DE102021104439A1 - Method for detecting at least one GNSS interference source using multiple vehicles - Google Patents

Abstract

The invention relates to a method for detecting at least one GNSS interference source (1) using a plurality of vehicles (2, 3), comprising at least the following steps: a) receiving data sets from a plurality of vehicles (2, 3), the data sets each at least include information about a GNSS signal characteristic of the GNSS reception on the respective vehicle (2, 3) and location information about the associated spatial area (4),b) analyzing the data sets with regard to similarities or matches in the information about the GNSS Signal characteristics, with such information about GNSS signal characteristics being searched for that allows conclusions to be drawn about an impairment of GNSS reception,c) detecting that a GNSS interference source (1) acts in a spatial area (4) when the area (4) several data sets have been received which allow the conclusion that GNSS reception is impaired.

Description

The invention relates to a method for detecting at least one GNSS interference source using a number of vehicles, a computer program for carrying out the method and a machine-readable storage medium with the computer program. The invention can be used in particular in connection with automated or autonomous driving.

State of the art

Automated driving places high demands on location. GNSS (Global Navigation Satellite System, such as GPS or GLONASS) plays an important role here, as this is currently the preferred positioning system to enable direct absolute positioning. In addition to position accuracy, automated driving also places high demands on availability and integrity (or correctness of the location information, e.g. correctness of the accuracy specification). So-called GNSS jammers are known for targeted disruption of GNSS reception, which can be used (illegally) to disable GNSS receivers that are attached to vehicles, for example.

The use of a GNSS jammer usually affects the GNSS-based positioning in a larger spatial environment or area (e.g. within a radius of about 1km around the jammer). Affected GNSS receivers can be temporarily rendered unusable, e.g. due to interference, so that no localization is possible with them. This poses a problem, in particular, for automated vehicles, since these can no longer be operated automatically if they are not located properly.

In the event of jamming, for example, it may be necessary for the driver to take over control of the automated vehicle for a short period of time, which creates a potentially dangerous situation, especially if it occurs in several vehicles at the same time and in the same place. If necessary, provision can also be made for automated vehicles to carry out a so-called safe stop (parking in the safest possible area) for a short time in such a case, which can lead to a standstill of road traffic if several corresponding vehicles are moving at the same time.

Disclosure of Invention

1. a) Empfangen von Datensätzen von einer Mehrzahl von Fahrzeugen, wobei die Datensätze jeweils zumindest eine Information über eine GNSS-Signalcharakteristik des GNSS-Empfangs an dem jeweiligen Fahrzeug sowie eine Ortsinformation über das zugehörige räumliche Gebiet umfassen,
2. b) Analysieren der Datensätze hinsichtlich Ähnlichkeiten oder Übereinstimmungen in den Informationen über die GNSS-Signalcharakteristiken, wobei nach solchen Informationen über GNSS-Signalcharakteristiken gesucht wird, die einen Rückschluss auf eine Beeinträchtigung des GNSS-Empfangs erlauben,
3. c) Detektieren, dass in einem räumlichen Gebiet eine GNSS-Störquelle wirkt, wenn zu dem Gebiet mehrere Datensätze empfangen wurden, die einen Rückschluss auf eine Beeinträchtigung des GNSS-Empfangs erlauben.

According to claim 1, a method for detecting at least one GNSS interference source using a plurality of vehicles is proposed here, comprising at least the following steps:

1. a) receiving data sets from a plurality of vehicles, the data sets each comprising at least one item of information about a GNSS signal characteristic of the GNSS reception at the respective vehicle and location information about the associated spatial area,
2. b) Analyzing the data sets with regard to similarities or matches in the information about the GNSS signal characteristics, such information about the GNSS signal characteristics being searched for that allows conclusions to be drawn about an impairment of the GNSS reception,
3. c) Detecting that a GNSS interference source is active in a spatial area if a number of data sets were received for the area, which allow conclusions to be drawn about an impairment of GNSS reception.

To carry out the method, steps a), b) and c) can be carried out, for example, at least once and/or repeatedly in the order given. Furthermore, steps a), b) and c), in particular steps b) and c), can be carried out at least partially in parallel or simultaneously. The GNSS jammer can be an active jammer, such as a GNSS jammer. The multiple vehicles are typically motor vehicles, such as automobiles. The vehicles can be set up at least partially for automated and/or autonomous driving.

