Systems and methods for simulating GNSS multipath and obscuration with networked autonomous vehicles
US11960001B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 4, 2020 |
| Grant date | Apr 16, 2024 |
| Priority date | — |
| Expiry date | Mar 8, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01S2013/9322
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
The disclosed technology teaches testing an autonomous vehicle: shielding a GNSS receiving antenna of the vehicle from ambient GNSS signals while the vehicle is under test and supplanting the ambient GNSS signals with simulated GNSS signals. Testing includes using a GNSS signal generating system: receiving the ambient GNSS signals using an antenna of the system and determining a location and acceleration of the vehicle from the GNSS signals, accessing a model of an augmented environment that includes multi-pathing and obscuration of the GNSS signals along a test path, based on the determined location—generating the simulated GNSS signals to feed to the vehicle, in real time—simulating at least one constellation of GNSS satellite sources modified according to the augmented environment, based on the determined location, and feeding the simulated signals to a receiver in the vehicle, thereby supplanting ambient GNSS as the autonomous vehicle travels along the test path.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.