DE102006038856A1 - Device and method for position and / or velocity determination, in particular using absolute running times and transit time differences of signals - Google Patents

Abstract

The invention relates to a measuring device (BS) and a method for determining position and / or velocity by utilizing signals which are transmitted on the one hand from at least one receiving and transmitting device (T) of a round trip time system (RTOF) and on the other hand by at least one transmitting device (SA ) of an Absolute Arrival Time System (ATOA). The processing of the received signals is not carried out separately, but together. For this, known spatial position coordinates (x <SUB> i </ SUB>, y <SUB> i </ SUB>, z <SUB> i </ SUB>, i = N + 1, N + 2,. M) of the received signals from receiving and transmitting devices of the round trip time system (RTOF) additionally assigned a time-dependent variable (o * <SUB> i </ SUB>), which is independent of the round trip time.

Description

The The invention relates to an apparatus and a method for Position and / or velocity determination, in particular under Use of absolute run times and transit time differences of signals according to the above-mentioned Features of the claims 1 or 5.

In this case, global systems are used according to the absolute transit time principle, which are commonly referred to as ATOA systems (ATOA Absolute Time Of Arrival) and are known, for example, under GPS (Global Positioning System), the US system, GLONASS, the corresponding Russian system, and Galileo, the planned European system. The data from these systems is additionally used by data from a local system, whereby the local system is based on the principle of absolute distance measurement. DE 103 36 084 A1 describes as an example local system a local position radar (LPR), in which a mobile unit such as a forklift is equipped with a measuring device in the form of a so-called base station. The measuring device sends out signals which are received by transponders arranged in the room at known positions.

global Positioning methods allow a location determination with an accuracy of a few meters. This will be a signal transmitted by multiple satellites and by a passive receiver system receive. Because these methods are based on signals with a carrier frequency are based in the microwave range, is a visual contact of the user to at least four satellites required. This condition can However, often are not respected when the user to Example in buildings, urban canyons or in areas of dense plant growth.

For reception data of a GPS device or derived pseudoradiology ρ _i of N participating satellites of such an absolute arrival time system, four unknowns x _i , y _i , z _i with i = 1, 2, 3 are obtained as position coordinates and an unknown individual time value c _i , These correspond to the instantaneous unknown spatial receiver position X, Y, Z to be determined of a GPS receiver station in the coordinate system, where Crr is a common unknown time offset of the local receiver to the common time standard of the satellites. At the same time, pseudoradia ρ _i measured for each satellite, ie the actual radii lengthened by the unknown common time offset Crr, are determined, the earth radius r being assumed to be known. This can be done according to Mohinder S. Grewal, Lawrence R. Weill, Angus P. Andrews, "Global Positioning Systems, Inertial Navigation, and Integration", Wiley & Sons, 2001 to set up a system of equations:

For the real one Calculation is done in the equation instead of the time offset Crr in practice a corresponding length offset used. Such a length offset results from the time offset Crr by multiplying the time offset Crr with the propagation velocity, in particular the speed of light. Leave it the current spatial receiver position Determine X, Y, Z of the GPS receiving station.

Around to increase the accuracy of the position determination become correction data calculated and communicated to the user. Here are both global Systems (WAAS, EGNOS), as well as local systems (eg DGPS) for Commitment. For In addition, accurate surveying tasks will become a real time Kinematics "(RTK) used. This consists of a measuring device and a rover as a mobile device. The measuring device is connected to a posted position in the immediate vicinity, during the Rover performs the surveys. By correction data, which directly from the measuring device to the Rover transferred be, an accurate position determination is possible. Missing visual contact However, to any of the satellites can not at any of the correction procedures be compensated.

Got to within a range which does not have a line of sight to a sufficient number of satellites, a secure position determination to be installed, so must the missing satellites by the construction of transmitting stations at Ground compensated.

Such stations are identical to the satellites as pseudo-satellites and are fixed in place. Such pseudo-satellites are well known US 6,430,416 . WO 2004011956 and US 6,901,331 , Here, a signal is generated by means of a stationary electrical structure, which has the same properties as a signal from a satellite. As a result, for example, for positions in which there is no sufficient line of sight on the satellites, a balance can be created. A system of pseudo-satellites can also be used inside buildings, provided that enough pseudo-satellites are installed within the respective rooms. A disadvantage of this technique is that the accuracy of a GPS / GLONASS / GALILEO can not be undershot by a local system. Due to unfavorable multipath widths, especially in rooms, the local system is at most equivalent. Particularly serious is the technical complexity that must be operated for such pseudo-satellites. These require the same time standard as the satellites in space and are therefore equipped with elaborate atomic clocks.

Other approaches include the inclusion of systems that were already available before the construction of GPS / GLONASS. Here is an example of a combination of global processes with a LORAN system. Corresponding methods are for example in the DE 100 15 305 . WO 9316452 and WO 9408405 described. A disadvantage of such systems is that the accuracy of older systems is significantly lower compared to current global systems. Therefore, only insignificant improvements can be achieved by such a combination. The Loran C system is either synchronized to the GPS time or used as a separate time difference system. In the first case, the Loran C stations can then be used directly as ATOA systems and are thus "pseudolites" for the GPS method. The additional technical overhead for the time synchronization of all Loran C transmitter stations is considerable. In the second case, two separate positions are determined with GPS or Loran C and then an overall position is determined from both position values. In this case, the shading problem is solved only inadequately, because systematic errors are not compensated directly from the shading, but are included in the calculation.

Another possibility for supplementing global positioning systems is the construction of so-called "beacons", whereby corresponding systems are known from eg EP 1046097 . US 5,367,306 or US 6,459,989 , In this case, transmitters with a limited range are attached to a known position. On the basis of the transmitter, the user can determine his location as a location in the area of the local transmitter with a known position.

