CN104898134B - A kind of satellite fix integrity detection means and its algorithm - Google Patents
A kind of satellite fix integrity detection means and its algorithm Download PDFInfo
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- CN104898134B CN104898134B CN201510279460.7A CN201510279460A CN104898134B CN 104898134 B CN104898134 B CN 104898134B CN 201510279460 A CN201510279460 A CN 201510279460A CN 104898134 B CN104898134 B CN 104898134B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
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- Computer Networks & Wireless Communication (AREA)
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- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of satellite fix integrity detection means and its algorithm, it comprises the following steps：The measurement data exported to barometer is handled and cached, and detects it with the presence or absence of mutation, if there is mutation, is then aided in without using height, is directly entered common positioning calculation；Add height auxiliary formula and carry out positioning calculation, after the completion of statistics height auxiliary formula correspond to the size of measured value residual error, and the quadratic sum of all measured value residual errors；Usable satellite number is counted, only when usable satellite number can at least meet location-independent requirement, carries out next step detection；By measured value residual error corresponding to height auxiliary formula, and all measured value residuals sum of squares (RSS), it is compared with corresponding threshold value, completes positioning integrity and judge.By this method, receiver can carry out formedness judgement in the case where height auxiliary information be present to positioning result, so as to play a part of limiting location of mistake output.
Description
Technical field
The present invention relates to GNSS combined orientation technologies are belonged to, it is related to the algorithm of MEMS sensor assisted GNSS navigation, especially
It is related to a kind of satellite fix integrity detection means and its algorithm.
Background technology
GLONASS (GNSS) receiver commercially to circulate at present, can be in most of ground environments
Good locating effect is provided.But when receiver enters (such as forest environment, city in the serious environment of satellite-signal attenuation distortion
Compact district, valley area), the satellite measurement number of receiver synthesis can be reduced, thereby increases and it is possible to bigger error be present, so as to
Cause receiver can not provide positioning result, or the positioning result inaccuracy resolved.In order to ensure receiver in satellite-signal
Remain to possess preferable positioning precision in the case that situation is poor, can in receiver module integrated MEMS sensors, be used for
Auxiliary information is provided to the positioning calculation program of receiver.
Therefore, those skilled in the art can construct and develop a kind of new positioning integrity on this basis
Evaluation algorithm.
The content of the invention
In view of the drawbacks described above of prior art, the present invention designs a kind of satellite fix integrity detection means and its calculation
Method, so that receiver can recognize that the positioning result of mistake and be excluded, so as to provide intact positioning result, lift client
Experience.
In the better embodiment of the present invention, the technical scheme includes：A kind of calculation of satellite fix integrity detection
Method, the algorithm comprise the following steps：
Step 1：The measurement data exported to barometer is handled and cached, and detects it with the presence or absence of being mutated, such as
There is mutation in fruit, then aided in without using height, be directly entered common positioning calculation；
Step 2：Add height auxiliary formula and carry out positioning calculation, after the completion of statistics height auxiliary formula to correspond to measured value residual
The size of difference, the quadratic sum with all measured value residual errors；
Step 3：Usable satellite number is counted, only when usable satellite number can at least meet location-independent requirement
When, carry out next step detection；
Step 4：Will measured value residual error corresponding to height auxiliary formula, and all measured value residuals sum of squares (RSS) are and corresponding
Threshold value is compared, and completes positioning integrity and judges that realization judges that satellite-signal blocks situation.
Further, barometrical measurement data is handled and cached described in step 1, mainly by barometer
The atmospheric pressure value of output is converted to the height value of receiver present position, and is cached.
Further, the measurement data that the detection barometer described in step 1 is exported mainly will with the presence or absence of mutation
It is poor that the measured value of itself and previous measurement epoch is made, and by the difference and a certain threshold value TbIt is compared, if there is mutation, then not
Aided in using height, be directly entered common positioning calculation.
Further, threshold value TbNumerical value choose, can be to steady measured value noise σ corresponding to MEMS barometersbCarry out
Scale up.
Further, the method for the positioning calculation is least square method or other algorithms.
Further, the method for judging satellite-signal and blocking situation described in step 4, it is specific as follows：
If the residual error of height change exceedes certain threshold value, prompt receiver positioning precision poor, not export；
If the residual error of height change is in allowed band, but overall residual sum of squares (RSS) exceedes certain threshold value, then prompting connects
Receipts machine positioning precision is poor, not exports；
If residual error in allowed band, prompts receiver positioning precision good.
