# US 11,079,236 B2 · Estimation of an individual position

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- Number: US 11,079,236 B2
- Document ID: US11079236B2
- Status: Granted
- Kind: B2
- Application number: 16/349,032
- Filed: 2017-11-09
- Published: 2019-08-29
- Granted: 2021-08-03
- Earliest claimed: 2016-11-14
- Assignees: Volkswagen Aktiengesellschaft
- Applicants: Volkswagen Aktiengesellschaft
- Inventors: Christian Merfels; Thorsten Hehn; Marcel Geppert
- Web page: https://patentgrep.com/patent/US11079236B2

## CPC

- G01S 19/41: Differential correction, e.g. DGPS [differential GPS]
- G01S 7/4808: {Evaluating distance, position or velocity data}
- G01S 13/86: Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S 13/931: of land vehicles
- G01S 17/86: Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
- G01S 17/931: of land vehicles
- G01S 19/40: Correcting position, velocity or attitude
- G01S 19/49: whereby the further system is an inertial position system, e.g. loosely-coupled
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES

## Abstract

The present invention relates to a method for estimating an individual position. In order to improve the estimation of the individual position of a vehicle, for example, at least one first position measurement is carried out by a first positioning system and at least one second position measurement is carried out by at least one second positioning system. A third position measurement is also carried out by the first positioning system. The third position measurement is carried out after the first and second position measurements. The individual position is estimated on the basis of at least the third position measurement and at least one position error value. The position error value is determined on the basis of the at least one first position measurement and the at least one second position measurement.

## Claims

### Claim 1

A method for estimating an individual position that comprises:
providing at least one first position measurement from a first positioning system,
providing at least one second position measurement from at least one second positioning system,
providing a third position measurement from the first positioning system that temporally follows the first and second position measurement, and
estimating the individual position depending on at least the third position measurement and at least one position error value that is determined on the basis of at least one first position measurement and the at least one second position measurement; wherein the method furthermore comprises:
providing an autocorrelation order A for position measurements by the first positioning system; wherein
the individual position is estimated on the basis of at least the third position measurement and A position error values that are determined on the basis of A first position measurements and A second position measurements.

### Claim 2 (depends on 1)

The method according to claim 1, wherein a position error value comprises a differential value between a first position measurement and a second position measurement.

### Claim 3

A device that comprises:
an interface that is configured to receive position measurements from one first positioning system and position measurements from at least one second positioning system,
at least one processor that is configured to perform the following steps:
providing at least one first position measurement from the first positioning system,
providing at least one second position measurement from the at least one second positioning system,
providing a third position measurement from the first positioning system that temporally follows the first and second position measurement,
providing an autocorrelation order A for position measurements by the first positioning system, and
estimating the individual position depending on at least the third position measurement and at least one position error value that is determined on the basis of at least one first position measurement and the at least one second position measurement; wherein
the individual position is estimated on the basis of at least the third position measurement and A position error values that are determined on the basis of A first position measurements and A second position measurements.

### Claim 4 (depends on 1)

The method according to claim 1, wherein the method furthermore comprises:
providing A autocorrelation coefficients, and
the individual position is moreover estimated on the basis of at least the A autocorrelation coefficients.

### Claim 5 (depends on 4)

The method according to claim 4, wherein the individual position cia is estimated according to the following equation:
c
i
a
=
z
i
a
-
∑
j
=
1
A
⁢
⁢
γ
j
⁡
(
z
i
-
j
a
-
z
i
-
j
w
)
with:
the third position measurement zia time i;
the A autocorrelation coefficient yj;
the A first position measurements zi-ja at points in time i-1 to i-A; and
the A second position measurements zi-jw at points in time i-1 to i-A.

### Claim 6 (depends on 1)

The method according to claim 1, wherein the third position measurement, the at least one first position measurement, and the at least one second position measurement each comprise absolute position measurements that indicate an absolute geographic position.

### Claim 7 (depends on 1)

The method according to claim 1, wherein the third position measurement, the at least one first position measurement, and the at least one second position measurement each comprise relative position measurements that indicate a relative geographic position with regard to a respective preceding position measurement.

### Claim 8 (depends on 1)

A method for estimating an individual position using Q position-determining sources with Q being greater than or equal to 3, which comprises:
estimating a respective preliminary individual position for each k of 1 to Q according to the method of claim 1 with:
the position-determining source k as the first positioning system, and
the positioning determining sources 1 to Q without k as the at least one second positioning system in that the at least one second position measurement is determined by combining position measurements of the position-determining sources 1 to Q without k, and
combining the Q preliminary individual positions into the individual position.