It is switched directly discretely to these systems, for example to determine a user's stay within a room. A disadvantage is the inaccurate position determination in addition to the switching.

WO 2004075458 describes a coupling of a global positioning system and a local wireless network (WLAN - Wireless Local Area Network). In addition to determining the position using the GPS / GLONASS satellites, the distance between transmitter and receiver is evaluated by the strength of the received power, eg an access point. If signals from several access points are received, a position determination is possible. As an alternative to a WLAN network, a Bluetooth network can be used, but the operating principle remains the same. Such systems for position search and tracking indoors are known as an experiment-based comparison of Bluetooth and wireless technologies, for example from Csernath-Geza Alexandru-Marian; Romanca-Mihai, "Indoor location sensing and tracking - experiment-supported comparison of bluetooth and wireless technologies", OPTIM, boarding conf. To Optimization of Electrical and Electronic Equipment, 9 * (2004), pp. 83-88, Brasov: Transilvania Univ. Press, 2004 , Due to the non-linear decrease of the received power, which is achieved by such a constructed network, the achievable accuracy is only a few meters. In addition, the data can not be directly connected to an ATOA system, but only by means of separate positioning of the two systems.

Clear better is currently the combination of global systems with so-called local Ultra Wide Band (UWB) systems. Just a pulsed version, which in principle a technical complex Localization by the necessary synchronization of the stations allows is a good complement a global system.

US 2006046687 describes a way of using the combination. Here, a rough position determination is made with a GPS system, which is significantly improved in the second step near the searched object by means of a UWB system. The disadvantage here again is the separate calculation of the position in both systems.

Hybrid systems are able to capture data from global positioning systems. In addition, they are equipped with a second receiving system for so-called LD signals (Local Radio Determination). The second receiving system allows to navigate within buildings, provided that at least three LD signal sources are present. By way of example, systems are known in this regard US 5,892,454 . US 5,936,572 and from Unseld-HG, "Resource use and disposition in the ground service on the basis of 2.4 GHz locating concepts. Resource management and disposition in ground management of airports with 2.4 GHz location systems. ", Conference report: VDI reports * volume 1634 (2001), page 161-166, Duesseldorf: VDI publishing house, 2001 , However, such systems differ from the other systems in that TDOA and ATOA systems must operate separately with each other.

Also well-known are systems that not only propose the combination of a global and a local system, but also couple multiple global and local systems. In addition, additional sensors, such as laser systems, magnetic field sensors, intertial systems, mechanical sensors, optical methods, etc., may be mentioned. Such systems are known by way of example Chappell-Steve, MacArthur-Alistair, Sullivan-Chris, Preston-Dan, and Olmstead-Daue, "Sensor Fusion in Automotive Engineering. Real-time Adaptive Real-Time Techniques Using FPGA Systems. ", Proceedings Desing, Automation and Test in Europe, IEEE Comput Soc., Los Alamitos, CA USA, p.180-5, Vol.3, 2005 ,

DE 101 55 251 A1 describes a transponder system and method for distance measurement. By means of a mobile measuring device signals are emitted. A transponder known in terms of its fixed position receives the signal and returns it quasi-phase coherent. Under quasi-phase coherent is understood that a resonant circuit is excited in the transponder by the received signal and thereby oscillates over at least a sufficient transmission time to respond to the received signal in synchronism with the received signal. The signal emitted by the transponder and received by the base station is therefore quasi-phase coherent, ie at least initially phase-coherent with the signal previously transmitted by the measuring device.

Summarized It should be noted that although a use of data from different Positioning systems is known. The disadvantage of such However, systems always independent positioning within of each of the systems and the subsequent separate or combined Use of position data previously separated from each other of different systems. In addition to a high computational effort further disadvantages, especially in resulting jumps of the position indicator due to a hard switching between the systems or the from this particular data. The jumps to lead to supposed local jumps from in unfavorable make a meter and more. Another disadvantage is that one system per Visual connection to at least three or four satellites or Pseudo-satellites must exist. Otherwise, with the respective System a position determination at all not possible and thus excluded a combined use.

The The object of the invention is a device and a method for position and / or velocity determination under use of absolute running times and transit time differences of signals, which allows a position determination even if a line of sight to a total of at least three or four transmitters of such signals, these being only three or four signals mixed by both systems based on absolute run times as well as systems based on derived from maturity differences. In particular, an abrupt Position jump in a transition from transmitters of one of the systems to transmitters of the other of the systems be avoided.

These The object is achieved by a device and a method for or velocity determination using absolute run times and transit time differences of signals according to the above-mentioned features of the claims 1 or 5 solved. Advantageous embodiments are the subject of dependent claims.

The invention basically relates to a measuring device and a method for determining the position and / or speed by utilizing signals which are received on the one hand by at least one receiving and transmitting device of a round trip time system and on the other hand by at least one transmitting device of an absolute arrival time system. The processing of the received signals is not carried out separately but together. For this purpose, known spatially position coordinates of the received signals of receiving and transmitting devices of the round trip time system additionally assigned a time-dependent variable, which is independent of the round trip time. A control device is preferably configured or controllable in such a way that it communicates the two position determination systems with the measuring devices of a round trip time system or with the measuring devices of a Absolutankunftszeitystems both synchronous and asynchronous, that is, in other words together or even independently can control.

