US 11,740,363 B2
Method for error evaluation in position determination
Bernd Kubina, Eschborn (DE); Roland Burghardt, Frankfurt am Main (DE); and Robert Bodenheimer, Idstein (DE)
Assigned to Continental Teves AG & Co. OHG, Frankfurt am Main (DE)
Appl. No. 17/620,214
Filed by Continental Teves AG & Co. OHG, Frankfurt am Main (DE)
PCT Filed Jun. 16, 2020, PCT No. PCT/DE2020/200047
§ 371(c)(1), (2) Date Dec. 17, 2021,
PCT Pub. No. WO2020/253921, PCT Pub. Date Dec. 24, 2020.
Claims priority of application No. 10 2019 208 872.4 (DE), filed on Jun. 18, 2019.
Prior Publication US 2022/0252735 A1, Aug. 11, 2022
Int. Cl. G01S 19/23 (2010.01); G01S 19/20 (2010.01); G01S 19/22 (2010.01); G01S 19/49 (2010.01)
CPC G01S 19/23 (2013.01) [G01S 19/20 (2013.01); G01S 19/22 (2013.01); G01S 19/49 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A method for error evaluation in position determination, comprising:
recording of first and second position values, wherein the second position values are recorded by a different measuring method than the first position values;
temporal synchronizing of the first and second position values and forming a first and a second trajectory (A, B) each from the synchronized first and second position values;
forming differential vectors (D) between the respectively synchronized first and second position values;
parallel-shifting the second trajectory (B) along a displacement vector (s) such that the amounts of the differential vectors (D) are minimized on average;
evaluating the faultiness and/or integrity of the position determination on the basis of one or more amounts of the differential vectors (D) created as a consequence of the parallel shift; and
wherein the respective measuring method corresponds to one or a combination of the following:
runtime measurement,
Doppler measurement,
carrier phase measurement,
and/or motion estimation by means of cameras, radar, and/or lidar.