calculate a corrected route section by merging a first number of stored first position data items within the predetermined time interval with a second number of stored second position data items within the predetermined time interval. The first number of stored first position data items is smaller than the second number of stored second position data items. In other words, for a time interval or route section, fewer position data items are used from the satellite navigation system than position data from the inertial sensor system. Thus, the data fusion can also account for the different update rates of the satellite navigation system and the inertial sensor system.

[0021] The above embodiments and further developments can be combined with one another as desired, where appropriate. Further embodiments, further developments, and implementations of the invention also include combinations of features of the invention not explicitly mentioned above or described below with respect to the exemplary embodiments. In particular, those skilled in the art will also add individual aspects as improvements or additions to the respective basic forms of the invention. Short description of the drawings

[0022] Further features and advantages of the invention are explained below with reference to the figures. These show: Fig. 1: a system for determining a movement path according to an embodiment; Fig. 2: a schematic representation of a device for processing position data according to an embodiment; Fig. 3: a schematic representation of a device for processing position data according to a further embodiment; and Fig. 4: a flowchart underlying a method for processing position data according to an embodiment. Description of embodiments

[0023] Fig. Figure 1 shows a schematic representation of a system for determining a movement path, as may form the basis of one embodiment. Such a system can be used, for example, for navigation applications. In particular, such a system can be used, for example, in wearable devices such as smartwatches, fitness trackers, smartphones, or the like. This allows, for example, the movement paths of the respective object or of the wearer of such an object to be determined and evaluated using such a system.

[0024] The system comprises, for example, a receiving device 2 for signals from a satellite navigation system such as GPS, Galileo, or similar. The receiving device 2 can receive and evaluate the signals, for example, using one or more antennas. In particular, the receiving device 2 can determine a position, for example, a geographical position, from the received signals. Furthermore, additional information, such as the reliability or accuracy of the currently determined position, can be provided if necessary.

[0025] Furthermore, an inertial sensor system 3 is provided in the system. The inertial sensor system 3 can comprise, for example, an acceleration sensor, a yaw rate sensor, and / or other suitable sensors. From the sensor data provided by the sensor(s), the inertial sensor system 3 can derive a speed and / or direction of movement and, from this, determine a possible position of the system. Typically, the update rate of the inertial sensor system 3 is greater than the update rate of the receiving device 2 for the satellite navigation system.

[0026] The position data determined by the receiving device 2 and the inertial sensor system 3 are provided to a device 1 for processing the position data. This device 1 for processing position data can combine or merge the data from the receiving device 2 and the inertial sensor system 3 and use this to determine a movement path of the system. Possible embodiments of the device 1 for processing position data are explained in more detail below.

[0027] Fig. Figure 2 shows a schematic representation of a block diagram of a device 1 for processing position data according to one embodiment. The device 1 for processing the position data comprises a first input device 10 with a downstream first buffer device 11, as well as a second input device 20 with a downstream second buffer device 21. The device 1 for processing the position data further comprises a processing device 30.

[0028] The first input device 10 can receive position data from a satellite navigation system, in particular from the receiving device 2. In addition to specifying a spatial position, this position data may also include additional information, such as a timestamp and information on the accuracy or reliability of the data. The position data can be provided in any suitable format.

[0029] The first input device 10 can provide the received position data to the first buffer device 11, which temporarily stores the position data. This storage can be implemented, for example, in the form of a first-in-first-out (FIFO) memory. Furthermore, the first buffer device 11 can also check or validate the position data if necessary. For this purpose, it can be checked, for example, whether exactly the same data has been received multiple times in succession. In this case, an error in the data update can be assumed. Likewise, for example, data containing zero values ​​or other data values ​​considered invalid can be classified as invalid. Such data classified as unreliable can be discarded if necessary and not temporarily stored. In this way, only valid data is available for further processing in the buffer device 11.

[0030] The second input device 20 can receive position data from an inertial sensor system 3. This position data can also include additional information such as a timestamp or the like, in addition to the specification of a spatial position or other suitable data.

[0031] The second input device 20 can provide the received position data to the second buffer device 21, which temporarily stores the received second position data. The statements already made in connection with the first buffer device 11 apply analogously to the second buffer device 21.

[0032] The processing device 30 can read and process the position data stored in the first buffer device 11 and the second buffer device 21, and in particular, generate a specification for a route section from the position data. For this purpose, the processing device 30 can perform a correction of the position data and merge the possibly corrected position data.

[0033] To determine a route section based on the first and second position data, the processing device 30 can read position data for a predetermined time interval from the first buffer device 11. Furthermore, the processing device 30 can also read position data for the same time interval from the second buffer device 21.

[0034] Assuming that, on the one hand, the position data from the inertial sensor system 3 are subject to increasing inaccuracy over time, and, on the other hand, position data of a satellite navigation system may exhibit short-term disturbances but exhibit greater constancy in the longer term, the processing device 30 can determine a corresponding correction function and apply this correction function to the position data.

[0035] For example, the processing device 30 can assume that the first position data from the satellite navigation system are considered reliable for the beginning and end of the predetermined time interval. If necessary, the reliability of this first position data can be checked at the beginning and end of the interval based on an accuracy or reliability parameter provided by the receiving device 2. Accordingly, a correction function can be determined which can adapt a route section based on the second position data such that the beginning and end of the route section based on the second position data coincide with the beginning and end based on the first position data. Furthermore, additional (filtered) first position data can also be used to determine the correction function.

