Method for providing GNSS sensor data

Abstract

To provide a method for providing GNSS sensor data (1).SOLUTION: The method relating to the present invention includes at least a step a) of receiving GNSS satellite signals, a step b) of evaluating the received GNSS satellite signals to ascertain GNSS sensor data (1), a step c) of rating the received GNSS satellite signals in dependence on at least one GNSS-specific performance criterion (2, 3, 4, 5, 6, 7, 8, 9), and a step d) of associating ratings (10, 11) resulting from the step(c) with the related GNSS sensor data (1).SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a method for providing GNSS sensor data, a computer program for implementing the method, a machine-readable storage medium containing a computer program for implementing the method, and a GNSS sensor for implementing the method. The present invention is particularly applicable to GNSS-based positioning systems for autonomous or semi-autonomous driving. [Background technology]

[0002] Prior art The Global Navigation Satellite System (GNSS) can be used to geospatially locate any point on Earth. GNSS satellites orbit the Earth and transmit coded signals that a GNSS receiver uses to calculate the distance or separation from the satellite by estimating the time difference between when the signal is received and when it is transmitted. The estimated satellite distances can be used by a GNSS sensor, for example, to estimate the receiver's position, provided that enough satellites (typically more than five) are tracked. Currently, there are more than 130 GNSS satellites orbiting the Earth, which means that typically up to 65 of them are visible above the local horizon.

[0003] Due to the satellite's position in the sky and environmental disturbances, there are always some satellites that are blocked and not visible to the receiver, but may be reflected and reach the receiver. This raises the question of how to improve the performance of the estimated output to avoid, to the greatest extent possible, obtaining erroneous position, velocity, attitude, acceleration, etc. by the GNSS sensor or GNSS-based positioning sensor. Summary of the Invention [Means for solving the problem]

[0004] Disclosure of the Invention What is proposed herein is a method for providing GNSS sensor data according to claim 1, comprising: a) receiving GNSS satellite signals; b) Compute the received GNSS satellite signals to obtain the GNSS sensor data. Interpretation and c) Relying on at least one GNSS-specific performance criterion to measure the received GNSS satellite signals. evaluation and d) obtained from step c) evaluation to corresponding GNSS sensor data; The method includes at least the following.

[0005] Steps a), b), c), and d) can be performed, for example, at least once and / or repeatedly or multiple times in succession to one another in the order shown, to implement the method. Furthermore, steps a), b), c), and d), in particular steps b) and c), can be performed at least partially in parallel or simultaneously. The method can be performed, for example, using a GNSS sensor. In this case, providing the GNSS sensor data can be performed as output data of the GNSS sensor.

[0006] The method relates in particular to the performance, reliability and / or quality of GNSS sensor data and corresponding sensor data. evaluationThe method can advantageously be performed in critical conditions and / or situations, in particular in conditions and / or situations where the ambient conditions cannot be monitored or at least not sufficiently monitored by the surrounding or environmental sensors (e.g. camera sensors, LIDAR sensors, radar sensors, ultrasonic sensors of the vehicle). In particular, the method can advantageously introduce (suitable) suppression measures that contribute to improving and / or guaranteeing as much as possible the performance, reliability and / or quality of the GNSS sensor data (e.g. output signals of GNSS positioning sensors, i.e. GNSS-based positioning sensors). The contribution of the method to the selection of (suitable and strategic) suppression measures is in particular to determine boundary conditions on the availability and / or reliability of the GNSS sensor input signals and / or on the aspects of the surroundings, in particular evaluation The purpose is to provide the information in the form of:

[0007] For example, the method may include evaluation It may also include a step e) of introducing (appropriate) suppression measures to improve the performance, reliability and / or quality of the sensor data to be provided, taking into account the above. evaluation Sensor data dependent on evaluation In addition, as a preventative measure, evaluation may also not provide and / or consider sensor data that does not meet certain minimum prerequisites.

[0008] Step a) involves receiving GNSS satellite signals. These are signals transmitted by one or more GNSS satellites, typically a number of GNSS satellites, to enable localization by time-of-flight measurements. The GNSS satellite signals can be received directly by the GNSS sensor or by a receiver integrated in the GNSS sensor, or by a GNSS receiver associated with and connectable to the GNSS sensor. The GNSS sensor can be, for example, a GNSS positioning sensor or a GNSS-based motion and / or position sensor. The GNSS sensor can be, for example, located inside or on a vehicle (motor vehicle), for example a motor vehicle. The motor vehicle can, for example, be configured for an at least partially automated and / or autonomous driving mode.

