CN101839986B - Satellite navigation monitoring method and system based on LAAS (Local Area Augmentation System) and WAAS (Wide Area Augmentation System) - Google Patents

Abstract

The invention provides satellite navigation monitoring method and system based on an LAAS (Local Area Augmentation System) and a WAAS (Wide Area Augmentation System). The method comprises the steps of: receiving navigation satellite signals by an LAAS receiver, and receiving wide area augmentation system signals by a WAAS receiver; respectively acquiring the navigation satellite signals and the wide area augmentation system signals received by each receiver by a satellite navigation monitoring device; respectively acquiring local pseudo-range correction values and wide pseudo-range correction values of each positioning satellite according to the navigation satellite signals and the wide area augmentation system signals; then respectively acquiring estimated wide area network error correction values of each positioning satellite according to the local pseudo-range correction values and the wide pseudo-range correction values of each positioning satellite; and carrying the estimated wide area network error correction values of each positioning satellite in local navigation parameters to be broadcast to an onboard user device so that the onboard user device judges the usability of the satellite navigation device according to the received local navigation parameters.

Description

Satellite navigation monitoring method and system based on LAAS and WAAS

Technical field

The present embodiments relate to Satellite Navigation Technique, more particularly to a kind of satellite navigation monitoring method and system based on LAAS and WAAS. 

Background technology

Existing satellite navigation system, from coverage, can be divided into WAAS (WideArea Augmentation System；Referred to as：) and Local Area Augmentation System (Local AreaAugmentation System WAAS；Abbreviation LAAS).Wherein, WAAS is used for global positioning system (Global Positioning System；Referred to as：GPS) error source of observed quantity makes a distinction, and each error source is subject to respectively " to model ", then the error correction values of each error source calculated are broadcast to user by data communication chain, so that the receiver of user is corrected observation error according to the error correction values of reception, to reach the influence for weakening error source, and then improve the precision of user's positioning. 

LAAS mainly includes terrestrial reference station, airborne differential GPS receiving device and Data-Link.LASS is mainly disposed to traffic pattern, for the precision approach to aircraft and landing.Wherein, LAAS tests (Integrity Monitoring Test in ground integrity；Referred to as：IMT quality of data monitoring (Data Quality Monitoring have been used in)；Referred to as：DQM), measurement quality-monitoring (MeasurementQuality Monitoring；Referred to as：MQM), signal quality monitoring (Signal QualityMonitoring；Referred to as：), and the monitoring in two stages performs judgement (ExecutiveMonitoring SQM；Referred to as：The a series of measures such as EXM).So that under normal circumstances, LAAS is greatly improved in positioning precision, and make it that integrity, continuity and availability also reach the standard that C is the grade of service (GSL C) or even E is the grade of service (GSL E). 

But, although WAAS precision meets I classes precision approach (CAT I), but II classes precision approach (CAT II) and Group III precision approach (CAT III) can not be met, its integrity can not also meet I classes precision approach (CAT I)；LAAS monitoring range is limited simultaneously, and especially when occurring anomalous of the ionosphere, LAAS performance can be substantially reduced. 

The content of the invention

The embodiment of the present invention provides a kind of satellite navigation monitoring method and system based on LAAS and WAAS, to improve the monitoring range of satellite navigation system, so as to improve the defensive ability/resistance ability to ionospheric storm. 

The embodiment of the present invention provides a kind of satellite navigation monitoring method based on LAAS and WAAS, including： 

LAAS receivers receive navigation satellite signal, and WAAS receivers receive WAAS signal； 

Satellite navigation monitoring device obtains the navigation satellite signal and WAAS signal that each receiver is received respectively； 

The satellite navigation monitoring device obtains the local pseudo-range corrections value and wide area pseudo-range corrections value of each position location satellite respectively according to the navigation satellite signal and WAAS signal； 

The satellite navigation monitoring device obtains the estimation waas correction error amount of each position location satellite respectively according to the local pseudo-range corrections value and wide area pseudo-range corrections value of each position location satellite； 

The estimation waas correction error amount of each position location satellite is carried and broadcast in local navigational parameter to airborne user's set by the satellite navigation monitoring device, so that the airborne user's set judges the availability of the Satellite Navigation Set according to the local navigational parameter received. 

The embodiment of the present invention provides a kind of satellite navigation monitoring system based on LAAS and WAAS, including LAAS receivers, WAAS receivers, satellite navigation monitoring device and airborne user's set, wherein,

The LAAS receivers are used to receive navigation satellite signal, and the WAAS receivers are used to receive WAAS signal； 

The satellite navigation monitoring device includes： 

Signal acquisition module, for obtaining navigation satellite signal and WAAS signal that each receiver is received respectively； 

Corrected value acquisition module, for according to the navigation satellite signal and WAAS signal,

The local pseudo-range corrections value and wide area pseudo-range corrections value of each position location satellite are obtained respectively； 

Estimate corrected error value acquisition module, for the local pseudo-range corrections value according to each position location satellite and wide area pseudo-range corrections value, the estimation waas correction error amount of each position location satellite is obtained respectively； 

Sending module, broadcast for the estimation waas correction error amount of each position location satellite to be carried in local navigational parameter to the airborne user's set, so that the airborne user's set judges the availability of the Satellite Navigation Set according to the local navigational parameter received. 

The satellite navigation monitoring method and system based on LAAS and WAAS of the embodiment of the present invention, navigation satellite signal is received by LAAS receivers, WAAS receivers receive WAAS signal, satellite navigation monitoring device according to the navigation satellite signal and WAAS signal of each receiver of acquisition, obtains the local pseudo-range corrections value and wide area pseudo-range corrections value of each position location satellite respectively respectively；And according to the local pseudo-range corrections value and wide area pseudo-range corrections value, the estimation waas correction error amount of each position location satellite is obtained respectively；And broadcasting the wide area error correction value carrying of each position location satellite to airborne user's set in local navigational parameter, so that airborne user's set judges the availability of Satellite Navigation Set according to the local navigational parameter received.Because the Satellite Navigation Set receives navigation satellite signal and WAAS signal simultaneously, so as to improve the estimated accuracy of estimation waas correction error amount, and then the monitoring range of Satellite Navigation Set is expanded, and effectively raise the defensive ability/resistance ability to ionospheric storm. 