Prefers becomes accordingly a measuring device for position and / or Speed determination with a first interface for sending a signal to at least one receiving and transmitting device a first group of measuring devices of a runtime system, a control device for determining the position to be determined the measuring device and a memory having a first storage area for storing first spatial Position coordinates and a position memory area for storing of data of the position to be determined, wherein the at least one Receiving and transmitting device is designed or controlled for return another signal to the measuring device after receiving the signal and wherein in the measuring device for determining the position of Measuring device spatial Position coordinates of the receiving and transmitting device and time information are known or determinable, and where the Measuring device for position and / or velocity determination a second interface for receiving a signal with a Time information from at least one transmitting device of a second Group of measuring devices of an absolute arrival time system to Position or velocity determination, a second memory area for storing each second spatial Position coordinates of the at least one second measuring device and one time-dependent each Size accordingly a time offset of the time systems between the at least one second Measuring device and the measuring device and another storage area for storing at least one time-dependent further variable, which the first spatial Assigned to position coordinates and independent of the round trip time, wherein the control device is designed or controllable for Determining the position to be determined by means of both the first one as well as second spatial Position coordinates using the at least one time-dependent variable and the at least one time-dependent another size. According to the method will be accordingly preferably a method for position and / or velocity determination, in which a measuring device sends a signal to at least one reception and transmitting means having known first spatial position coordinates a first group of measuring devices of a round trip time system sends, the at least one receiving and transmitting device after receipt the signal sends back another signal to the measuring device, by means of at least one time information from a round trip period from Sending the signal until receiving the returned signal and means at least one set of such first spatial position coordinates a position to be determined of the measuring device is determined, at least one transmitting device of a second group of measuring devices Absolute arrival time system for position or velocity determination another signal with one of a transmission time of the second Dependent on measuring device Time information is received, in each case additionally second spatial Position coordinates of each such transmitting device received or determined be a time-dependent Size accordingly a time offset of time systems of the at least one second transmitting device and the measuring device is determined, and wherein the first spatial Position coordinates at least one independent of the round trip time-dependent further Size assigned and the position to be determined in a common processing sequence by means of both the first and second spatial position coordinates using the at least one time dependent quantity and the at least one time-dependent further size determined becomes.

The Measuring device and the method for position or velocity determination using absolute run times and runtime differences of Enable signals a position determination even if a line of sight to a total of at least three or four transmitters of such signals, these being only three or four signals mixed by both systems based on absolute run times as well as systems based on can come from runtime differences.

Preferably the second interface is designed as a GPS, GLONASS or Galileo interface and the first interface for sending the signal and for receiving a signal quasi-phase coherent in response to the signal designed to the signal.

Prefers becomes the at least one independent of the round trip time-dependent further Size to create associated with a matrix equation. The matrix equation is included with a calculation matrix with in either a row or in a column a total of at least four values of the time-dependent size and the independent of the round-trip time time-dependent created another size. The matrix equation is used in simple cases with a calculation matrix with values of time-dependent Size equal the value "1" and with values of independent of the round-trip time time-dependent same size is preset to the value "0".

mit R als Matrize, mit p± als gemessener oder abgeleiteter Entfernungen zwischen einerseits der Messvorrichtung und andererseits der Sendeeinrichtungen oder der Empfangs- und Sendeeinrichtungen, mit x_i, y_i, z_i als Positionskoordinaten der einzelnen Sendeeinrichtungen oder der Empfangs- und Sendeeinrichtungen, mit M als Berechnungsmatrize und mit U_p als Vektor der zu bestimmenden Position X, Y, Z, wobei ein Laufindex i für Daten der Sendeeinrichtungen gesetzt ist gleich 1, 2,..., N und der Laufindex i für Daten der Empfangs- und Sendeeinrichtungen gesetzt ist gleich N+1, N+2, M.A system of equations is created and solved accordingly

with R as a template, with p ± as measured or derived distances between on the one hand the measuring device and on the other hand, the transmitting devices or the receiving and transmitting devices, with x _i , y _i , z _i as position coordinates of the individual transmitting devices or the receiving and transmitting devices with M as a calculation matrix and U _p as the vector of the position to be determined X, Y, Z, where a running index i is set for data of the transmitting devices is equal to 1, 2, ..., N and the running index i for data of the receiving and transmitting devices is set equal to N + 1, N + 2, M.

A Velocity determination is preferred via detection of a Doppler effect or a numerical derivative of at least two particular ones to be determined positions. To correct a clock drift between the transmitting devices and the measuring device are preferred more time-dependent Sizes for data the transmitting devices with a value not equal to the value "0" and more of the round trip time independent time-dependent Sizes for the data the receiving and transmitting devices with a value equal to "0" introduced and used.

Independently advantageous is also a receiving and transmitting device as a remote station for such Measuring device or for performing Such a method, which has a resonant circuit, the excited by the signal received by the measuring device to a vibration is at least temporarily phase-coherent for generating the to the To send the measuring device back Signal vibrates. Preferably, such a receiving and transmitting device designed to be returned with the Signal an identification information and / or their own spatial To return position coordinates.

Advantageous is e.g. also a measuring device, where the first interface is formed as a synchronization unit for performing a Method for the high-speed synchronization of time and frequency. alternative may be a receiving and transmitting device as a remote station for such Measuring device or for performing a corresponding method have a resonant circuit, the after receipt of the signal from the measuring device, a frequency and time corrected signal for provides a shipment to the measuring device.

A such configured as a transponder active receiving and transmitting device thus preferably sends to the measuring device a quasi-phase coherent signal back. At the same time, this signal is used to transmit information relating to the measuring device an identification of the signal thus received and an assignment allows for a specific transponder. It is advantageous the position coordinates the transponder mitzusenden so that these of the measuring device independently from a pre-programmed location or after installation another transponder present. The transfer is advantageous the position coordinates by means of the returned signal thus especially with a view to the fact that the position coordinates are not previously about another interface can be stored in the measuring device have to.