Advantageously, the method can help to detect the use of GNSS jammers through crowd sourcing. Furthermore, the method and in particular information obtained with it about a detected GNSS interference source can be used to generate cloud-based data services for providing GNSS availability information and/or GNSS integrity information, in particular for use in automated driving.

In step a), data sets are received from a plurality of vehicles, the data sets each comprising at least information about a GNSS signal characteristic of the (current) GNSS reception at the respective vehicle and location information about the associated spatial area. The GNSS signal characteristic can be, for example, a pseudo-orange, a reception power of the GNSS receiver, a carrier-to-noise ratio or a signal strength of a GNSS satellite signal. In the information about the GNSS signal characteristic can be, for example, a measure of the relevant signal characteristic. The information can, for example, be provided directly or indirectly via an evaluation of preferably aggregated GNSS signal characteristics, eg by evaluating carrier-to-noise ratio (C/NO) or signal strength measurements of the individual GNSS satellite signals which are obtained from a GNSS receiver. The information about the GNSS signal characteristic can alternatively or cumulatively include GNSS availability information and/or GNSS integrity information.

The location information can, for example, describe entry into and/or exit from an area with disturbed GNSS reception. The location information can be determined, for example, using GNSS satellite signals that were last received and/or received again without interference. Alternatively or cumulatively, GNSS-independent sensors of the vehicle, such as environment sensors and/or inertial sensors, and/or map-matching information can also be used to determine the location information.

In particular, the data sets can each include at least one piece of information about a GNSS signal characteristic of a GNSS satellite signal received from the respective vehicle and location information about the spatial area in which the GNSS satellite signal was received. In the event of a significant or complete disruption of GNSS reception, in which no GNSS satellite signal or none of the GNSS frequencies arrives (undisturbed) at the vehicle, the information about the GNSS signal characteristics can indicate, for example, a (temporary) unavailability of GNSS reception . In this context, GNSS-independent sensors of the vehicle can be used, for example, to determine the location information.

As a rule, all vehicles that have a GNSS receiver and a communication device can be used as data sources. These do not necessarily have to be automated vehicles. The data can be received and processed by a server system. The processed information can in turn be provided as a data service, e.g. for automated vehicles.

In step b), the data sets are analyzed with regard to similarities or matches in the information about the GNSS signal characteristics, with a search being made for information about GNSS signal characteristics that allows conclusions to be drawn about an impairment of the GNSS reception. The analysis can be performed by a server system that receives the data sets in step a) from the vehicles. For example, it may include information about the GNSS signal characteristics that are each below a threshold (and thus similar) or specific (corresponding) information, such as unavailability information.

In step c), it is detected that a GNSS interference source is active in a spatial area if a number of data sets were received for the area, which allow conclusions to be drawn about an impairment of GNSS reception. Thus, the local area affected for GNSS receivers or the area (e.g. in a road map) of GNSS jammers or similar sources of interference can be detected in an advantageous manner with the help of crowd sourcing.

According to an advantageous embodiment, it is proposed that in step b) a search is made for information about GNSS signal characteristics that is below a specifiable quality level. In this context, the quality level can include, for example, a threshold for the carrier-to-noise ratio or the signal strength. Alternatively or cumulatively, a limit value for an integrity value on the integrity of the GNSS reception is also conceivable.

According to a further advantageous embodiment, it is proposed that the information about the GNSS signal characteristic includes at least a carrier-to-noise ratio or a signal strength. For example, a detected situation in which only insufficient carrier-to-noise ratios (signal-to-noise power ratios) and/or signal strengths can be achieved for all satellite signals (in a certain frequency range and/or a certain area) can be used as an indicator for a Jammer or the unavailability of the GNSS reception can be used.

According to a further advantageous embodiment, it is proposed that an analysis be carried out to determine whether the impairment of GNSS reception affects a specific frequency range. This can help detect a jammer's interfering frequency or the presence thereof.

According to a further advantageous embodiment, it is proposed that the data sets each also include a time stamp. For example, in the event that the communication device (e.g. V2V communication) of the vehicle or the cellular connection is affected by an interference signal from the interference source, the information (data) on GNSS signal characteristics and (linked) location information can be associated time stamps are cached in the vehicle and sent when the communication network is (again) available.

