US 12,422,569 B2
Method for generating a feature-based localization map for a GNSS-based and/or feature-based localization
Jan Rohde, Stuttgart (DE); and Marco Limberger, Ludwigsburg (DE)
Assigned to Robert Bosch GmbH, Stuttgart (DE)
Filed by Robert Bosch GmbH, Stuttgart (DE)
Filed on Jul. 19, 2022, as Appl. No. 17/813,512.
Claims priority of application No. 10 2021 207 769.2 (DE), filed on Jul. 21, 2021.
Prior Publication US 2023/0025084 A1, Jan. 26, 2023
Int. Cl. G01S 19/48 (2010.01); G01S 19/39 (2010.01)
CPC G01S 19/48 (2013.01) [G01S 19/396 (2019.08); G01S 19/485 (2020.05)] 8 Claims
OG exemplary drawing
 
1. A method for global navigation satellite system (GNSS)-based localization and a feature-based localization, comprising:
receiving GNSS signals from GNSS satellites;
determining at least one current GNSS-related meta-information item based on the received GNSS signals;
reading in at least one feature information item from a feature-based localization map;
reading in at least one stored GNSS-related meta-information item associated with the at least one feature information item from the feature-based localization map;
carrying out the GNSS-based localization and the feature-based localization using the received GNSS signals and and/or the at least one feature information item; and
determining a measure of an independence of the GNSS-based localization from the feature-based localization by comparing the at least one current GNSS-related meta-information item with the at least one stored GNSS-related meta-information item,
wherein the current GNSS-related meta-information item and the stored GNSS-related meta-information item each include at least one of (i) satellite type and constellation information, and (ii) satellite geometry including dilution of precision (DOP) information.