Such a measuring device or such a method is advantageous in particular if less than four signals from transmitting devices of an absolute arrival time system and less than three or four signals of a receiving and transmitting device of a concentricity time system are received and used for position or velocity determination. In such a case, a measuring device necessarily fuses the received data in the manner of a seamless transition, so that apparent local jumps in the case of a change from one system to the other are avoided. Of course, more signals from the various positioning systems can be received and used, which is still allows for a more seamless transition, optionally using a method of solving overdetermined systems of equations.

The Control device of such a measuring device is preferred for Carry out designed or programmed such a method described.

Independently advantageous is also a computer program in such a measuring device for performing a such process. Such a computer program allows advantageous the use of a measuring device even in the event that fewer transmitting devices Receiving and transmitting devices are available than for the respective Position or velocity determination system for independent determination the position would be required. Furthermore will advantageously be a seamless transition from one to the other system allows when the measuring device for example, from an outdoor area of a building in the building is moved into it.

The particularly preferred method or the preferred measuring device now relate starting from a system according to eg DE 101 55 251 A1 for phase coherent procedures or DE 101 57 931 C2 for short-time synchronized procedures, include single additional active units as so-called transponders instead of pseudo-satellites so that a distance value is determined only once in a direct fusion of ATOA satellites and local units. The technical simplicity of the transponders, which manage without the common time standard with the ATOA satellites, is particularly important here. As a result, in particular cost-intensive devices with atomic clocks are dispensable. The preferred implementation thus allows the closing of uncovered areas with little effort. In addition, the threshold-based discrete switching between different systems is eliminated, so that, for example, a transition to a local system becomes technically simpler and more accurate. Hard local jumps are thus avoided with suitable positioning of the stationary transponder.

One embodiment will be explained in more detail with reference to the drawing. Show it:

1 schematically a mobile measuring device for position or velocity determination, which receives signals for determining the distance of transmitting and receiving devices of a concentricity time system and other signals from transmitting devices of an absolute arrival time system for determining distance,

2 schematically a globe with various components of such a system, and

3 schematically a section of a memory for data storage with different memory areas, which are occupied for a position determination according to a preferred method.

How out 1 can be seen, the position and / or speed of a vehicle F in the area inside and outside a building G can be determined as accurately as possible. For this purpose, the vehicle F is equipped with a measuring device BS, which can also be referred to as a base station. For determining the position of the measuring device BS signals are used, which receives the measuring device BS of preferably two or more different distance determining systems.

A first distance determination system is based on round trip times of first signals s, which are sent by the measuring device BS to transmitting and receiving devices, in particular so-called transponders T, and are sent back from there. When using such a round trip time system RTOF, the measuring device BS receives signals from preferably a plurality of such transponders T. On the basis of the transit time of the signals and an optionally known delay by signal processing in the transponders T and by knowing the exact positions x _i , y _i , z _In the transponder T, the measuring device BS can determine its position X, Y, Z in a manner known per se. In the illustrated embodiment, however, the measuring device BS is only in the reception range of two transponders T. A two- or even three-dimensional position determination is therefore not clearly possible.

In addition to transponders T, which receive the signal s of the measuring device BS, actively process and return an independent response signal, passive transponder T are used, which send back without an independent data processing only the received signal s with optionally a modulation or other identifier. It is crucial that the measuring device BS on the basis of the received returned signal, the corresponding transponder and / or its exact position clearly determine. Transponders T are particularly preferably used which send back a quasi-phase-coherent signal in response to the original signal emitted by the measuring device BS, as is also known per se. Alternatively, synchronous and frequency-synchronous methods can be used for short-time synchronized procedures.

The measuring device BS also includes, as a component of a second distance determination system, a GPS receiver which can receive and evaluate signals from satellites SA as exemplary transmission devices of an absolute arrival time system ATOA. These received signals comprise a time stamp as time information t _i which corresponds to the transmission time at the satellite SA or is equivalently in a fixed reference. In addition, the received signal comprises information by means of which the measuring device BS can determine the instantaneous position of the satellite SA at the time of transmission. Accordingly, upon receiving signals from a sufficient number of satellites SA, the measuring device is able to unambiguously determine its instantaneous position, as is known per se. In the present case, however, the measuring device BS is not able to receive a sufficient number of satellite signals due to shadowing by the building G.

to Control of the measuring device BS and the signal processing in this preferably has the measuring device a control device C on. This is over Lines and / or a bus system connected to other components. In particular, a first interface IF1 for transmitting the signal s to transponders T and to receive returned Signals provided in the measuring device BS. Besides that is a second interface IF2 for receiving signals from the satellites SA provided. The measuring device can thus by means of the control device C both the functionality control two different interfaces as well as the ones to be sent or to process data to be received. By means of another interface IF3, the control device C can also communicate with other external devices, For example, to position data of newly established transponders or read in further position detection systems. About such other interfaces IF3 can also data or control statements to other components such as a navigation system are issued.

In particular, the measuring device BS comprises at least one memory S for storing control programs and data. In the memory S, a first storage area S1 is reserved for data related to the round trip time system RTOF. A second memory area S2 serves to store data of the absolute arrival time system ATOA. In a further memory area Sk, data of the current position X, Y, Z can be stored. In addition, independently or assigned to the corresponding memory areas, St data are stored in an even further memory area, which data are used to calculate the current and to-be-determined position X, Y, Z of the measuring device BS with the aid of the data of the first and second memory areas S1, S2. These are in particular a time offset or a spatial offset Crr calculated by the speed of light as the propagation speed and corresponding thereto, which corresponds to a time difference of the time system of the measuring device BS and of the absolute arrival time system ATOA equipped with atomic clocks. In order to calculate the current position using the received data from the satellite SA this temporal offset o _i as a variable for solving a system of equations is required. Otherwise, a matrix inversion that is required to solve the equation system would not be possible.