Brief description of the drawings

In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, the accompanying drawing to be used needed for embodiment or description of the prior art will be briefly described below, apparently, drawings in the following description are some embodiments of the present invention, for those of ordinary skill in the art, without having to pay creative labor, other accompanying drawings can also be obtained according to these accompanying drawings. 

Fig. 1 is the flow chart of satellite navigation monitoring method one embodiment of the invention based on LAAS and WAAS； 

Fig. 2 for satellite navigation monitoring method another embodiment of the present invention based on LAAS and WAAS flow chart； 

Fig. 3 is the structural representation of satellite navigation monitoring system one embodiment of the invention based on LAAS and WAAS； 

Fig. 4 for satellite navigation monitoring system another embodiment of the present invention based on LAAS and WAAS structural representation. 

Embodiment

To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is a part of embodiment of the invention, rather than whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made belongs to the scope of protection of the invention. 

Fig. 1 is the flow chart of satellite navigation monitoring method one embodiment of the invention based on LAAS and WAAS, as shown in figure 1, the method for the present embodiment includes： 

Step 101, LAAS receivers receive navigation satellite signal, and WAAS receivers receive WAAS signal. 

In the present embodiment, the receiver at terrestrial reference station receives navigation satellite signal and WAAS signal.Wherein, navigation satellite signal can specifically include the signal and global navigation satellite device (Global Navigation Satellite System of the satellite launch in GPS constellation；Abbreviation GLONASS) satellite launch in constellation signal；WAAS signal is specifically as follows geosynchronous satellite (Geostationary Orbit；Hereinafter referred to as GEO) satellite launch signal.It should be noted that the receiver in various embodiments of the present invention can include two kinds of receivers, one kind is LAAS receivers, and for receiving navigation satellite signal, another is WAAS receivers, for receiving WAAS signal.It should be noted that WAAS receivers can be also used for receiving navigation satellite signal.Meanwhile, the present embodiment is not intended to limit the number of receiver in terrestrial reference station, and receiver can be one or more.Receiver number M, M in various embodiments of the present invention are usually 1-4. 

Step 102, satellite navigation monitoring device obtain the navigation satellite signal and WAAS signal that each receiver is received respectively. 

Step 103, satellite navigation monitoring device obtain the local pseudo-range corrections value and wide area pseudo-range corrections value of each position location satellite respectively according to navigation satellite signal and WAAS signal. 

In the present embodiment, according to navigation satellite signal, the specific implementation for obtaining local pseudo-range corrections value is：The ephemeris parameter of navigation message first in navigation satellite signal calculates ECEF coordinate system (the Earth-Centered Earth-Fixed of N position location satellite；Abbreviation ECEF) coordinate value, and the precise position information of each receiver is obtained, then the precise position information of the receiver is converted to the ECEF coordinate values of receiver.According to the ECEF coordinate values of receiver and the ECEF coordinate values of corresponding position location satellite, the distance between each receiver and the corresponding every position location satellite of each receiver are calculated respectively.Obtain the corresponding Pseudo-range Observations of each position location satellite and carrier phase observation data respectively from navigation satellite signal again, and according to carrier phase observation data, Pseudo-range Observations be smoothed, with obtain each position location satellite it is smooth after Pseudo-range Observations.Further according to the distance between each receiver and the corresponding position location satellite of each receiver and each corresponding position location satellite of receiver it is smooth after Pseudo-range Observations, obtain the local pseudo-range corrections value of the corresponding every position location satellite of each receiver. 

In the present embodiment, according to WAAS signal, the specific implementation for obtaining wide area pseudo-range corrections value is：According to the information of WAAS texts Class1 0 in WAAS signal, the long-term clock correction value of wide area for obtaining position location satellite is calculated；According to standard (the Radio Technical Commission for Aeronautics of RTCA；Abbreviation RTCA) method provided in DO-229D and the model that provides calculate the wide area tropospheric correction value of position location satellite；According to the information in WAAS texts Class1 8 and 26, the wide area ionosphere corrections value of position location satellite is calculated；According to WAAS text types 2-5, information in 7,24, calculates the quick error correction value of position location satellite wide area, and be added the long-term clock correction value of wide area, wide area tropospheric correction value, wide area ionosphere corrections value with the quick error correction value of wide area, to obtain wide area pseudo-range corrections value. 

It should be noted that terrestrial reference station can select the satellite that can observe as position location satellite from GLONASS, the present embodiment is not intended to limit a number for position location satellite, and it can also be many that position location satellite, which can be one,.Position location satellite in various embodiments of the present invention can be N, and N can be specially 5-8. 

Step 104, satellite navigation monitoring device obtain the estimation waas correction error amount of each position location satellite respectively according to the local pseudo-range corrections value and wide area pseudo-range corrections value of each position location satellite. 

In the present embodiment, because wide area pseudo-range corrections value is by the quick error correction value of position location satellite wide area, and by the long-term clock correction value of wide area, wide area tropospheric correction value, what wide area ionosphere corrections value and the quick error correction value addition calculation of wide area were drawn, therefore according to local pseudo-range corrections value and the wide area pseudo-range corrections value, ionospheric storm is monitored in the estimation waas correction error amount calculated, so that monitoring range of the monitoring range of Satellite Navigation Set with respect to LAAS expands, and then effectively increase the estimated accuracy of estimation waas correction error amount, and improve the defensive ability/resistance ability of ionospheric storm. 

The estimation waas correction error amount of each position location satellite is carried and broadcast in local navigational parameter to airborne user's set by step 105, satellite navigation monitoring device, so that airborne user's set judges the availability of Satellite Navigation Set according to the local navigational parameter received. 

