Perception data based GNSS multipath identification and correction
AssigneeGM Cruise Holdings LLC
InventorShahram Rezaei
Life of this patent
Estimating the term…
Abstract
Perception data based multipath identification and correction is based on recognition that sensors such as radar, LIDAR, and cameras can generate perception data indicative of locations and properties of terrestrial objects in an environment surrounding a satellite navigation device (e.g., a GNSS receiver), which data may then be used in training, or updating, a model for determining or correcting distances to satellites to account for multipath. Multipath identification includes identifying multipaths to train the model, e.g., by using perception data to perform ray tracing. Multipath correction includes using the model to correct distance errors due to the multipaths or, equivalently, using the model to determine distances to satellites in a manner that accounts for the multipaths.
Claims20
A system, comprising:
- a satellite navigation device, to receive a satellite signal transmitted by a satellite;
- one or more sensors, to generate perception data indicative of a location and one or more properties of each of a plurality of objects in an environment surrounding the satellite navigation device;
- and
- a multipath identification system, to:
- obtain a location of the satellite navigation device from a further system,
- determine a non-line-of-sight (NLOS) path for the satellite signal based on the perception data, a location of the satellite as obtained from the satellite signal, and the location of the satellite navigation device as obtained from the further system, where the NLOS path is indicative of an interaction of the satellite signal with the plurality of objects before the satellite signal is received by the satellite navigation device, and
- update a model for determining a distance to the satellite based on the NLOS path.
A method for updating a model for determining distances to satellites, the method comprising:
- receiving data indicative of a satellite signal transmitted by a satellite and received by a satellite navigation device;
- obtaining a location of the satellite navigation device from a further system;
- receiving perception data acquired by one or more sensors, the perception data indicative of a location and one or more properties of each of a plurality of objects in a vicinity of the satellite navigation device;
- determining a non-line-of-sight (NLOS) path for the satellite signal based on the perception data, a location of the satellite as obtained from the satellite signal, and the location of the satellite navigation device as obtained from the further system;
- and
- updating the model based on the NLOS path,
- wherein the NLOS path is indicative of an interaction of the satellite signal with one or more of the plurality of objects before being received by the satellite navigation device.
A vehicle, comprising:
- a satellite navigation device, to receive a satellite signal transmitted by a satellite;
- one or more sensors, to generate perception data indicative of a location and one or more properties of each of a plurality of objects in a vicinity of the satellite navigation device;
- and
- a multipath correction system, to use a multipath error model to determine a distance to the satellite, wherein the multipath error model is based on:
- a location of the satellite navigation device obtained from a further system,
- a non-line-of-sight (NLOS) path determined for the satellite signal, where the NLOS path is indicative of the satellite signal interacting with the plurality of objects before being received by the satellite navigation device and where the NLOS path is determined based on the perception data, a location of the satellite as obtained from the satellite signal, and the location of the satellite navigation device as obtained from the further system.
Dependencies are inferred from the claim text.