In order to be able to process the data of the concentricity time system RTOF together with the data of the absolute arrival time system ATOA, that is to be able to introduce into the matrix inversion, an additional memory area is created for a corresponding time-dependent offset o _i * which does not depend on the round-trip time. provided.

1 illustrates the advantages of the preferred embodiment with reference to a typical arrangement. The mobile GPS system as the absolute arrival time system ATOA on the vehicle F is laterally shaded on one side by the building G. To set up a local system as the round trip time system RTOF is in the outer area of the building G only the building wall of the building G as a mounting location for a local System available. As a result, the available measuring area can only be illuminated by the respective system on one side. In a separate position determination, the circular sections of each of the two systems are poorly conditioned and the resulting measurement error can not be compensated by averaging the respective results. In a preferred direct fusion of measurement data of both systems, the area is illuminated on both sides and thus the bad conditioning canceled.

In order to be able to perform a direct fusion of the data of both systems ATOA, RTOF, the problem of the common time standard has to be solved. This is preferred by concurrent use tion of RTOF or absolute transponders than the transponders T. Radii or the distance ρ _i to the transponders T and the satellite SA are measured separately. The technical innovation consists in the following direct fusion of the individual distances ρ _i or the radii of the positions x _i , y _i , z _{1 of} the transponder T or the satellites SA of the two systems RTOF and ATOA to the receiver position X, Y, Z ,

mit u.a. R_A als Matrize der gemessenen bzw. aus Empfangsdaten abgeleiteten Zeitinformation t_i bestimmten Entfernungen ρ_i bzw. bekannten Positionskoordinaten x_i, y_i, z_i der einzelnen Satelliten SA relativ zu der Basisstation BS, M_A als Messsensitivitätsmatrize (Measurement Sensitivity Matrix) bzw. Berechnungsmatrize und U_Ap als Radius bzw. zu bestimmender Position X, Y, Z der GPS-Empfangsstation, welche in der Messvorrichtung BS integriert oder an dieser angeschlossen ist. Der Laufindex wird dabei auf i = 1, 2, ..., N gesetzt. Die einzelnen Größen in räumlicher Relation sind auch 2 anschaulich entnehmbar.As receiving data of a GPS device, 4 instantaneous positions x _i , y _i , z _{i of} the satellites SA with i = 1, 2, 3 as position coordinates and time information t _i are obtained from N participating satellites SA of the absolute arrival time system ATOA. Between the received time information t ₀ and an instantaneous time information t ₀ * present at the time of reception in the measuring device or the GPS device, there is an unknown individual time offset t ₀ * -t ₀ to the time information t ₀ with the transmission time of the satellite SA. This time offset t ₀ * - t ₀ arises from the clock CLK * usually no such exact atomic clock CLK as in the satellites SA at the receiver end. By assuming the speed of light as the propagation speed of the received signals, the unknown time offset t ₀ * -t _{0 is} in a fixed relationship to a corresponding unknown radial offset Crr. For each satellite SA are derived from the current positions x _i, y _i, z _i of the satellite SA and the time information t _i pseudo radii, ie, the individual for the unknown time offset or the corresponding radial offset Crr ρ extended actual radii or distances determined _i , where the earth radius r is assumed to be known. This results in the equation system for the receive data of the absolute arrival time system ATOA

with, inter alia, R _A as a template of the measured or received data derived from time information t _i certain distances ρ _i or known position coordinates x _i , y _i , z _{i of} the individual satellites SA relative to the base station BS, M _A as Messsensitivitätsmatrize (Measurement Sensitivity Matrix ) or calculation matrix and U _Ap as the radius or position to be determined X, Y, Z of the GPS receiving station, which is integrated in the measuring device BS or connected to this. The run index is set to i = 1, 2, ..., N. The individual sizes in spatial relation are also 2 clearly removable.

Unknown in this system of equations are the position X, Y, Z of the measuring device BS to be determined and the radial offset Crr which results from the unknown time offset t ₀ * -t ₀ between the time t ₀ * in the measuring device BS and the time t ₀ in the satellites.

According to the exemplary arrangement according to 1 with satellites SA which can only be received by N = 2 and thus only i = 2 usable sets of position coordinates (x ₁ , y ₁ , z ₁ ), (x ₁ , y ₂ , z ₂ ) and derived radii or distances ρ ₁ , ρ ₂ However, from this formula, the current spatial determining position X, Y, Z of the GPS receiving station can not yet be determined.

mit u.a. R_R als Matrize der gemessenen bzw. aus Empfangsdaten erhaltenen Positionskoordinaten x_i, y_i, z_i und aus der bestimmten Zeitinformation t_i berechneten Entfernungen ρ_i der Basisstation BS relativ zu den einzelnen Transpondern T, M_R als Berechnungsmatrize und U_Rp als Radius bzw. zu bestimmender Position X, Y, Z der Messvorrichtung BS. Der Laufindex wird dabei auf i = N+1, N+2,..., M gesetzt.For the transponder T of the runtime system RTOF can be set up according to the method analogous under continuous numbering of the units involved a corresponding system of equations. It applies

with, inter alia, R _R as a template of the measured or obtained from the received data the position coordinates x _i, y _i, z _i and from the determined time information t _i calculated distances ρ _i the base station BS with respect to the individual transponders T, M _R as Berechnungsmatrize and U _Rp as the radius or position to be determined X, Y, Z of the measuring device BS. The run index is set to i = N + 1, N + 2, ..., M.

The system of equations does not include a time offset, since the distance measurement during round trip time system RTOF "back and forth", that is done absolutely. Possibly. a constant time offset is taken into account, which can arise as a response time in the transponder T by a data processing.