In the present embodiment, local navigational parameter can include EFFECTIVE RANGE of standard deviation, ionosphere spatial gradient, troposphere coefficient of divergence and navigation system of local pseudo-range corrections value etc..Specifically, ground monitoring protected level includes monitoring and protecting level perpendicular to the ground and lateral ground monitoring and protecting level.Alarming threshold includes vertical alarming threshold and lateral alarming threshold.By taking vertical direction as an example, monitoring and protecting level is compared with vertical alarming threshold perpendicular to the ground, when the comparative result of acquisition is less than vertical alarming threshold for the level of monitoring and protecting perpendicular to the ground, then judges that Satellite Navigation Set is in normal operating condition.When the comparative result of acquisition is more than vertical alarming threshold for the level of monitoring and protecting perpendicular to the ground, then Satellite Navigation Set can send alarm, so that airborne user enables other Satellite Navigation Sets. 

In the present embodiment, navigation satellite signal is received by LAAS receivers, WAAS receivers receive WAAS signal, satellite navigation monitoring device is respectively according to the navigation satellite signal and WAAS signal of each receiver of acquisition, the local pseudo-range corrections value and wide area pseudo-range corrections value of every position location satellite are obtained respectively, and according to the local pseudo-range corrections value and wide area pseudo-range corrections value, the estimation waas correction error amount of every position location satellite is obtained respectively；And broadcasting the wide area error correction value carrying of each position location satellite to airborne user's set in local navigational parameter, so that airborne user's set judges the availability of Satellite Navigation Set according to the local navigational parameter received.Because the Satellite Navigation Set receives navigation satellite signal and WAAS signal simultaneously, so as to improve the estimated accuracy of estimation waas correction error amount, and then the monitoring range of Satellite Navigation Set is expanded, and effectively raise the defensive ability/resistance ability to ionospheric storm. 

Further, Fig. 2 for satellite navigation monitoring method another embodiment of the present invention based on LAAS and WAAS flow chart, as shown in Fig. 2 a kind of specific implementation of satellite navigation monitoring method of the present invention is： 

Step 201, LAAS receivers receive navigation satellite signal, and WAAS receivers receive WAAS signal. 

Step 202, satellite navigation monitoring device obtain the navigation satellite signal and WAAS signal that each receiver is received respectively. 

Step 203, satellite navigation monitoring device are according to the distance for obtaining the corresponding position location satellite of receiver

Specifically, the ephemeris parameter of navigation message in navigation satellite signal calculates the ECEF coordinate values of N position location satellite, and the precise position information of each receiver is obtained, then the precise position information of the receiver is converted to the ECEF coordinate values of receiver.According to the ECEF coordinate values of the corresponding every position location satellite of ECEF coordinate values and each receiver of each receiver, the distance of each receiver and the corresponding every position location satellite of each receiver is calculated respectively

It should be noted that, there is error in the ECEF coordinate values that the ephemeris parameter of the navigation message in navigation satellite signal calculates N position location satellite, the exact position of the receiver obtained simultaneously can also have small measuring error, therefore, the distance between position location satellite and receiver

It is not the actual distance of each receiver and the corresponding every position location satellite of each receiver. 

Step 204, according to navigation satellite signal, obtain the local Pseudo-range Observations and local carrier observations of each position location satellite respectively, and application formula (1)： 

${R_{\mathrm{si}}}^j\left(k\right)=\frac{1}{N_s}{R}_i^j\left(k\right)+\frac{N_s-1}{N_s}({R_{\mathrm{si}}}^j(k-1)+{\mathrm{\φ}}_i^j\left(k\right)-{\mathrm{\φ}}_i^j(k-1))---\left(1\right)$

Obtain respectively each position location satellite it is smooth after local Pseudo-range Observations

Wherein, k represents epoch,

τ_sRepresent time constant filter, T_sRepresent the measurement interval of local Pseudo-range Observations； Local Pseudo-range Observations are represented,Represent local carrier observations；M represents receiver number, 1≤i≤M；N represents position location satellite number, 1≤j≤N； 

Step 205, according to distance

With position location satellite it is smooth after local Pseudo-range Observations

Using formula (2)： 

${\mathrm{PR}}_{\mathrm{Li}}^j=R_{\mathrm{turei}}^j-R_{\mathrm{si}}^j---\left(2\right)$

The local pseudo-range corrections value of each position location satellite is obtained respectively

The long-term clock correction value of wide area, wide area tropospheric correction value, wide area ionosphere corrections value and the quick error correction value of wide area that step 206, basis are obtained from WAAS signal, obtain the wide area pseudo-range corrections value of each position location satellite respectively

Step 207, the local pseudo-range corrections value according to position location satellite

With wide area pseudo-range corrections value

Using formula (3)： 

${\widehat{\mathrm{\δ}}}_i^j={{\mathrm{PR}}_{\mathrm{wi}}}^j-{{\mathrm{PR}}_{\mathrm{Li}}}^j---\left(3\right)$

The estimation waas correction error amount of each position location satellite is obtained respectively

In this example, it is assumed that real pseudo-range corrections value is T_i ^j, the measurement noise of local monitor is

And receiver clock-offsets valuation

Then local pseudo-range corrections value

Can also be as shown in formula (4)： 

${{\mathrm{PR}}_{\mathrm{Li}}}^j={T_i}^j+b_i^j+{\mathrm{\ϵ}}_i^j---\left(4\right)$

For a certain receiver, the LAAS receiver clock-offsets valuations for the N position location satellite that the receiver is received

It is identical, therefore can sets

Again due to the receiver clock-offsets valuation

It can be averaged and obtained by the pseudorange difference to N position location satellite for user, and hence it is also possible to set LAAS receiver clock-offsets valuations

For 0, so that formula (4) is changed into formula (5)： 

${\mathrm{PR}}_{\mathrm{Li}}^j=T_i^j+{\mathrm{\ϵ}}_i^j---\left(5\right)$

In addition, for wide area pseudo-range corrections value

Can also be as shown in formula (6)： 

${\mathrm{PR}}_{\mathrm{wi}}^j=T_i^j+B_i^j+{\mathrm{\δ}}_i^j---\left(6\right)$

Wherein,

For true waas correction error amount； 

For WAAS receiver clock-offsets valuations.For a certain receiver, the WAAS receiver clock-offsets valuations for the N position location satellite that the receiver is received

It is identical, therefore can sets

Again due to the WAAS receiver clock-offsets valuationsIt can be averaged and obtained by the pseudorange difference to N position location satellite for user, and hence it is also possible to set receiver clock-offsets valuation