According to a further advantageous embodiment, it is proposed that an analysis be carried out as to whether the position of the area is static or changes over time. For example, the position of the affected area can be determined by linking location information about the location of the affected GNSS receiver or vehicle to the transmission of the information about the GNSS signal characteristics. This can, for example, be a position provided by the GNSS receiver that is available before and after driving through the affected area and thus limits the affected region. Alternatively, other location sensors can also be used, such as video, radar and/or lidar-based location sensors and/or inertial navigation.

In the case of a static position of the area, a comparison with a digital map can be carried out in order to rule out a structural cause for the impairment of GNSS reception. In a static case, a stationary signal impairment can usually be assumed. This can be a tunnel or a stationary jammer, for example. To exclude the tunnel, the comparison with the digital map can advantageously be carried out. The digital map can include information from a development plan, for example. If the cause is structural, it may be sufficient to carry out the comparison step with the digital map only once for a large number of data sets.

In the event that the affected area is a non-static area or an area with a variable position, for example by “swimming” with the traffic, it can be concluded that a mobile jammer is located, for example, in or on can be installed in a vehicle.

Furthermore, in the case of a change in the position of the area over time, a future change in the position of the area can be predicted. In particular, the change in the area or the position of the area over time can be extrapolated with the aid of the time stamp. Advantageously, this may enable tracking of a dynamic jammer over time. Furthermore, in this context, in particular using map matching, a prognosis of the movement of the area or the jammer movement and thus in particular also of the other affected areas can be achieved.

According to a further advantageous embodiment, it is proposed that the position of the GNSS interference source be determined or delimited using signal strength evaluations. For example, the position of a jammer can be narrowed down by evaluating the signal strength. In particular, one can make use of the property that a received or determined field strength of the jamming signal typically decreases with the square of the distance. It is also advantageous to use GNSS-independent positioning sensors of the vehicle, such as video and/or radar, to determine the position of the vehicle, and at the same time measure the received power at the GNSS antenna of the vehicle. This information (received power as an example of information about the GNSS signal characteristics and the associated location information) can be received from different vehicles and, for example, combined in a digital map (using crowd sourcing). This map can be a so-called heat map, for example, which shows the jamming reception power depending on the reception position. This map can advantageously also be map-matched. As a rule, the region with the highest reception power provides advantageously precise information about the location of the jammer (possibly including its movement over time).

According to a further advantageous embodiment, it is proposed that at least one piece of information about the spatial area of a large number of vehicles be provided. The method can thus advantageously also contribute to the provision of a GNSS-related data service. In particular, the information processed by the server system can in turn be provided as a data service, e.g. for automated vehicles. In this context, (automated) vehicles can in particular receive information in advance about the areas in which GNSS-based positioning is not available or disrupted, so that strategies can be enabled, for example, to carry out an automated journey using an alternative route or to be able to prepare the driver at an early stage to take over the task of driving.

According to a further aspect, a computer program for carrying out a method presented here is proposed. In other words, this relates in particular to a computer program (product), comprising instructions which, when the program is executed by a computer, cause the latter to execute a method described here.

According to a further aspect, a machine-readable storage medium is proposed, on which the computer program proposed here is deposited or stored. The machine-readable storage medium is usually a computer-readable data carrier.

The details, features and advantageous configurations discussed in connection with the method can accordingly also occur in the computer program presented here and/or the storage medium and vice versa. In this respect, full reference is made to the statements there for a more detailed characterization of the features.

• 1: einen beispielhaften Ablauf des hier vorgestellten Verfahrens, und
• 2: eine beispielhafte Veranschaulichung der Anwendung des hier vorgestellten Verfahrens.

The solution presented here and its technical environment are explained in more detail below with reference to the figures. It should be pointed out that the invention should not be limited by the exemplary embodiments shown. In particular, unless explicitly stated otherwise, it is also possible to extract partial aspects of the facts explained in the figures and to combine them with other components and/or findings from other figures and/or the present description. It shows schematically:

• 1 : an example of the procedure presented here, and
• 2 : an exemplary illustration of the application of the method presented here.