[0009] In step b), the received GNSS satellite signals are analyzed to determine the GNSS sensor data. Interpretation The GNSS sensor data is typically the output data or output signal of a GNSS sensor. The GNSS sensor data includes and / or describes in particular one or more of the following characteristics (of the vehicle's motion along the ground surface): (instantaneous) position, velocity, attitude (orientation) and / or acceleration. Interpretation Or the calculation can be made independently of data and / or information from, for example, other (vehicle) sensors, such as environmental sensors (cameras, radar, LIDAR and / or ultrasound) and / or (driving) state sensors (e.g., inertial sensors and / or wheel rotation speed sensors), which may, for example, send information about the (vehicle) environment and / or information about the (vehicle) (driving) state to, for example, other (vehicle) systems.

[0010] In step c), the received GNSS signal evaluationis performed depending on at least one GNSS-specific performance criterion. The at least one performance criterion is GNSS-specific and therefore typically relates (exclusively) to the properties of a GNSS system comprising at least one or more GNSS satellites and at least one GNSS receiver. In this case, the performance criterion relates in particular to the performance, reliability and / or quality of the GNSS satellite signals and / or their reception. The performance criterion is particularly suitable for being able to make a decision as to whether the received GNSS satellite signals (at least in part) enable or disable in particular a sufficient performance of the GNSS sensor.

[0011] of received GNSS satellite signals evaluation can be done independently of data and / or information from sensors other than the (vehicle) GNSS sensors, e.g., environmental sensors (cameras, radar, LIDAR and / or ultrasound) and / or (driving) state sensors (e.g., inertial sensors and / or wheel rotation speed sensors), which may (directly) send information about the (vehicle) environment and / or information about the (vehicle) (driving) state to, e.g., other (vehicle) systems. evaluation can be done especially under the assumption that there are no sensors that directly deliver the ambient conditions (not dedicated to GNSS).

[0012] evaluation In this case, for example, one or more of the following (GNSS-specific) information can be introduced, in particular (e.g., the time domain of the received GNSS satellite signals): InterpretationDuring navigation, the following parameters can be determined or reconstructed from the GNSS satellite signals: the number of visible GNSS satellites, the Horizontal Delusion Of Precision (HDOP), the carrier to noise ratio (CN / O), the availability and / or age of GNSS correction data, the number and / or type of carrier frequencies received, the elevation angle and / or the status of the navigation message.

[0013] evaluation may, in particular, introduce as performance criteria, for example, one or more of the following (GNSS-specific) information: Number of tracked satellites: as an indicator of critical reception conditions. In critical reception conditions, such as driving under a bridge, in a noise barrier area, or entering a tunnel, the number of visible GNSS satellites drops significantly. Horizontal Decay of Precision (HDOP): as an indicator of the geometric position of visible satellites. In critical conditions where only satellites with large elevation angles are visible (e.g. urban canyons), the position estimate solves an ill-posed problem, which usually leads to an increase in the estimation uncertainty. Availability of correction data: In particular, when PPP-based localization is performed using SSR correction data, the unavailability of SSR correction data is a clear indicator of an inability to compensate for the performance of the GNSS sensor output signal. In particular, the carrier-to-noise ratio of the updated GNSS signal: In critical conditions, the carrier-to-noise ratio (CN / O) usually degrades significantly. Elevation angle: The elevation angle of a satellite can be an (indirect) indicator of the quality of the GNSS satellite signal (GNSS sensor input signal) and / or the probability of multipath propagation. Navigation message health status: Navigation messages typically describe ephemeris, NAGO messages, etc. that can describe the reliability of GNSS satellite signals.

[0014] evaluationAs a result, (predetermined) indicators can be provided and / or output that can indicate whether the performance, reliability and / or quality of the GNSS satellite signals (and the GNSS sensor data derived therefrom) is sufficient or insufficient. This allows, in particular, the indicator to also (indirectly) estimate the ambient conditions during reception of the GNSS satellite signals or to be an indicator that (indirectly) represents the ambient conditions. A so-called "flag" can be used as the indicator, for example, which can typically take one of two values: the performance, reliability and / or quality of the GNSS satellite signals is sufficient (English: Performance Ensured, abbreviated as PE) or the performance, reliability and / or quality of the GNSS satellite signals is not sufficient (English: Not Performance Ensured, abbreviated as NPE). A corresponding indicator is particularly advantageous in order to be able to introduce damping measures as quickly and / or with low computational effort as possible, in particular to be able to describe and / or guarantee the performance of the output signal of the GNSS sensor.