For 0, so that formula (6) is changed into formula (7)： 

${\mathrm{PR}}_{\mathrm{wi}}^j=T_i^j+{\mathrm{\δ}}_i^j---\left(7\right)$

According to formula (3), (5) and (7), formula (8) is calculated： 

${\mathrm{\δ}}_i^j={\widehat{\mathrm{\δ}}}_i^j+{\mathrm{\ϵ}}_i^j---\left(8\right)$

Understand that true waas correction error amount is by measurement noise based on above-mentioned analysis

With estimation waas correction error amount

Composition.Simultaneously, it is assumed that measurement noiseIt is the 0, standard deviation of local pseudo-range corrections value to obey average

Gaussian Profile under the premise of, then true waas correction error amount

With estimation waas correction error amountMeet： 

$P\left({\mathrm{\δ}}_i^j\right|{\widehat{\mathrm{\δ}}}_i^j)=N({\widehat{\mathrm{\δ}}}_i^j,{\mathrm{\σ}}_{\mathrm{Li}}^j)---\left(9\right)$

Wherein,

As shown in formula (10)： 

${\mathrm{\σ}}_{\mathrm{Li}}^j=\sqrt{\frac{{(a_0+a_1{e}^{-{\mathrm{\θ}}_i^j/{\mathrm{\θ}}_0})}^2}{M}}+a_2^2+{\left(\frac{a_3}{\sin \left({\mathrm{\θ}}_i^j\right)}\right)}^2---\left(10\right)$

Wherein, a₀、a₁、a₂、a₃And θ₀Represent the parameter related to receiver performance. 

Step 208, the estimation waas correction error amount by each position location satellite

Carrying is broadcast in local navigational parameter to airborne user's set, so that airborne user's set judges the availability of Satellite Navigation Set according to the local navigational parameter received. 

Further, step 208 includes： 

Step 2081, according to local navigational parameter, obtain ground monitoring protected level. 

Specifically, ground monitoring protected level includes monitoring and protecting level perpendicular to the ground and lateral ground monitoring and protecting level.Wherein, a kind of specific implementation of monitoring and protecting level and lateral ground monitoring and protecting level is perpendicular to the ground： 

According to local navigational parameter, and using formula (11)： 

${\mathrm{VPL}}_{\mathrm{WLS}}=K\sqrt{\underset{j=1}{\overset{N}{\mathrm{\Σ}}}{S}_v^2\left(j\right){\mathrm{\σ}}_{\mathrm{tot}}^2\left(j\right)}+\left|\underset{j=1}{\overset{N}{\mathrm{\Σ}}}{S}_v\left(\text{j}\right){\mathrm{\δ}}_j^{\$}\right|---\left(11\right)$

Obtain the vertical protected level VPL of Satellite Navigation Set_WLS； 

Wherein, K is dilution of precision；N is a number for position location satellite；S_v(j) transition matrix from pseudo- local to locator field is represented；σ_tot(j) it is directed to total standard deviation that jth position location satellite is calculated for user； 

For the average value of the estimation waas correction error amount of M receiver. 

Specifically, dilution of precision K circular is： 

Using formula (12) and formula (13)： 

K=Q^-1(P_HMI-ff/2)                              (12) 

$Q\left(x\right)=\frac{1}{\sqrt{2\mathrm{\π}}}{\∫}_x^{\∞}{e}^{-\frac{t^2}{2}}\mathrm{dt}---\left(13\right)$

Obtain dilution of precision K.Wherein, P_HMI-ffBe terrestrial reference station without receiver failure when integrity value-at-risk.The value can use LAAS minimum air line performance standard (Minimum AviationSystem Performance Standards；Abbreviation MASPS) value that provides in DO-245A. 

Transition matrix S of the pseudo- local to locator field_v(j) computational methods are： 

Using formula (14)： 

S_v(j)=S_z(j)+S_x(j)*tanθ_GS                     (14) 

Pseudo- local is obtained to the transition matrix S of locator field_v(j).Wherein, S_zAnd S (j)_x(j) the jth column element with z directions and x directional correlations, θ in s-matrix are represented respectively_GSIt is into nearly angle of glide. 

σ_tot(j) expression formula can be as shown in formula (15)： 

${\mathrm{\σ}}_{\mathrm{tot}}^2\left(j\right)={\left({\mathrm{\σ}}_{\mathrm{Lj}}\right)}^2+{\left({\mathrm{\σ}}_{\mathrm{air},j}\right)}^2+{\left({\mathrm{\σ}}_{\mathrm{iono},j}\right)}^2+{\left({\mathrm{\σ}}_{\mathrm{trop},j}\right)}^2---\left(15\right)$

Wherein, σ_{Air, j}Refer to the standard deviation of multipath and thermal noise error；σ_{Iono, j}Refer to the standard deviation of ionospheric error；σ_{Trop, j}Refer to the standard deviation of tropospheric error, their specific formula for calculation refers to LAAS MASPS DO-245A.σ_LjFor M receiver

Average value, such as shown in formula (16)： 

${\mathrm{\σ}}_{\mathrm{Lj}}=\frac{\underset{i=1}{\overset{M}{\mathrm{\Σ}}}{\mathrm{\σ}}_{\mathrm{Li}}^j}{M}---\left(16\right)$

As shown in formula (10)： 

${\mathrm{\σ}}_{\mathrm{Li}}^j=\sqrt{\frac{{(a_0+a_1{e}^{-{\mathrm{\θ}}_i^j/{\mathrm{\θ}}_0})}^2}{M}}+a_2^2+{\left(\frac{a_3}{\sin \left({\mathrm{\θ}}_i^j\right)}\right)}^2---\left(10\right)$

Wherein, a₀、a₁、a₂、a₃And θ₀Represent the parameter related to receiver performance. 