[0036] After the second position data has been adjusted according to the correction function, the corrected second position data can be merged with the first position data to determine the course of a route section within the specified time interval. For this purpose, reliability values ​​for the individual position data—for example, in the form of a standard deviation for the respective data value—can be used to weight the first and second position data during the data fusion.

[0037] After calculating a route section based on data fusion, this route section can be output by processing device 30. If necessary, processing device 30 can also calculate the corresponding route sections from several consecutive time intervals, combine them, and generate a resulting movement path and output it. Since the individual route sections are calculated sequentially, an already calculated route section does not need to be buffered. This results in particularly resource-efficient processing.

[0038] Fig. Figure 3 shows a schematic representation of a device 1 for processing position data according to a further embodiment. In this case, it is generally applicable that previously described in connection with Fig. 2 described basic principle. The device 1 for processing the position data according to Fig. 3 differs from the previously described device 1 in particular in that several route sections are calculated to calculate the movement path, which may overlap. Accordingly, the time intervals for the first and second position data used to calculate the respective route sections also overlap.

[0039] In order to be able to provide the required first and second position data for calculating the overlapping route sections, a plurality of memory segments 11a, 21, for example in the form of separate FIFO memories, can be provided in the first buffer device 11 and the second buffer device 21. Thus, the processing device 30 can read and process the data from a memory segment 11a and 21a, for example, to determine a route section of the plurality of overlapping route sections.

[0040] Furthermore, an output buffer 40 can be provided that temporarily stores a predetermined number of calculated route sections. In this way, the processing device 30 can access the previously calculated route sections when combining the route sections and combine them in a suitable manner to generate the movement path.

[0041] Fig. 4 shows a flowchart underlying a method for processing position data according to one embodiment. The method can, in principle, comprise any suitable steps that may be required for implementation in the previously described system for determining the movement path and the device 1 provided therein for processing the position data. Similarly, the previously described system for determining the movement path and the described devices 1 for processing the position data can also comprise any suitable components that may be required or suitable for implementation of the system described below.

[0042] The method comprises a step (S1) for receiving first position data from a satellite navigation system and a step (S2) for temporarily storing the received first position data.

[0043] Furthermore, the method comprises a step (S3) for receiving second position data from an initial sensor system and a step (S4) for temporarily storing the received second position data.

[0044] Furthermore, the method comprises a step (S5) for reading out temporarily stored first position data for a predetermined time interval and a step (S6) for reading out temporarily stored second position data for the predetermined time interval.

[0045] Furthermore, the method comprises a step (S7) for correcting the read-out second position data according to a correction function.

[0046] The method further comprises a step (S8) for merging the read-out first position data and the corrected second position data for the predetermined time interval. In this way, a route section can be determined from the fused position data.

[0047] In summary, the present invention relates to a device and a method for processing position data, in particular for merging position data from a satellite navigation system with position data from an initial sensor system. The position data are fused for each route segment according to predetermined time intervals. The position data of the initial sensor system can be adjusted according to a correction function. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] WO 2017 / 127 912 A1

[0004]

Claims

[1] Device (1) for processing position data, comprising: a first input device (10) designed to receive first position data from a satellite navigation system; a second input device (20) configured to receive second position data from an initial sensor system; a first buffer device (11) designed to temporarily store the received first position data; a second buffer device (21) designed to temporarily store the received second position data; and a processing device (30) which is designed to read out stored first position data of a predetermined time interval from the first buffer device (11), to read out stored second position data of the predetermined time interval from the second buffer device (21), to correct the read out second position data using a correction function, and to merge the read out first position data with the corrected read out second position data of the predetermined time interval to form a route section. [2] Device (1) according to claim 1, wherein the first buffer device (11) is designed to validate the received first position data and to temporarily store only validated first position data; and / or wherein the second buffer device (21) is designed to validate the received second position data and to temporarily store only validated second position data. [3] Device (1) according to claim 1 or 2, wherein the processing device (30) is designed to determine the correction function using first position data for the start and the end of the route section. [4] Device (1) according to one of claims 1 to 3, wherein the processing device (30) is designed to calculate a plurality of route sections for a plurality of different predetermined time intervals and to determine a movement path using the plurality of route sections. [5] The device (1) according to claim 4, wherein the plurality of predetermined time intervals are consecutive without overlapping. [6] The device (1) according to claim 4, wherein the plurality of predetermined time intervals overlap. [7] Device (1) according to one of claims 1 to 6, wherein the correction function comprises a component for a rotational correction and a component for a scaling correction. [8] Device (1) according to one of claims 1 to 7, wherein the processing device (30) is designed to merge a first number of stored first position data within the predetermined time interval with a second number of stored second position data within the predetermined time interval in order to calculate a corrected route section, and wherein the first number of stored first position data is smaller than the second number of stored second position data. [9] System for determining a movement path, comprising: a device (1) for processing position data according to one of claims 1 to 8; a receiving device (2) designed to receive signals for a satellite navigation system and to determine a first spatial position using the received signals and to provide it to the first input device (10); an inertial sensor system (3) designed to determine a second spatial position using sensor data from at least one inertial sensor and to provide it to the second input device (20). [10] Method for processing position data comprising the steps: Receiving (S1) first position data from a satellite navigation system; Buffering (S2) the received first position data; Receiving (S3) second position data from an initial sensor system; Buffering (S4) the received second position data; Reading (S5) temporarily stored first position data for a predetermined time interval; Reading (S6) temporarily stored second position data for the predetermined time interval; Correcting (S7) the read-out second position data according to a correction function; and Merging (S8) the read-out first position data and the corrected second position data for the predetermined time interval to form a route section.

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