According to the exemplary arrangement according to 1 with also only N = 2 transceivers T receivable by the measuring device BS and thus only i = 2 determinable sets of position coordinates (x _{N + 1} , y _{N + 1} , z _{N + 1} ), (x _{N + 2} , y _{N + 2} , z _{N + 2} ) or derived distances ρ _{N + 1} , ρ _{N + 2} , however, can not yet be determined from this formula the current spatial receiver position X, Y, Z of the GPS receiving station.

In order to obtain a uniform equation system for direct solution, this system of equations (2) is supplemented by a fictitious radial offset Crr and a further column is introduced in the calculation matrix MR. The notional radial offset Crr corresponds functionally to the radial offset Crr, which according to equation (1) results from the unknown time offset t ₀ * -t ₀ between the time t ₀ * in the measuring device BS and the time t ₀ in the satellites. However, since no clocks different from one another are used in the round trip time system RTOF, the fictitious spatial offset Crr can be assumed to be zero or at least a known constant. In particular, in the first case, therefore, the values of this further column are set to zero. This gives you:

Thereby becomes a combination of the two matrix equations (1), (3) and thus a direct combined data processing of the received data Both systems, ATOA and RTOF, made possible by the lines of the Data of the two systems simply under consecutive numbering the running index i = 1, 2, ..., N, N + 1, N + 2, ..., M according to the above Scheme to be written among each other.

This system of equations now enables the direct determination of position by means of the received data from all satellites SA and transponders T. Basically, 4 involved units are always required to determine the position X, Y, Z and the fictitious spatial offset Crr or the time offset t ₀ * - t _{0 of} the measuring device BS estimate. If no satellites SA or GPS units are involved, then only the position X, Y, Z can be estimated and not the time offset t ₀ * - t ₀ . If more than 4 units are measured, then the system of equations is overdetermined and can be evaluated with the means known per se for solving overdetermined equation systems.

Advantageously, by means of such a procedure, the absolute position X, Y, Z of the base station BS to be determined with the integrated or connected GPS receiving station can be determined with different combinations. In addition to the above-described combination of reception data from 2 transmitting stations or satellites SA of the absolute arrival time system ATOA and 2 transmitting stations or transponders T of the round trip time system RTOF, it is also possible to combine reception data from a transmitting station of the absolute arrival time system ATOA and 3 transmitting stations of the round trip time system RTOF, combination of reception data from 3 transmitting stations of the Absolutankunftszeitys ATOA and a broadcasting station RTOF.

Especially advantageous is the seamless fusion of the corresponding data. As a result, in addition to the improvement of the illumination a seamless transition between e.g. GPS and LPS are done first by visibility depending on visibility individual units of the other system are involved, then a higher number and in the end no units of the other system anymore. This will the previous technical effort of a threshold-based switching between GPS and LPS avoided and also the accuracy in the transition area elevated.

After determining the position to be determined (X, Y, Z) from all participating units, the speed v = v (X, Y, Z) of the object, ie the measuring device BS, can be determined directly from all participating units. It should be noted that the N satellites move at a known speed relative to the earth, whereas the MN local units or transponders are stationary. So it applies

In addition, a radial velocity v ρ _i , i. = 1..M is measured for the N satellites and the MN RTOF units, for example via the Doppler effect or via a numerical derivative of the spatial positions. If one extends the existing model according to equation (1) analogously to the previous distance measurement, then follows

As before you can get the velocity vector by loosening the Determine system of equations. If more than 3 units contributed have, the system of equations is overdetermined and to evaluate with the known methods.

mit h als Koeffizienten von H als Beobachtermatrix (engl. measurement sensitivity matrix).The evaluation of the individual measurements usually takes place via Kalman filtering. In this case, the calculation matrix MA of the absolute arrival time system ATOA Systems can be expanded by the equations of the round trip time system RTOF as shown previously, and the following matrix is obtained:

with h as coefficients of H as an observation matrix (English: measurement sensitivity matrix).

Become further columns e.g. regarding the clock drift of the absolute arrival time system ATOA introduced, so are these for the transponder T of the runtime system RTOF in the corresponding Column set to 0. Otherwise, with the erection of the matrix H according to equation (7) the integration of the transponder T of the round trip time system RTOF in the Kalman filter process of the absolute arrival time system ATOA completed and the Kalman filter can be calculated conventionally become. The updating of the Kalman filter can be sequential respectively. Thus, you can the values of individual satellites SA or ground-based 1D measurements immediately with considered become. Corresponding correction values e.g. for differential GPS in matrix form for GPS data then become analogous by 0 values at the local positioning data extended.

This method assumes that the position of the additional RTOF landmarks in the receiver, ie in the measuring device BS are known. One possible form is that the coordinates of the RTOF landmarks are compiled in a file and later, during production or later by the user, via a further interface IF3 (FIG. 1 ) are played on the measuring device BS as the exemplary receiver. However, this is disadvantageous in terms of flexibility, since for each newly attached transponder T a corresponding new file must be stored in the system. It is therefore advantageous to deposit the mounting position of the transponder T in the transponder T itself. If a suitable receiver comes close, then the transponder T transmits its position by radio to the receiver either via "broadcast" or after receiving a corresponding preamble. This then uses the receiver together with the distance determined by him for determining the position. The execution of the radio link can be done either via other known methods, such as WLAN, ZigBEE, or by impressing the information in the signal for distance measurement. The protocol is freely selectable, eg based on corresponding GPS protocols or proprietary.

The Coordinates of the transponder T are advantageously directly in xyz coordinates filed to avoid a transformation.

As embodiments of the system, local time-of-flight systems RTOF can, for example, be radio-location methods DE 100 32 822 A1 or DE 101 55 251 A1 be used for phase-coherent procedure. When parts of the RTOF are mounted inside buildings, it is advantageous to use ultra-wideband RTOF RTOF systems according to UWB specifications.