The average value of the estimation waas correction error amount of M receiver

As shown in formula (17)： 

${\widehat{\mathrm{\δ}}}_j=\frac{\underset{i=1}{\overset{M}{\mathrm{\Σ}}}{\widehat{\mathrm{\δ}}}_i^j}{M}---\left(17\right)$

According to local navigational parameter, and using formula (18)： 

${\mathrm{LPL}}_{\mathrm{WLS}}=K\sqrt{\underset{j=1}{\overset{N}{\mathrm{\Σ}}}{S}_L^2\left(j\right){\mathrm{\σ}}_{\mathrm{tot}}^2\left(j\right)}+\left|\underset{j=1}{\overset{N}{\mathrm{\Σ}}}{S}_L\left(j\right){\mathrm{\δ}}_j^{\$}\right|---\left(18\right)$

Obtain the lateral protected level LPL of Satellite Navigation Set_WLS。 

Wherein, transition matrix S of the pseudo- local to locator field_L(j) computational methods are： 

Using formula (19)： 

S_L(j)=S_y(j)              (19) 

Pseudo- local is obtained to the transition matrix S of locator field_L(j).Wherein, S_y(j) the jth column element with y directional correlations in s-matrix is represented. 

According to local navigational parameter, and using formula (20)： 

${\mathrm{VEB}}_j=\left|S_v\left(j\right)\right|{\mathrm{\χ}}_{\mathrm{air}}{P}_j+K_{\mathrm{md}\_e}\sqrt{\underset{i=1}{\overset{M}{\mathrm{\Σ}}}{S}_v{\left(j\right)}^2{\mathrm{\σ}}_{\mathrm{tot}}^2\left(j\right)}---\left(20\right)$

Obtain the vertical ephemeris protected level VEB of every position location satellite_j； 

Wherein；χ_airFor the distance between airborne user's set and terrestrial reference station, unit is rice；P_jFor ephemeris relevant parameter, carry in aeronautical satellite parameter and broadcast by terrestrial reference station to airborne user's set； K_{md_e}The false dismissal probability coefficient corresponding to integrity value-at-risk when single position location satellite breaks down, its computational methods are identical with the computational methods of K in step 207.It will not be repeated here. 

It should be noted that the vertical ephemeris protected level VEB of every position location satellite_jMaximum be aeronautical satellite strengthening system vertical ephemeris protected level VEB, such as shown in formula (21)： 

VEB=max (VEB_j)              (21) 

According to local navigational parameter, and using formula (22)： 

${\mathrm{LEB}}_j=\left|S_L\left(j\right)\right|{\mathrm{\χ}}_{\mathrm{air}}{P}_j+K_{\mathrm{md}\_e}\sqrt{\underset{i=1}{\overset{M}{\mathrm{\Σ}}}{S}_L{\left(j\right)}^2{\mathrm{\σ}}_{\mathrm{tot}}^2\left(j\right)}---\left(22\right)$

Obtain the lateral ephemeris protected level LEB of every position location satellite_j； 

It should be noted that the lateral ephemeris protected level LEB of every position location satellite_jMaximum be aeronautical satellite strengthening system lateral ephemeris protected level LEB, such as shown in formula (23)： 

LEB=max (LEB_j)              (23) 

According to the vertical protected level VPL of Satellite Navigation Set_WLS, Satellite Navigation Set lateral protected level LPL_WLS, aeronautical satellite strengthening system vertical ephemeris protected level VEB and the lateral ephemeris protected level LEB of aeronautical satellite strengthening system, and using formula (24) and formula (25)： 

VPL=max (VPL_WLS, VEB) and (24)

LPL=max (VPL_WLS, LEB) and (25)

Obtain monitoring and protecting level VPL perpendicular to the ground and lateral ground monitoring and protecting level LPL. 

Step 2082, ground monitoring protected level is compared with default alarming threshold, obtains comparative result, and judge according to comparative result the availability of Satellite Navigation Set. 

Specifically, ground monitoring protected level includes monitoring and protecting level perpendicular to the ground and lateral ground monitoring and protecting level.Alarming threshold includes vertical alarming threshold and lateral alarming threshold.By taking vertical direction as an example, monitoring and protecting level is compared with vertical alarming threshold perpendicular to the ground, when the comparative result of acquisition is less than vertical alarming threshold for the level of monitoring and protecting perpendicular to the ground, then judges that Satellite Navigation Set is in normal operating condition.When the comparative result of acquisition is more than vertical alarming threshold for the level of monitoring and protecting perpendicular to the ground, then Satellite Navigation Set can send alarm, so that airborne be used to enable other Satellite Navigation Sets. 

It should be noted that to be compared method identical for lateral ground monitoring and protecting level and method that lateral alarming threshold is compared and monitoring and protecting perpendicular to the ground grade and vertical alarming threshold, it will not be repeated here. 

In the present embodiment, by according to the local navigational parameter received, obtaining ground monitoring protected level, and ground monitoring and protecting level and default alarming threshold are compared, to judge the availability of Satellite Navigation Set according to comparative result.Because the local navigational parameter includes estimation waas correction error amount, the wide area error correction value includes accurately monitoring ionospheric storm, so as to improve the estimated accuracy of estimation waas correction error amount, and then the monitoring range of Satellite Navigation Set is expanded, and effectively raise the defensive ability/resistance ability to ionospheric storm. 

Fig. 3 is the structural representation of satellite navigation monitoring system one embodiment of the invention based on LAAS and WAAS, as shown in figure 3, the system of the present embodiment includes：LAAS receivers 11, WAAS receivers 12, satellite navigation monitoring device 13 and airborne user's set 14.Wherein, LAAS receivers 11 receive navigation satellite signal；WAAS receivers 12 receive WAAS signal.Satellite navigation monitoring device 13 includes signal acquisition module 131, corrected value acquisition module 132, estimation corrected error value acquisition module 133 and sending module 134. 

Specifically, signal acquisition module 131 is used for the navigation satellite signal and WAAS signal for obtaining each receiver respectively；Corrected value acquisition module 132 is used for according to navigation satellite signal and WAAS signal, and the local pseudo-range corrections value and wide area pseudo-range corrections value of every position location satellite are obtained respectively；Estimate that corrected error value acquisition module 133 is used for the local pseudo-range corrections value and wide area pseudo-range corrections value according to each position location satellite, the estimation waas correction error amount of each position location satellite is obtained respectively；Sending module 134, which is used to carry the estimation waas correction error amount of each position location satellite, broadcasts in local navigational parameter to airborne user's set, so that airborne user's set judges the availability of Satellite Navigation Set according to the local navigational parameter received. 