[0015] evaluation As a result, for example, one or more of the following criteria: Number of visible satellites HDOP>b Correction data is not available and / or the correction data for a given (minimum) number of satellites is older than c A predetermined (minimum) number of signal CN / O <d Elevation angles of a given (minimum) number of satellites <e - The navigation messages of a certain number of satellites are not healthy If this is true, a flag can be set (and thus assigned to the GNSS sensor data) indicating that the GNSS satellite signals have insufficient performance, reliability and / or quality (Not Performance Ensured, abbreviated as NPE).

[0016] ​As an alternative to NPE, a flag can be output, in particular representing the opposing criterion, as PE (Performance Ensured), which indicates that the performance, reliability and / or quality of the GNSS satellite signals (and thus the GNSS sensor data derived therefrom) is sufficient (and therefore the GNSS sensor data is usable). For the values ​​a, b, c, d and / or e, predetermined thresholds can be set, which can be adjusted, for example, by experiment and / or simulation.

[0017] In step d), the corresponding GNSS sensor data is converted to the evaluation to the corresponding GNSS sensor data (e.g., instantaneous position, velocity, attitude, and / or acceleration). evaluation The assignment of, for example, evaluation may be provided or output (from the GNSS sensor) in parallel and / or simultaneously with the GNSS sensor data. evaluation The assignment of may be made, for example, in the form of a flag, which is set or kept set during the output of the GNSS sensor data, and is thereby assigned to the corresponding GNSS sensor data. evaluation and the corresponding GNSS sensor data.

[0018] According to an advantageous configuration, it is proposed that at least one GNSS-specific performance criterion relates to the number of GNSS satellites (visible or unobscured) received (in particular without reflections or multipath propagation), which performance criterion makes it possible to check, for example, whether the number of receivable or visible GNSS satellites is below a definable threshold.

[0019] According to another advantageous configuration, it is proposed that at least one GNSS-specific performance criterion relates to the geometric constellation of available GNSS satellites, which performance criterion makes it possible, for example, to check whether in particular the Horizontal Delusion of Precision (HDOP) for a predetermined minimum number of satellites exceeds a definable threshold.

[0020] According to another advantageous configuration, it is proposed that the at least one GNSS-specific performance criterion relates to the relative positioning of at least one GNSS satellite and the GNSS receiver, which performance criterion can, for example, inter alia check whether the elevation angles of a predetermined minimum number of satellites are below a definable threshold.

[0021] According to another advantageous configuration, it is proposed that at least one GNSS-specific performance criterion relates to the request for GNSS correction data. The performance criterion can, for example, inter alia check whether (new) GNSS correction data for a predetermined minimum number of satellites are available or received. Alternatively or cumulatively, the performance criterion can, inter alia, check whether the chronological progression of (possibly known) GNSS correction data for a predetermined minimum number of satellites exceeds a definable threshold.

[0022] According to another advantageous configuration, it is proposed that the at least one GNSS-specific performance criterion relates to requirements on the quality of the received GNSS satellite signals, which performance criterion makes it possible in particular to check whether the carrier to noise ratio (CN / O for short) for a predetermined minimum number of satellites is below a definable threshold.

[0023] According to another advantageous configuration, it is proposed that at least one GNSS-specific performance criterion relates to requirements for navigation messages contained in GNSS satellite signals. The performance criterion allows, for example, to check whether navigation messages for a predetermined minimum number of satellites are healthy or unhealthy. Navigation messages usually also contain components describing the healthy or unhealthy state (or technical state) of the satellites. The components can be checked in this regard.

[0024] According to another advantageous configuration, it is proposed that at least one GNSS-specific performance criterion relates to requirements for the (number of) available carrier frequencies in the GNSS satellite signals, which performance criterion makes it possible to check in particular whether two carrier frequencies are received for a predetermined minimum number of satellites.

[0025] Essentially any combination of two or more of the above performance criteria may be applied.

