3D Environment Model Generation Using GNSS Signal Propagation
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Solution Overview
Problem
Current 3D environment models for autonomous driving, such as those from OSM maps, have varying accuracy and are difficult to quality control due to user editing, and more accurate models created from aerial photos or laser instruments are expensive and not openly available.
Innovation Solution
A method for generating three-dimensional environment models using GNSS measurements by receiving and processing datasets describing the propagation path of GNSS signals, selecting datasets based on the presence of object boundaries, and registering object boundaries in the environment, allowing for the creation of reliable and cost-effective 3D models with height details.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If accurate 3D models are created from aerial photographs or laser measuring instruments, then manufacturing precision and measurement precision are improved, but device complexity and cost increase
Solution Approach 1:
The patent replaces complex mechanical surveying systems (aerial photographs, laser measuring instruments) with a GNSS-based system that uses satellite signals and mobile receivers. This substitution dramatically reduces the complexity and cost of data collection while maintaining sufficient accuracy for autonomous driving applications through signal propagation path analysis and object boundary detection
Solution Approach 2:
The patent creates a simplified copy of the environment model using GNSS measurement data instead of directly using complex aerial or laser scanning data. The 3D environment model is generated by processing GNSS signal propagation paths and detecting object boundaries, providing an accurate enough representation for autonomous driving without requiring expensive data collection systems
2Ease of operation
If user-editable open maps are used, then ease of operation is improved, but measurement precision and reliability deteriorate
Solution Approach 1:
The patent enables the system to automatically generate and update 3D environment models using GNSS measurements collected during normal vehicle operation. The system self-updates its environmental knowledge by processing new GNSS signal propagation paths and detecting object boundaries, eliminating the need for manual user editing while maintaining high accuracy through continuous automated improvement
3Device complexity
If GNSS measurements are used to generate 3D models, then device complexity and cost are reduced, but measurement precision may worsen due to signal propagation errors
Solution Approach 1:
The patent employs feedback mechanisms to correct GNSS measurement errors by analyzing signal propagation paths and detecting inconsistencies that indicate object boundaries. The system uses the detected boundaries to refine position estimates and improve the accuracy of the generated 3D environment model, compensating for inherent GNSS signal errors through iterative refinement
Solution Approach 2:
The patent introduces intermediate processing steps that act as mediators between raw GNSS measurements and the final 3D model. These intermediaries include signal propagation path analysis, object boundary detection, and data fusion processes that refine and correct GNSS measurements before generating the final environmental representation, thereby improving precision without increasing hardware complexity
Data Source
AI summary
The disclosure relates to a method for generating a three-dimensional environment model using GNSS measurements, comprising at least the following steps: a) receiving a plurality of measuring data sets, each of which describes a propagation path of a GNSS signal between a GNSS satellite and a GNSS receiver; b) selecting from the plurality of measuring data sets individual measuring data sets which meet a first selection criterion, the first selection criterion being characteristic for the presence of an object boundary along the propagation path of the GNSS signal; and c) capturing an object boundary of an object in the environment of at least one GNSS receiver using the measuring data sets selected.