The satellite navigation system based on LAAS and WAAS of the present embodiment can be used for the technical scheme for performing embodiment of the method shown in Fig. 1, and its realization principle is similar, and here is omitted. 

In the present embodiment, navigation satellite signal is received by LAAS receivers, WAAS receivers receive WAAS signal, satellite navigation monitoring device is respectively according to the navigation satellite signal and WAAS signal of each receiver of acquisition, the local pseudo-range corrections value and wide area pseudo-range corrections value of each position location satellite are obtained respectively, and according to the local pseudo-range corrections value and wide area pseudo-range corrections value, the estimation waas correction error amount of every position location satellite is obtained respectively；And broadcasting the wide area error correction value carrying of each position location satellite to airborne user's set in local navigational parameter, so that airborne user's set judges the availability of Satellite Navigation Set according to the local navigational parameter received.Because the Satellite Navigation Set receives navigation satellite signal and WAAS signal simultaneously, so as to improve the estimated accuracy of estimation waas correction error amount, and then the monitoring range of Satellite Navigation Set is expanded, and effectively raise the defensive ability/resistance ability to ionospheric storm. 

Fig. 4 for satellite navigation monitoring system another embodiment of the present invention based on LAAS and WAAS structural representation, as shown in Figure 4, on the basis of above-described embodiment, corrected value acquisition module 132 includes distance acquiring unit 1321, smoothing processing unit 1322, local pseudo-range corrections value acquiring unit 1323 and wide area pseudo-range corrections value acquiring unit 1324. 

Specifically, distance acquiring unit 1321 is used for the distance for obtaining the corresponding position location satellite of receiver respectively

Smoothing processing unit 1322 is used for according to navigation satellite signal, and the corresponding local Pseudo-range Observations of each position location satellite and local carrier observations are obtained respectively；And apply formula

Obtain every position location satellite it is smooth after local Pseudo-range Observations

Local pseudo-range corrections value acquiring unit 1323 is used for according to distance

It is corresponding with position location satellite it is smooth after local Pseudo-range Observations

Using formula

The local pseudo-range corrections value of each position location satellite is obtained respectively

Wide area pseudo-range corrections value acquiring unit 1324 is used to, according to the long-term clock correction value of wide area, wide area tropospheric correction value, wide area ionosphere corrections value and the quick error correction value of wide area obtained from WAAS signal, the wide area pseudo-range corrections value of each position location satellite is obtained respectively

Meanwhile, estimation corrected error value acquisition module 133 is used for the local pseudo-range corrections value according to every position location satellite

With wide area pseudo-range corrections value

Using formula

The estimation waas correction error amount of each position location satellite is obtained respectively

Further, airborne user's set 14 includes：Ground monitoring protected level acquisition module 141 and comparison module 142.Wherein, ground monitoring protected level acquisition module 141 is used to, according to local navigational parameter, obtain ground monitoring protected level；Comparison module 142 is used to ground monitoring protected level being compared with default alarming threshold, acquisition comparative result, and judges according to comparative result the availability of Satellite Navigation Set. 

Further, ground monitoring protected level acquisition module 141 includes Satellite Navigation Set protected level acquiring unit 1411, Satellite Navigation Set ephemeris protected level acquiring unit 1412 and ground monitoring protected level acquiring unit 1413.Wherein, Satellite Navigation Set protected level acquiring unit 1411 is according to local navigational parameter, and uses formula

With

The vertical protected level VPL of Satellite Navigation Set is obtained respectively_WLSWith the lateral protected level LPL of Satellite Navigation Set_WLS；Satellite Navigation Set ephemeris protected level acquiring unit 1412 uses formula according to local navigational parameter $\left\{\begin{array}{c}{\mathrm{VEB}}_j=\left|S_v\left(j\right)\right|{\mathrm{\χ}}_{\mathrm{air}}{P}_j+K_{\mathrm{md}\_e}\sqrt{\underset{i=1}{\overset{M}{\mathrm{\Σ}}}{S}_v{\left(j\right)}^2{\mathrm{\σ}}_{\mathrm{tot}}^2\left(j\right)}\\ {\mathrm{VEB}}_j=\left|S_L\left(j\right)\right|{\mathrm{\χ}}_{\mathrm{air}}{P}_j+K_{\mathrm{md}\_e}\sqrt{\underset{i=1}{\overset{M}{\mathrm{\Σ}}}{S}_L{\left(j\right)}^2{\mathrm{\σ}}_{\mathrm{tot}}^2\left(j\right)}\end{array}\right.,$ Obtain the vertical ephemeris protected level VEB of every position location satellite_jWith the lateral ephemeris protected level LEB for obtaining every position location satellite_j；And the lateral ephemeris protected level maximum of the maximum in the vertical ephemeris protected level of position location satellite and position location satellite is chosen respectively as the vertical ephemeris protected level VEB of aeronautical satellite strengthening system and the lateral ephemeris protected level LEB of aeronautical satellite strengthening system；Ground monitoring protected level acquiring unit 1413 is used for the vertical protected level VPL according to Satellite Navigation Set_WLS, Satellite Navigation Set lateral protected level LPL_WLS, aeronautical satellite strengthening system vertical ephemeris protected level VEB and the lateral ephemeris protected level LEB of aeronautical satellite strengthening system, and using formula VPL=max (VPL_WLS, VEB) and LPL=max (LPL_WLS, LEB), obtain monitoring and protecting level VPL perpendicular to the ground and lateral ground monitoring and protecting level LPL. 

The aeronautical satellite monitoring system based on LAAS and WAAS of the present embodiment can be used for the technical scheme for performing embodiment of the method shown in Fig. 2, and its realization principle is similar, and here is omitted. 