3 shows by way of example a section of the memory S and the occupancy of individual memory areas S1, S2, Sk, St in order to implement such a method for position determination by means of such a measuring device BS. As already shown 1 roughly outlined, for the data of the absolute arrival time system ATOA or for their processing with inter alia a matrix inversion in addition to the spatial data x _i , y _i , z _i , ρ _i and the earth radius r is a time-dependent component as a spatial offset o _i , which corresponds to the time offset between the time systems of the satellites SA and the measuring device BS. Since the time offset between the clock CLK * in the measuring device BS and the atomic clocks CLK in all receivable satellites SA is always the same, the individual spatial offset values o _{i are} assignable with the value 1. The memory areas for the runtime-independent time-dependent offset value of the individual data sets of the runtime system RTOF are pre-assigned the value 0, since such an offset is not to be considered. Of course, corresponding memory locations for the position X, Y, Z to be determined and the time offset required for the calculation of the satellite signals or the spatial offset Crr corresponding thereto are also provided. In other words, for joint evaluation of data of the round trip time system RTOF and of the absolute arrival time system ATOA the data of the Concurrent time system additional memory areas for a fictitious time-dependent offset o * _i assigned. This makes possible the integration into a method for matrix inversion, which determines the position X, Y, Z to be determined in otherwise usual manner.

RTOF

Run-time system

T

Send- and receiving device, in particular transponder of the RTOF as a first group of measuring equipment

x _i , y _i , z _i , i = N + 1, N + 2, ..., M

first spatial position coordinates

t _i , i = N + 1, N + 2, ..., M

time information a round trip

o _i *

from the round-life of independent Time-dependent offset

ρ _i , x _i , y _i , z _i ∀i = N + 1, ... M

distance BS to T

CLK *

Clock in ES

R _R

Matrix of the position coordinates x _i , y _i , z _i and distances ρ _{i of} the T

M _R

Berechnungsmatrize

U _Rp

vector the position to be determined X, Y, Z without time-dependent offset

ATOA

Absolutely arrival time system

SA

Transmitting device, in particular satellite of the ATOA as a second group of measuring devices

x _i , y _i , z _i , i = 1, 2, ..., N

second spatial position coordinates

t _i , i = 1, 2, ..., N

time information a broadcasting time

t ₀ * - t ₀

time offset between SA and ES

Crr, o _i

spatial radial offset according to the time offset

CLK

Atomic Clock in SA

ρ _i , x _i , y _i , z _i ∀ _i = 1, 2, ... N

distance ES to SA

R _A

Matrix of distances ρ _i and position coordinates x _i , y _i , z _{i of} the SA

M _A

Berechnungsmatrize

U _Ap

vector the position to be determined X, Y, Z and the offset Crr

i

running Index i = N + 1, N + 2, ..., M in RTOF

i

running Index i = 1, 2, ..., N in ATOA

F

vehicle

G

building

BS

measuring device for position or velocity determination

IF1

first Interface in BS

s

signal the measuring device in the runtime system

IF2

second Interface in BS

IF3

Further Interface in BS

C

control device

X, Y Z

 to determining position of the measuring device BS

S

Storage

S1

first Memory area for RTOF data

S2

second Memory area for ATOA data

sk

Position memory area for storing data of the position to be determined

L

light tower

VC

container transport

v = v (X, Y, Z)

speed from BS

v ρ _i , i. = 1..M

radial velocity from BS

H

coefficients the observer matrix

H

observers matrix ("Measurement sensitivity matrix")

Claims (18)

