Dynamic Elevation Mask for GNSS Positioning Using 3D Point Clouds
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Solution Overview
Problem
GNSS positioning precision is compromised due to reflected waves from obstacles like buildings and trees, as existing techniques rely on static three-dimensional geographic information that becomes outdated and ineffective with changes in the environment.
Innovation Solution
A navigation signal processing device that uses three-dimensional point cloud data to dynamically set conditions for restricting navigation satellite utilization, preventing the use of signals from satellites blocked by obstacles, by projecting point clouds onto a celestial sphere and updating elevation angle masks in real time.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a fixed elevation angle mask is set to prevent reflected waves, then positioning precision is improved in static environments, but the system cannot adapt to changing environments such as moving obstacles or seasonal changes
Solution Approach 1:
The patent applies dynamics by making the elevation angle mask changeable based on real-time three-dimensional information. The mask is no longer fixed but dynamically adjusted according to the current environmental state, allowing the system to adapt to moving obstacles, seasonal changes, and other temporal variations while maintaining positioning precision.
Solution Approach 2:
The system uses feedback by continuously acquiring three-dimensional information about the environment and using this information to adjust the elevation angle mask. The acquired spatial data provides feedback about obstacle positions, which then feeds back into the mask setting to optimize signal reception by excluding reflected waves from current obstacle locations.
2Measurement precision
If three-dimensional geographic information is prepared in advance to judge reflected wave probability, then positioning precision is improved, but the information becomes outdated when buildings or trees are constructed, extended, or reconstructed
Solution Approach 1:
The system performs preliminary action by acquiring three-dimensional information in advance of the positioning operation. This pre-acquired spatial data about the environment is used to set the elevation angle mask before positioning begins, allowing the system to proactively exclude known obstacle locations that would cause reflected waves.
Solution Approach 2:
The patent applies parameter changes by updating the three-dimensional information acquisition timing based on the positioning purpose and usage pattern. The system can adjust how frequently spatial data is refreshed, changing the temporal parameter of information updates to balance between having current data and computational overhead.
3Measurement precision
If the elevation angle mask is optimized for stationary positioning, then measurement precision is improved, but the system cannot handle mobile body positioning where the optimum mask changes in real time
Solution Approach 1:
The system makes the elevation angle mask dynamic by linking it to real-time three-dimensional information acquisition. As the mobile body moves, the spatial environment is continuously updated, and the mask automatically adjusts to maintain optimal positioning precision for the current location and orientation.
Solution Approach 2:
The patent applies universality by creating a unified system that handles both stationary and mobile positioning through the same mechanism. The three-dimensional information acquisition and dynamic mask adjustment approach works for both stationary and moving applications, eliminating the need for separate optimization strategies.
Data Source
AI summary
A navigation signal processing device includes circuitry configured to perform positioning of an antenna based on navigation signals received by the antenna from navigation satellites, set an elevation angle mask that causes inhibition of utilization of the navigation signals that are received from a specific angle range as viewed from the antenna in the positioning of the antenna, and obtain three-dimensional point cloud position data that includes data of multiple points of the surroundings as viewed from the antenna. The multiple points are obtained by a laser scanner or a stereoscopic camera and have determined three-dimensional coordinates. The circuitry is further configured to set the elevation angle mask that causes inhibition of utilization of the navigation signals that are received from a straight line direction connecting the antenna and each of the multiple points of the three-dimensional point cloud position data as viewed from the antenna.