GNSS Positioning Error Detection and Mitigation via Inertial Sensor Switching
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Solution Overview
Problem
Conventional positioning systems are inadequate in detecting and mitigating errors, particularly when satellite signals are unavailable or when there are multiple position jumps, failing to accurately determine whether errors in satellite data have occurred.
Innovation Solution
A method and system that utilize a processor to receive signals from a global navigation satellite system (GNSS) and an inertial sensor to detect errors by calculating the difference between positions, switching to inertial sensor data when the difference exceeds a threshold based on maximum velocity or actual distance traveled, thereby mitigating positioning errors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional positioning systems rely solely on satellite signals, then the system structure remains simple, but positioning accuracy deteriorates when satellite signals are unavailable or contain errors
Solution Approach 1:
The patent combines satellite positioning system with inertial navigation system into a unified positioning apparatus. The inertial navigation system includes accelerometers and gyroscopes that work together with satellite signals to provide continuous and accurate positioning information even when satellite signals are unavailable or erroneous, thereby resolving the contradiction between reliability and system complexity.
Solution Approach 2:
The patent introduces an error detection unit as an intermediary component that monitors satellite positioning signals for errors. When errors are detected, the system switches to inertial navigation data, which acts as a mediator to maintain positioning accuracy without requiring complex real-time signal processing of faulty satellite data.
2Measurement precision
If the system uses only satellite signals for positioning, then device complexity is low, but measurement precision deteriorates due to signal errors and multi-path effects
Solution Approach 1:
The patent implements preliminary error detection by comparing satellite positioning data with inertial navigation data before fully relying on satellite signals. The system continuously monitors for signal errors using multiple satellite position comparisons and switches to inertial navigation when discrepancies exceed thresholds, preventing precision degradation before it occurs.
Solution Approach 2:
The patent creates a dynamic positioning system that adaptively switches between satellite positioning and inertial navigation based on signal quality. The system adjusts its reliance on each source in real-time, increasing inertial navigation weight when satellite signals show errors and returning to satellite-primary mode when signals are clean, thereby maintaining optimal precision without fixed complex architecture.
3Reliability
If conventional systems detect only single discrete jumps, then detection complexity remains low, but reliability deteriorates when multiple position jumps or lingering errors occur
Solution Approach 1:
The patent implements a feedback-based error detection mechanism where the system continuously compares satellite positioning data with inertial navigation data and adjusts its operation accordingly. When errors are detected through multiple comparison thresholds, the system provides feedback to switch to inertial navigation mode, and when satellite signals are validated as accurate, feedback returns the system to satellite-primary mode, ensuring reliable detection of multiple jumps and lingering errors.
Data Source
AI summary
A method for detecting and mitigating errors in a positioning system includes receiving a first signal from a global navigation satellite system (GNSS) indicative of a first position and a second signal from the GNSS indicative of a second position of a machine, determining a difference between the first position and the second position, detecting an error in a current position of the machine when the difference between the first and the second position exceeds a threshold of one of (a) a maximum distance given a maximum velocity, and (b) an actual distance determined based on an output of an inertial sensor on the machine, and mitigating the detected error in the current position of the machine by switching from an output of the positioning system to a position output determined based upon the output of the inertial sensor to update the current position.