Measuring device (BS) for position or velocity determination with - a first interface (IF1) for transmitting a signal (s) to at least one receiving and transmitting device (T) of a first group of measuring devices of a round trip time system (RTOF), - a control device (C ) for determining the position to be determined (X, Y, Z) of the measuring device (BS) and A memory (S) having a first memory area (S1) for storing first spatial position coordinates (x _i , y _i , z _i , i = N + 1, N + 2, ..., M) and a position memory area (Sk) for storing data of the position to be determined (X, Y, Z), - wherein the at least one receiving and transmitting device (T) is configured or controlled for returning another signal to the measuring device (BS) after receiving the signal (s) and - wherein in the measuring device (BS) for determining the position (X, Y, Z) of the measuring device (BS) spatial position coordinates (x _i , y _i , z _i , i = N + 1, N + 2, ... , M) of the receiving and transmitting device (T) and time information (t _i, etc., i = N + 1, N + 2, ..., M) of a round trip time are known or determinable, characterized in that - Measuring device (BS) for position or velocity determination - a second interface (IF2) for receiving a signal with time information (t _i etc., i = 1, 2, ..., N) of at least one transmitting device (SA) of a second group of measuring devices (SA) of an absolute arrival time system (ATOA) for position or velocity determination, - a second memory area (S2) for storing respectively second spatial position coordinates (x _i , y _i , z _i , i = 1, 2, ..., N) of the at least one second measuring device (SA) and each of a time-dependent variable (o _i ) corresponding to a time offset (t ₀ * - t ₀ ) of the time systems between the at least one second measuring device ( SA) and the measuring device (BS) and - a further memory area (12) for storing at least one time-dependent further quantity (o * _i ) corresponding to the first spatial position coordinates (x _i , y _i , z _i , i = N + 1, N +2, M) and independent of the round trip time, wherein - the control device (C) is designed or controllable for determining the position to be determined (X, Y, Z) by means of both the first and second spatial Pos tion coordinates (x _i , y _i , z _i , i = 1, 2, ..., N, N + 1, ..., M) using the at least one time-dependent variable (o _i ) and the at least one time-dependent further Size (o * _i ). Measuring device according to claim 1, wherein the second Interface (IF2) designed as a GPS, GLONASS or Galileo interface is. Measuring device according to claim 1 or 2, wherein the first interface (IF1) for transmitting the signal (s) and the Receiving a quasi-phase coherent signal to the signal (s) in response to the signal (s) is configured. Measuring device according to claim 1 or 2, wherein the first interface (IF1) is designed as a synchronization unit is to perform a method for the high-speed synchronization of time and frequency. Method for position or velocity determination using signals which are received on the one hand by at least one receiving and transmitting device (T) of a round trip time system (RTOF) and on the other hand by at least one transmitting device (SA) of an absolute arrival time system (ATOA), wherein processing of the received Signals are common, with known spatial position coordinates (x _i , y _i , z _i , i = N + 1, N + 2, ..., M) of the received signals from receiving and transmitting devices (T) of the round trip time system (RTOF) In addition, a time-dependent variable (o * _i ) is assigned, which is independent of the round trip time. Method for position or velocity determination, in particular according to claim 5, in which a measuring device (BS) has a signal (s) to at least one receiving and transmitting device (T) with known first spatial position coordinates (x _i , y _i , z _i , i = N + 1, N + 2, ..., M) of a first group of measuring devices of a round trip time system (RTOF) sends, - the at least one receiving and transmitting device (T) after receiving the signal (s) to another signal the measuring device (BS) returns, by means of at least one time information (t _i etc., i = N + 1, N + 2, ..., M) from a round trip time from the transmission of the signal (s) to receiving the returned signal and by means of at least one set of such first spatial position coordinates (x _i , y _i , z _i , i = N + 1, N + 2, ..., M) a position to be determined (X, Y, Z) of the measuring device (BS ), - of at least one transmitting device (SA) of a second group of measuring devices of an Absoluta nkunftszeitenystems (ATOA) for position or velocity determination, a further signal with one of a transmission time of the second measuring device (SA) dependent time information (t _i , i = 1, 2, ..., N) is received, in each case additionally second are received or determined spatial position coordinates (x _i, y _i, z _i, i = 1, 2, ..., N) of each of such transmission means (SA), - a time-dependent quantity (o _i) corresponding to (a time offset t ₀ * T ₀ ) of time systems of the at least one second transmitting device (SA) and the measuring device (BS) is determined, characterized in that - the first spatial position coordinates (x _i , y _i , z _i , i = N + 1, N + 2, ..., M) at least one independent of the round trip time-dependent additional size (o * _i ) assigned and the position to be determined (X, Y, Z) in a common processing flow using both the first and second spatial position coordinates (x _i , y _i , z _i , i = 1, 2, ..., N, N +1, ..., M) is determined using the at least one time-dependent variable (o ₁ ) and the at least one time-dependent further variable (o * _i ). Method according to Claim 6, in which the at least one time-dependent further variable (o * _i ) independent of the round-trip time is assigned to produce a matrix equation. Method according to Claim 7, in which the matrix equation is compared with a calculation matrix (M) with at least four values of the time-dependent variable (o * _i ) and one independent of the round-trip time independent of time (o * _i ) is created. Method according to Claim 7 or 8, in which the matrix equation with a calculation matrix (M) has values of the time-dependent variable (o * _i ) equal to the value "1" and with values of the time-dependent further variable (o * _i ) independent of the round-trip time Value "0" is pre-assigned. Method according to one of claims 7 to 9, wherein a system of equations is created and solved according to

with R as a matrix, with ρ _i as measured or derived distances between on the one hand the measuring device (BS) and on the other hand the transmitting devices (SA) or the receiving and transmitting devices (T), with x _i , y _i , z _i as position coordinates of the individual Transmitting devices (SA) or the receiving and transmitting devices (T), with M as the calculation matrix and with U _p as the vector of the position X, Y, Z to be determined, wherein a running index i for data of the transmitting devices (SA) is set equal to 1, 2, ..., N and the running index i for data of the receiving and transmitting devices (T) is set equal to N + 1, N + 2, ..., M. Method according to one of claims 7 to 10, wherein a Speed determination via Detecting a Doppler effect or a numerical derivative of at least two particular ones to be determined positions (X, Y, Z) is performed. Method according to one of Claims 5 to 10, in which for correction a clock drift between the transmitting devices (SA) and the measuring device (BS) more time-dependent Sizes for data the transmitting devices (SA) with a value not equal to the value "0" and more of the round trip time independent time-dependent quantities for the data the reception and Transmitting devices (T) with a value equal to "0" introduced and be used. Receiving and transmitting device (T) as a remote station for one Measuring device according to one of claims 1 to 4 or for carrying out a Method according to one of the claims 5 to 12, which has a resonant circuit by the of the measuring device (BS) received signal to a vibration excited is at least temporarily phase-coherent for generating the to the To return the measuring device (BS) Signal vibrates. Receiving and transmitting device (T) as a counter station for a measuring device according to one of the An Claims 1 to 4 or for carrying out a method according to any one of claims 5 to 12, which comprises a resonant circuit, which provides a frequency and time corrected signal for a transmission to the measuring device after receiving the signal from the measuring device (BS). Receiving and transmitting device (T) according to claim 13 or 14, which is configured with the signal to be returned to an identification information and / or their own spatial To return position coordinates. Measuring device (BS) or method according to an above Claim, wherein for the position or speed determination less as four signals from transmitting devices (SA) of an absolute arrival time system (ATOA) and less than three or four signals of a receiving and transmitting device (T) of a round trip time system (RTOF) are received and used. Measuring device (BS) according to one of claims 1 to 4, wherein the control device (C) for performing a method according to one of the claims 5 to 12 is designed or programmed. Computer program in a measuring device after a preceding claim for performing a Method according to one of the claims 5 to 12.