1 shows a schematic of an exemplary sequence of the method presented here. The method is used to detect at least one GNSS source of interference 1 using multiple vehicles 2, 3 (cf. 2 ). The sequence of steps a), b) and c) represented by blocks 110, 120 and 130 is exemplary and can be run through at least once in the sequence represented in order to carry out the method.

In block 110, according to step a), data sets are received from a plurality of vehicles 2, 3, the data sets each containing at least one item of information about a GNSS signal characteristic of the GNSS reception at the respective vehicle 2, 3 and location information about the associated spatial area 4 include. In block 120, according to step b), the data sets are analyzed with regard to similarities or matches in the information about the GNSS signal characteristics, a search being made for information about GNSS signal characteristics that allows conclusions to be drawn about an impairment of GNSS reception. In block 130, according to step c), it is detected that a GNSS interference source 1 is acting in a spatial area 4 if a plurality of data sets were received for the area 4, which allow conclusions to be drawn about an impairment of the GNSS reception.

2 shows schematically an exemplary illustration of the application of the method presented here. Two vehicles 2 , 3 are shown as an example, each receiving a GNSS satellite signal 6 from a GNSS satellite 5 in a simplified representation. This GNSS reception is disturbed by a source of interference 1, such as a GNSS jammer. For this purpose, the source of interference 1 sends an interference frequency 7 that impairs GNSS reception.

In step b) of the method, a search can be made for information about GNSS signal characteristics that is below a specifiable quality level. Furthermore, the information about the GNSS signal characteristic can include at least a carrier-to-noise ratio or a signal strength. In this context, the quality level can include, for example, a threshold for the carrier-to-noise ratio or the signal strength.

Furthermore, in step b) of the method, it can be analyzed whether the impairment of the GNSS reception affects a specific frequency range. This can contribute to detecting the interference frequency 7 or its presence.

Furthermore, the data records can each also include a time stamp. The time stamp in particular can be used to analyze whether the position of the area 4 is static or changes over time. In the case of a static position of the area 4, a comparison can be made with a digital map in order to exclude a structural cause for the impairment of the GNSS reception. Furthermore, in the case of a change in the position of the area 4 over time, a future change in the position of the area 4 can be predicted.

In addition, the position of the GNSS interference source 1 can be determined or localized using signal strength evaluations. In addition, at least one piece of information about the spatial area 4 of a large number of vehicles can be provided. The method can thus advantageously also contribute to the provision of a GNSS-related data service.

Claims (12)

Method for detecting at least one GNSS interference source (1) using a plurality of vehicles (2, 3), comprising at least the following Steps: a) Receiving data sets from a plurality of vehicles (2, 3), the data sets each containing at least one piece of information about a GNSS signal characteristic of the GNSS reception on the respective vehicle (2, 3) and location information about the associated spatial Area (4) include, b) analyzing the data sets with regard to similarities or matches in the information about the GNSS signal characteristics, such information about GNSS signal characteristics being searched for that allows conclusions to be drawn about an impairment of GNSS reception, c) detecting that a GNSS source of interference (1) acts in a spatial area (4) if several data sets were received for the area (4), which allow conclusions to be drawn about an impairment of GNSS reception. procedure after claim 1 , wherein in step b) is searched for such information about GNSS signal characteristics that are below a predetermined quality level. procedure after claim 1 or 2 , wherein the information about the GNSS signal characteristic comprises at least a carrier-to-noise ratio or a signal strength. Method according to one of the preceding claims, it being analyzed whether the impairment of the GNSS reception relates to a specific frequency range. Method according to one of the preceding claims, wherein the data records each also comprise a time stamp. Method according to one of the preceding claims, in which it is analyzed whether the position of the area (4) is static or changing over time. procedure after claim 6 , wherein in the case of a static position of the area (4) a comparison with a digital map takes place in order to rule out a structural cause for the impairment of the GNSS reception. procedure after claim 6 or 7 , wherein in the event of a change in the position of the area (4) over time, a future change in the position of the area (4) is predicted. Method according to one of the preceding claims, in which the position of the GNSS interference source (1) is determined or localized using signal strength evaluations. Method according to one of the preceding claims, in which at least one piece of information about the spatial area (4) of a large number of vehicles is provided. Computer program for carrying out a method according to one of the preceding claims. Machine-readable storage medium on which the computer program claim 11 is saved.

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