In the present embodiment, navigation satellite signal is received from least one LASS systems position location satellite by LAAS receivers, WAAS receivers receive WAAS signal from least one WASS systems position location satellite, satellite navigation monitoring device is respectively according to the navigation satellite signal and WAAS signal of each receiver of acquisition, the local pseudo-range corrections value and wide area pseudo-range corrections value of every position location satellite are obtained respectively, and according to the local pseudo-range corrections value and wide area pseudo-range corrections value, the estimation waas correction error amount of every position location satellite is obtained respectively；And broadcasting the wide area error correction value carrying of each position location satellite to airborne user's set in local navigational parameter; so that airborne user's set is according to the local navigational parameter received; obtain ground monitoring protected level; and ground monitoring and protecting level and default alarming threshold are compared, to judge the availability of Satellite Navigation Set according to comparative result.Because the local navigational parameter includes estimation waas correction error amount, the wide area error correction value includes accurately monitoring ionospheric storm, so as to improve the estimated accuracy of estimation waas correction error amount, and then the monitoring range of Satellite Navigation Set is expanded, and effectively raise the defensive ability/resistance ability to ionospheric storm. 

One of ordinary skill in the art will appreciate that：Realizing all or part of step of above method embodiment can be completed by the related hardware of programmed instruction, and foregoing program can be stored in a computer read/write memory medium, and the program upon execution, performs the step of including above method embodiment；And foregoing storage medium includes：ROM, RAM, magnetic disc or CD etc. are various can be with the medium of store program codes. 

Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although the present invention is described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：It can still modify to the technical scheme described in foregoing embodiments, or carry out equivalent to which part technical characteristic；And these modifications or replacement, the essence of appropriate technical solution is departed from the spirit and scope of various embodiments of the present invention technical scheme. 

Claims (10)

1. a kind of satellite navigation monitoring method based on LAAS and WAAS, it is characterised in that including：

LAAS receivers receive navigation satellite signal, and WAAS receivers receive WAAS signal；

Satellite navigation monitoring device obtains the navigation satellite signal and WAAS signal that each receiver is received respectively；

The satellite navigation monitoring device obtains the local pseudo-range corrections value and wide area pseudo-range corrections value of each position location satellite respectively according to the navigation satellite signal and WAAS signal；

The satellite navigation monitoring device obtains the estimation waas correction error amount of each position location satellite respectively according to the local pseudo-range corrections value and wide area pseudo-range corrections value of each position location satellite；

The estimation waas correction error amount of each position location satellite is carried and broadcast in local navigational parameter to airborne user's set by the satellite navigation monitoring device, so that the airborne user's set judges the availability of Satellite Navigation Set according to the local navigational parameter received.

2. the satellite navigation monitoring method according to claim 1 based on LAAS and WAAS, it is characterized in that, the satellite navigation monitoring device obtains the local pseudo-range corrections value and wide area pseudo-range corrections value of each position location satellite respectively according to the navigation satellite signal and WAAS signal, including：

The distance of the receiver and corresponding position location satellite is obtained respectively

According to the navigation satellite signal, the local Pseudo-range Observations and local carrier observations of each position location satellite are obtained respectively；And apply formulaObtain respectively each position location satellite it is smooth after local Pseudo-range Observations

Wherein, k represents epoch；

N_sRepresent sampled point number；τ_sRepresent time constant filter, T_sRepresent the measurement interval of local Pseudo-range Observations；

Local Pseudo-range Observations are represented,Represent local carrier observations；

M represents receiver number, 1≤i≤M； 

N represents position location satellite number, 1≤j≤N；

According to the distanceIt is corresponding with the position location satellite it is smooth after local Pseudo-range Observations

Using formula

The local pseudo-range corrections value of each position location satellite is obtained respectively

According to the long-term clock correction value of the wide area obtained from the WAAS signal, wide area tropospheric correction value, wide area ionosphere corrections value and the quick error correction value of wide area, the wide area pseudo-range corrections value of each position location satellite is obtained respectively

3. the satellite navigation monitoring method according to claim 2 based on LAAS and WAAS, it is characterized in that, the satellite navigation monitoring device is according to the local pseudo-range corrections value and wide area pseudo-range corrections value of each position location satellite, the estimation waas correction error amount of each position location satellite is obtained respectively, including：

According to the local pseudo-range corrections value of the position location satelliteWith wide area pseudo-range corrections value

Using formula

The estimation waas correction error amount of each position location satellite is obtained respectively

Wherein, M represents receiver number, 1≤i≤M；

N represents position location satellite number, 1≤j≤N.

4. the satellite navigation monitoring method according to claim 3 based on LAAS and WAAS, it is characterised in that the airborne user's set judges the availability of Satellite Navigation Set according to the local navigational parameter received, including：

According to the local navigational parameter, ground monitoring protected level is obtained；

The ground monitoring protected level and default alarming threshold are compared, comparative result is obtained, and judge according to the comparative result availability of the Satellite Navigation Set.

5. the satellite navigation monitoring method according to claim 4 based on LAAS and WAAS, it is characterised in that according to the local navigational parameter, obtains ground monitoring protected level, including：

According to the local navigational parameter, and use formula

With

The vertical protected level VPL of the Satellite Navigation Set is obtained respectively_WLSWith the lateral protected level LPL of Satellite Navigation Set_WLS；

According to the local navigational parameter, and use formula

Obtain the vertical ephemeris protected level VEB of each position location satellite_jWith the lateral ephemeris protected level LEB of each position location satellite_j；And using the maximum and the maximum of the lateral ephemeris protected level of position location satellite in the vertical ephemeris protected level of the position location satellite of selection as the vertical ephemeris protected level VEB of aeronautical satellite strengthening system and the lateral ephemeris protected level LEB of aeronautical satellite strengthening system；

According to the vertical protected level VPL of the Satellite Navigation Set_WLS, Satellite Navigation Set lateral protected level LPL_WLS, aeronautical satellite strengthening system vertical ephemeris protected level VEB and the lateral ephemeris protected level LEB of aeronautical satellite strengthening system, and using formula VPL=max (VPL_WLS, VEB) and LPL=max (LPL_WLS, LEB), obtain monitoring and protecting level VPL perpendicular to the ground and lateral ground monitoring and protecting level LPL；

Wherein, K is dilution of precision；

M represents receiver number, 1≤i≤M；

N represents position location satellite number, 1≤j≤N；

S_v(j) transition matrix from pseudo- local to locator field is represented；

S_L(j)=S_y(j), wherein, S_y(j) the jth column element with y directional correlations in s-matrix is represented；

S_z(j)、S_xAnd S (j)_y(j) the jth column element with z directions, x directions and y directional correlations in s-matrix is represented respectively；

σ_tot(j) it is directed to total standard deviation that jth position location satellite is calculated for user；

For the average value of the estimation waas correction error amount of M receiver；

χ_airFor the distance between airborne user's set and terrestrial reference station, unit is rice；

P_jFor ephemeris relevant parameter；

K_{md_e}The false dismissal probability coefficient corresponding to integrity value-at-risk when being broken down for single position location satellite.

