Environment Map Generation Using GNSS Validity Filtering
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Solution Overview
Problem
The production of environment maps in urban areas with challenging GNSS reception environments, such as urban canyons, results in inaccurate positioning solutions, leading to increased production costs and quality issues due to errors in measured position data, which are difficult to correct.
Innovation Solution
An environment map production system that evaluates the validity of GNSS positioning solutions using statistical processing and segment-based classification, sorting out valid solutions for map production, and integrating IMU and odometry data to improve accuracy and efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If GNSS positioning is used in urban canyon environments, then positioning data can be collected continuously, but positioning accuracy deteriorates due to signal blocking and multipath effects
Solution Approach 1:
The patent introduces an evaluation mechanism as an intermediary between GNSS signal reception and positioning result acceptance. The evaluation unit assesses positioning solution validity by examining satellite geometry (GDOP values), signal quality metrics, and consistency with other sensors (IMU, odometry). This intermediary layer filters out low-quality positioning data from urban canyon environments while preserving continuous data collection, resolving the contradiction between productivity and measurement precision.
Solution Approach 2:
The system implements feedback through the evaluation unit that continuously monitors positioning solution quality and provides feedback to determine whether to accept or reject positioning results. When GNSS signals are blocked or degraded in urban canyons, the evaluation feedback mechanism detects poor GDOP values or inconsistent positioning results and triggers alternative positioning strategies or data rejection, maintaining overall system accuracy while preserving continuous operation capability.
2Productivity
If positioning data with errors is used for map production, then map production can proceed without interruption, but map quality and accuracy deteriorate
Solution Approach 1:
The patent applies preliminary action by evaluating and validating positioning solutions before they are used for map production. The evaluation unit performs preliminary checks on positioning data quality, including satellite geometry assessment, signal consistency verification, and cross-validation with other sensors. This preliminary validation ensures that only high-quality positioning data is used in map production, preventing accuracy deterioration while maintaining efficient production workflows.
Solution Approach 2:
The evaluation mechanism provides feedback on positioning solution validity to the map production process. When positioning data quality falls below thresholds (poor GDOP, signal blockage detection, inconsistency with IMU/odometry), the feedback system flags these segments for exclusion or re-measurement, ensuring map accuracy is maintained without interrupting overall production efficiency.
3Measurement precision
If conventional optical surveying correction is performed, then positioning accuracy can be improved, but production time and costs increase
Solution Approach 1:
The patent implements self-service by enabling the system to automatically evaluate and validate its own positioning solutions without requiring external correction interventions. The evaluation unit autonomously assesses positioning quality using onboard sensors (GNSS, IMU, odometry) and satellite geometry information, automatically identifying and flagging problematic segments. This self-validation mechanism eliminates or reduces the need for time-consuming conventional optical surveying correction while maintaining positioning accuracy.
Solution Approach 2:
The continuous feedback mechanism monitors positioning solution quality in real-time and automatically triggers corrective actions or data rejection when accuracy thresholds are not met. This automated feedback loop replaces manual correction workflows, significantly reducing correction work time and costs while maintaining high positioning accuracy through systematic quality control.
Data Source
AI summary
An environment map production device includes: a calculation unit that calculates an evaluation value of validity of a positioning solution based on data obtained by measurement by a vehicle traveling in a certain area in a plurality of time zones using GNSS for each of a plurality of segments that divides the area; and a sort out unit that sorts out, on a basis of the evaluation value, the positioning solution used for production of an environment map and the positioning solution not used for production of an environment map, thereby efficiently producing an environment map and improving the quality of the environment map.