[0026] According to another advantageous configuration, at least one determinable (definable) evaluation (e.g., NPE) or all during a determinable (definable) time range evaluation In this context, a determinable time range can be a defined bypass time, during which, in particular, a "Not Performance Ensured" (NPE) condition is raised. evaluationNo allocation is made for the signals received before the vehicle entered the area. Furthermore, the vehicle may be configured such that GNSS sensor data is not provided solely during the bypass time. During the bypass time, GNSS sensor data can be determined, for example, by sensor fusion techniques, thereby bypassing the GNSS sensor data output. The bypass time can be applied, for example, during and / or after entering an area where significant GNSS satellite obscuration is expected (e.g., entering a tunnel, traveling through a noise barrier). This allows for the output of GNSS sensor data that can still be assumed to be sufficiently reliable for a certain period of time, since they can be based on signals received before the vehicle entered the area. Here, the reliability can be sufficient for at least use in sensor fusion techniques (e.g., fusion with inertial data, inertial navigation data, and / or environmental sensor data).

[0027] According to another advantageous configuration, at least one determinable (definable) time interval is determined. evaluation After an NPE occurs, the GNSS sensor data subsequently acquired also contains the same error. evaluation It is proposed that a determinable time interval be assigned (refresh time). A determinable time interval may be, for example, a time interval indicating that the performance, reliability and / or quality of the GNSS satellite signals is not sufficient (NPE). evaluation is still assigned, but the original evaluation The refresh time can refer to a time when the result of the previous test has already resulted in "GNSS satellite signal performance, reliability and / or quality being sufficient (English: Performance Ensured, abbreviated as PE)". The refresh time can be applied, for example, when and / or after exiting an area where significant GNSS satellite occultation is expected (e.g., exiting a tunnel, exiting a noise barrier). This allows waiting a predetermined time until sufficient reliability can be assumed again.

[0028] According to another advantageous configuration, the GNSS sensor data is associated evaluation It is proposed that the signal be provided together with the NPE flag. This can be done, for example, as a provision to a higher-level (vehicle) system and / or a user interface. For example, an NPE flag can be output to leave it to the higher-level (vehicle) system or the user to decide to exclude or not consider the corresponding GNSS sensor signal.

[0029] According to another advantageous configuration, the assigned evaluation It is proposed that only GNSS sensor data are provided that satisfy at least one predetermined minimum precondition. evaluation However, the GNSS satellite signal performance, reliability and / or quality is insufficient (Not Performance Ensured, abbreviated as NPE). evaluation and / or that the performance, reliability and / or quality of the GNSS satellite signals are sufficient (English: Performance Ensured, abbreviated as PE) evaluation In this context, for example, provision can also be made to higher-level (vehicle) systems and / or user interfaces.

[0030] According to another aspect, a computer program for carrying out the method presented herein is proposed, in other words, a computer program product comprising instructions for carrying out the method described herein when the program is executed by a computer.

[0031] According to another aspect, a machine-readable storage medium is proposed, having stored thereon or stored thereon a computer program as proposed herein. Typically, the machine-readable storage medium is a computer-readable data carrier.

[0032] According to another aspect, a GNSS sensor is proposed, configured to implement the methods described herein. The GNSS sensor may be a vehicular (automotive) GNSS sensor. This can in particular be described as a GNSS sensor arranged in or on the vehicle. The GNSS sensor may be configured in the form of a GNSS positioning sensor or a GNSS-based motion and position sensor, or may be a component of such a sensor. Thus, the GNSS sensor may be, for example, a vehicle positioning device. The GNSS sensor may include, for example, a computer and / or a controller capable of executing instructions for implementing the methods. For this purpose, the computer or controller may, for example, execute the computer program represented. For example, the computer or controller may access the storage medium represented in order to be able to execute the computer program.

[0033] The details, features and advantageous configurations mentioned in relation to the method may also be correspondingly embodied in the computer program and / or storage medium and / or GNSS sensor presented herein, and vice versa, and in this respect they are fully referred to in the configurations at the relevant points for a detailed characterization of each feature.

[0034] The solutions presented in this specification and the related technical fields will be described in detail below with reference to the drawings. Note that the present invention is not limited to the illustrated embodiments. In particular, unless otherwise explicitly stated, partial aspects of each item described with respect to the drawings can be extracted and combined with other components and / or concepts from other drawings and / or the description herein. Each drawing generally shows the following: [Brief explanation of the drawings]

[0035] [Figure 1] 1 is an exemplary flow diagram of the method proposed herein; [Figure 2] 10 is an exemplary flow diagram of step c) of the method. [Figure 3] 10 is an exemplary flow diagram of step d) of the method. [Figure 4] 10 is another exemplary flow diagram of step d) of the method. [Figure 5] FIG. 1 illustrates an exemplary use of the GNSS sensor described herein. DETAILED DESCRIPTION OF THE INVENTION

[0036] An exemplary flow diagram of the method presented herein is shown generally in Figure 1. The method is used to provide GNSS sensor data 1 (see Figures 2, 3 and 4). The order of steps a), b), c) and d) indicated by blocks 110, 120, 130 and 140 is exemplary, and the method may be performed through the illustrated order, for example at least once.

