US 12,072,425 B2
Method for GNSS-based location of a vehicle having a GNSS location device in view of integrity information provided in relation to GNSS correction data
Kosmas Knoedler, Bad Wimpfen (DE); Marco Limberger, Ludwigsburg (DE); Markus Langer, Sachsenheim (DE); and Thomas Speth, Denkendorf (DE)
Assigned to Robert Bosch GmbH, Stuttgart (DE)
Filed by Robert Bosch GmbH, Stuttgart (DE)
Filed on Oct. 19, 2021, as Appl. No. 17/504,604.
Claims priority of application No. 10 2020 213 315.8 (DE), filed on Oct. 22, 2020.
Prior Publication US 2022/0128707 A1, Apr. 28, 2022
Int. Cl. G01S 19/40 (2010.01); G01S 19/07 (2010.01); G01S 19/42 (2010.01); G01S 19/08 (2010.01)
CPC G01S 19/40 (2013.01) [G01S 19/07 (2013.01); G01S 19/42 (2013.01); G01S 19/074 (2019.08); G01S 19/08 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A method for GNSS-based locating of a vehicle having a GNSS location device in view of integrity information provided in relation to GNSS correction data, the method comprising:
a) receiving with a GNSS receiver in the vehicle GNSS correction data configured to correct for atmospheric delays for GNSS-based locating of a vehicle from a GNSS correction data provision system;
b) receiving with the GNSS receiver in the vehicle at least one piece of integrity information about a reliability of the GNSS correction data from the GNSS correction data provision system;
c) evaluating with the GNSS receiver in the vehicle the at least one piece of integrity information;
d) influencing with the GNSS receiver in the vehicle the GNSS-based locating of the vehicle based on the evaluation from step c);
e) transmitting the influenced GNSS-based locating of the vehicle from the GNSS receiver in the vehicle to a control unit of the vehicle; and
f) controlling the vehicle using the transmitted influenced GNSS-based locating of the vehicle, wherein
the influencing is different depending on whether the at least one piece of integrity information describes (i) a disturbance that concerns a specific GNSS satellite, (ii) a disturbance that concerns a position of the specific GNSS satellite, or (iii) a disturbance that concerns at least one propagation path between the specific GNSS satellite and the vehicle.