6. a kind of satellite navigation monitoring system based on LAAS and WAAS, it is characterised in that including LAAS receivers, WAAS receivers, satellite navigation monitoring device and airborne user's set, wherein,

The LAAS receivers are used to receive navigation satellite signal, and the WAAS receivers are used to receive WAAS signal；

The satellite navigation monitoring device includes：

Signal acquisition module, for obtaining navigation satellite signal and WAAS signal that each receiver is received respectively；

Corrected value acquisition module, for according to the navigation satellite signal and WAAS signal, the local pseudo-range corrections value and wide area pseudo-range corrections value of each position location satellite to be obtained respectively；

Estimate corrected error value acquisition module, for the local pseudo-range corrections value according to each position location satellite and wide area pseudo-range corrections value, the estimation waas correction error amount of each position location satellite is obtained respectively；

Sending module, broadcast for the estimation waas correction error amount of each position location satellite to be carried in local navigational parameter to the airborne user's set, so that the airborne user's set judges the availability of Satellite Navigation Set according to the local navigational parameter received.

7. the satellite navigation monitoring system according to claim 6 based on LAAS and WAAS, it is characterised in that the corrected value acquisition module includes：

Distance acquiring unit, the distance for obtaining the corresponding position location satellite of the receiver respectively

Smoothing processing unit, for according to the navigation satellite signal, obtaining the corresponding local Pseudo-range Observations of each position location satellite and local carrier observations respectively；And apply formulaObtain respectively each position location satellite it is smooth after local Pseudo-range Observations

Wherein, k represents epoch；

N_sRepresent sampled point number；τ_sRepresent time constant filter, T_sRepresent the measurement interval of local Pseudo-range Observations；

Local Pseudo-range Observations are represented,Represent local carrier observations； 

M represents receiver number, 1≤i≤M；

N represents position location satellite number, 1≤j≤N；

Local pseudo-range corrections value acquiring unit, for according to the distance

It is corresponding with the position location satellite it is smooth after local Pseudo-range ObservationsUsing formula

The local pseudo-range corrections value of each position location satellite is obtained respectively

Wide area pseudo-range corrections value acquiring unit, for according to the long-term clock correction value of wide area, wide area tropospheric correction value, wide area ionosphere corrections value and the quick error correction value of wide area obtained from the WAAS signal, the wide area pseudo-range corrections value of each position location satellite to be obtained respectively

8. the satellite navigation monitoring system according to claim 7 based on LAAS and WAAS, it is characterised in that the estimation corrected error value acquisition module is used for the local pseudo-range corrections value according to each position location satellite

With wide area pseudo-range corrections value

Using formula

The estimation waas correction error amount of each position location satellite is obtained respectively

Wherein, M represents receiver number, 1≤i≤M；

N represents position location satellite number, 1≤j≤N.

9. the satellite navigation monitoring system according to claim 8 based on LAAS and WAAS, it is characterised in that the airborne user's set includes：

Ground monitoring protected level acquisition module, for according to the local navigational parameter, obtaining ground monitoring protected level；

Comparison module, for the ground monitoring protected level and default alarming threshold to be compared, obtains comparative result, and judge according to the comparative result availability of the Satellite Navigation Set.

10. the satellite navigation monitoring system according to claim 9 based on LAAS and WAAS, it is characterised in that the ground monitoring protected level acquisition module includes：

Satellite Navigation Set protected level acquiring unit, for according to the local navigational parameter, and uses formula

WithThe vertical protected level VPL of the Satellite Navigation Set is obtained respectively_WLSWith the lateral protected level LPL of Satellite Navigation Set_WLS； 

Satellite Navigation Set ephemeris protected level acquiring unit, for according to the local navigational parameter, and uses formula

Obtain the vertical ephemeris protected level VEB of each position location satellite_jWith the lateral ephemeris protected level LEB of each position location satellite_j；And using the maximum and the maximum of the lateral ephemeris protected level of position location satellite in the vertical ephemeris protected level of the position location satellite of selection as the vertical ephemeris protected level VEB of aeronautical satellite strengthening system and the lateral ephemeris protected level LEB of aeronautical satellite strengthening system；

Ground monitoring protected level acquiring unit, for the vertical protected level VPL according to the Satellite Navigation Set_WLS, Satellite Navigation Set lateral protected level LPL_WLS, aeronautical satellite strengthening system vertical ephemeris protected level VEB and the lateral ephemeris protected level LEB of aeronautical satellite strengthening system, and using formula VPL=max (VPL_WLS, VEB) and LPL=max (LPL_WLS, LEB), obtain monitoring and protecting level VPL perpendicular to the ground and lateral ground monitoring and protecting level LPL；

Wherein, K is dilution of precision；

M represents receiver number, 1≤i≤M；

N represents position location satellite number, 1≤j≤N；

S_v(j) transition matrix from pseudo- local to locator field is represented；

S_L(j)=S_y(j), wherein, S_y(j) the jth column element with y directional correlations in s-matrix is represented；

S_z(j)、S_xAnd S (j)_y(j) the jth column element with z directions, x directions and y directional correlations in s-matrix is represented respectively；

σ_tot(j) it is directed to total standard deviation that jth position location satellite is calculated for user；

For the average value of the estimation waas correction error amount of M receiver；

χ_airFor the distance between airborne user's set and terrestrial reference station, unit is rice；

P_jFor ephemeris relevant parameter；

K_{md_e}The false dismissal probability coefficient corresponding to integrity value-at-risk when being broken down for single position location satellite. 

Images