[0037] In block 110, GNSS satellite signals are received according to step a), and in block 120, the received GNSS satellite signals are analyzed according to step b) to determine GNSS sensor data 1. Interpretation In block 130, according to step c), the performance of the received GNSS satellite signals is determined depending on at least one GNSS-specific performance criterion 2, 3, 4, 5, 6, 7, 8, 9. evaluation 10 and 11 are performed. In block 140, according to step d), the evaluation 10 and 11 are assigned to the corresponding GNSS sensor data 1.

[0038] An exemplary flow diagram of step c) of the method is shown schematically in Fig. 2. In this regard, Fig. 2 particularly shows a method for detecting GNSS satellite signals. evaluation2 shows examples of different performance criteria 2, 3, 4, 5, 6, 7, 8, 9 that can be applied when performing the GNSS-specific performance criterion 2. Thus, it can be seen from Fig. 2 that at least one exemplary GNSS-specific performance criterion 2 can relate to the number of visible GNSS satellites. Performance criterion 2 may, for example, check whether the number of visible GNSS satellites is below a definable threshold.

[0039] Further in this context, it can be seen in figure 2 that, by way of example, at least one GNSS-specific performance criterion 3 can be related to the geometric constellation of available GNSS satellites, which checks, for example, whether the Horizontal Delusion of Precision (HDOP) exceeds a definable threshold.

[0040] Further in this connection, it can be seen in figure 2 that, by way of example, at least one GNSS-specific performance criterion 4 may relate to the relative positioning of at least one GNSS satellite and the GNSS receiver, for example by means of performance criterion 4 checking, inter alia, whether the elevation angle of a given satellite is below a definable threshold.

[0041] 2, it can be seen, by way of example, that at least one GNSS-specific performance criterion 5, 6 may be associated with a request for GNSS correction data. Performance criterion 5 checks, for example, whether (new) GNSS correction data are available or have been received. Performance criterion 6 checks, for example, whether the age of the (possibly known) GNSS correction data exceeds a definable threshold.

[0042] 2, it can be seen, by way of example, that at least one GNSS-specific performance criterion 7 can relate to requirements on the quality of the received GNSS satellite signals, for example by checking, inter alia, whether the carrier to noise ratio (CN / O) of a certain number of satellites is below a definable threshold.

[0043] 2, it can be seen, by way of example, that at least one GNSS-specific performance criterion 8 may relate to requirements on the navigation messages contained in the GNSS satellite signals, which performance criterion 8 may, for example, inter alia check whether the navigation messages of a certain number of satellites are in an unhealthy state.

[0044] 2, it can be seen, by way of example, that at least one GNSS-specific performance criterion 9 may relate to requirements on available carrier frequencies of GNSS satellite signals, for example, by way of performance criterion 9 checking, inter alia, whether two carrier frequencies for a predetermined number of satellites are received.

[0045] The paths between performance criteria 2, 3, 4, 5, 6, 7, 8, and 9 shown in Figure 2 are evaluation Which path to performance criteria 2, 3, 4, 5, 6, 7, 8, 9 is followed depends on whether the corresponding criteria are met (+) or not (-). In this case, the merging of performance criteria 2, 3, 4, 5, 6, 7, 8, 9 may, for example, of course, be a merger into only a smaller number of criteria, or possibly other criteria. evaluation It may also be that the introduction of

[0046] Also, FIG. 2 shows at least one determinable evaluation 10 or all during a determinable time range evaluation10, 11 are not assignable and, if necessary, examples of the manner in which they are assigned are also shown. This is realized here, for example, by a first time reference 14 and a first counter 15. In the first time reference 14, for example, it is checked whether a defined bypass time has expired. In this connection, the defined bypass time is an example of a determinable time range. If the bypass time has not yet expired, evaluation 10 and / or each evaluation At the same time, the counter 15 can then be increased, for example, by the value 1 or by one time interval, and the method can possibly be repeated with a new time interval or with newly received GNSS satellite signals.

[0047] Once the bypass time is over, evaluation 10 outputs and allocations are possible. evaluation 10 is received in this case, for example evaluation The description is that it is not possible to guarantee sufficient performance or quality for the GNSS sensor data 1 obtained based on the detected GNSS satellite signals. evaluation This can be achieved by setting a so-called "flag" containing the content NPE (Not Performance Ensured) as 10. By setting the flag, the corresponding evaluation The information can then be assigned to GNSS sensor data 1.

[0048] FIG. 2 also illustrates a determinable time interval over which at least one determinable evaluation After 10 occurs, the GNSS sensor data subsequently obtained also contains the same error. evaluation10 is possible and an example of how this can be achieved is shown. This is realized, for example, by a second time base 16 and a second counter 17. In the second time base 16, it is checked, for example, whether a defined refresh time has expired. In this connection, the defined refresh time is an example of a determinable time interval. If the refresh time has not yet expired, in particular, the relevant refresh time is checked. evaluation If the output and allocation of evaluation 10 outputs and allocations are possible. In this case, at the same time, the counter 17 can be increased, for example, by the value 1 or by one time interval, and the method can possibly be repeated with a new time interval or with newly received GNSS satellite signals.

[0049] When the refresh time is over, evaluation 11 outputs and allocations are possible. evaluation 11 is received here, for example evaluation This means that the GNSS sensor data 1 obtained based on the received GNSS satellite signals can be guaranteed to have sufficient performance or quality. evaluation This can be realized by resetting or turning off the "flag" including the content NPE that was previously set as in 11. Alternatively or cumulatively, a flag including the content PE (Performance Ensured) may be set. By turning off the NPE flag and / or setting the PE flag, the corresponding evaluation The information can then be assigned to GNSS sensor data 1.

[0050] An exemplary flow diagram of step d) of the method is shown in FIG. 3, where, for example, GNSS sensor data 1 is assigned. evaluation 10, 11. Such provision can be made, for example, as a provision to higher-level vehicle systems and / or user interfaces.

[0051] Another exemplary flow diagram of step d) of the method is shown schematically in FIG. evaluation It is shown that only GNSS sensor data 1 that satisfies certain minimum prerequisites 10, 11 is provided. For example, evaluation but evaluation It can be configured that only GNSS sensor data 1 that does not correspond to 10 or does not contain the NPE flag is provided. Such provision can be made, for example, to higher level vehicle systems and / or a user interface.

[0052] An exemplary use of the GNSS sensor 12 described herein is shown schematically in Figure 5. The GNSS sensor 12 is configured to perform the described methods. Furthermore, the GNSS sensor 12 is, for example, integrated into a vehicle (motorized vehicle) 13, such as an automobile, which is preferably configured for at least partially automated and / or autonomous driving modes.

Claims

1. A method for providing GNSS sensor data (1), comprising: a) receiving GNSS satellite signals; b) interpreting the received GNSS satellite signals to determine GNSS sensor data (1); c) evaluating the received GNSS satellite signals in dependence on at least one GNSS-specific performance criterion (2, 3, 4, 5, 6, 7, 8, 9); d) assigning the estimates (10, 11) obtained from step c) to the corresponding GNSS sensor data (1); At least A method in which after at least one determinable estimate (10) has occurred over a determinable time interval, said estimate (10) is also assigned to subsequently determined GNSS sensor data.

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

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

4. The method according to any one of claims 1 to 3, wherein the at least one GNSS-specific performance criterion (4) relates to the relative positioning of the at least one GNSS satellite and the GNSS receiver.

5. The method according to any one of claims 1 to 4, wherein at least one GNSS-specific performance criterion (5, 6) relates to a request for GNSS correction data.

6. The method according to any one of claims 1 to 5, wherein the at least one GNSS-specific performance criterion (7) relates to requirements on the quality of the received GNSS satellite signals.

7. The method according to any one of claims 1 to 6, wherein the at least one GNSS-specific performance criterion (8) relates to requirements for navigation messages contained in GNSS satellite signals.

8. The method according to any one of claims 1 to 7, wherein at least one GNSS-specific performance criterion (9) relates to requirements on available carrier frequencies of GNSS satellite signals.

9. 9. The method according to any one of claims 1 to 8, wherein the allocation of at least one determinable evaluation (10) or all evaluations (10, 11) during a determinable time range is not performed.

10. The method according to any one of claims 1 to 9, wherein the GNSS sensor data (1) is provided together with the assigned assessment (10, 11).

11. 11. The method according to any one of claims 1 to 10, wherein only GNSS sensor data (1) for which the assigned assessment (10, 11) satisfies at least one predetermined minimum prerequisite is provided.

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

13. A machine-readable storage medium having stored thereon the computer program of claim 12.

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

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