A kind of device of satellite fix integrity detection, described device include multimode antenna 102, radio-frequency signal processing module
103rd, digital signal processing module 104, barometer 105, positioning calculation module 106 and the structure of positioning integrity detection module 107
Into the multimode antenna 102 is connected with radio-frequency signal processing module 103, the output end of radio-frequency signal processing module 103 and number
Word signal processing module 104 is connected, and the output end of digital signal processing module 104 is connected with positioning calculation module 106, described
The output end of barometer 105 is connected with positioning calculation module 106, and the output end of barometer 105, positioning calculation module 106 export
End is connected with positioning integrity detection module 107.
Further, multimode antenna, it is responsible for receiving the radiofrequency signal sent from satellite constellation, and passes it to radio frequency
Signal processing module；
Radio-frequency signal processing module, the radiofrequency signal received is converted into digital medium-frequency signal, and delivers to data signal
Processing module；
Digital signal processing module, it is responsible for that intermediate-freuqncy signal is captured and tracked, demodulation obtains measured value and navigation electricity
Text；
Positioning calculation module, it is responsible for handling the information that satellite measurement and odometer export, and is calculated
The Position, Velocity and Time information of present receiving machine；
Barometer, independently of the operation of GNSS receiver, and current pressure information is provided to receiver in real time；
Integrity detection module is positioned, the positioning result and measured value obtained with reference to receiver in settlement process is positioned is residual
The information such as difference, provide the whether good judgement of the positioning result of receiver.
Further, the air pressure is calculated as MEMS barometers.
Further, the multimode antenna receives the radiofrequency signal from multiple GNSS satellite constellations 101.
The present invention designs a kind of satellite fix integrity detection means and its algorithm, and the present invention is in satellite signal receiver mould
Integrated MEMS barometer in block, for providing auxiliary information to the positioning calculation program of receiver, MEMS barometers can be independent
Worked in GNSS receiver module, and export the atmospheric pressure value of present receiving machine position in real time.The value can be converted to reception
Height value where machine, this height value have higher precision, GNSS positioning calculations can be provided in complex environment auxiliary
Help.After the completion of positioning calculation, height aids in formula to provide more reference informations, is advantageous to the good of positioning result
Property judge so that receiver can recognize that mistake positioning result and excluded, so as to provide intact positioning result, lifting
Customer experience.
Design, concrete structure and the caused technique effect of the present invention are described further below with reference to accompanying drawing, with
It is fully understood from the purpose of the present invention, feature and effect.
Brief description of the drawings
Fig. 1 is the schematic diagram of the barometrical GNSS navigation neceivers of integrated MEMS of the present invention；
Fig. 2 is the main-process stream that the present invention positions integrity detection scheme to the GNSS receiver aided in MEMS barometers
Figure.
Embodiment
As shown in figure 1, it is the schematic diagram that a GNSS navigation neceiver for being integrated with MEMS barometer devices realizes positioning.
GNSS receiver receives the radiofrequency signal from multiple GNSS satellite constellations 101 by multimode antenna 102, and in radio frequency processing mould
The digital medium-frequency signal that can be directly handled by digital signal processor is transformed into block 103.Digital signal processing module 104
Digital medium-frequency signal is handled, the signal of each satellite is captured and tracked, navigation message is demodulated and gets
The measurement value information of satellite.The MEMS barometers 105 in GNSS receiver module are integrated in the shape independently of GNSS receiver
State works, and provides current pressure information to receiver in real time.
Positioning calculation module 106 is responsible for handling the pressure information that satellite measurement and barometer export, and counts
Calculation obtains the Position, Velocity and Time information of present receiving machine.The pressure information of barometer output is converted to currently by formula
The height value h of receiverb, the subsidiary value as GNSS receiver location algorithm.Positioning integrity detection module 107 is then tied
The information such as the positioning result that is obtained in settlement process is positioned of receiver and measured value residual error are closed, provide the positioning result of receiver
Whether good judgement.
Fig. 2 describes the flow chart that receiver is detected to the positioning result that this is provided.
First, software register 201 is established inside receiver, to the pressure information meter exported by MEMS barometers 105
Obtained height value hbTime-dividing storage is carried out, and when the height value of new measurement epoch enters register 201, in step 202
It is middle that it is poor with history value (the generally measured value of previous measurement epoch) work, and in step 203 by the difference and a certain threshold
Value TbIt is compared.If newly larger mutation between measured value and historical measurements be present, this barometrical survey is not used
Value carries out height auxiliary to GNSS system, is directly entered common navigation positioning stage 204.TbNumerical value choose, can be pair
Steady measured value noise σ corresponding to MEMS barometersbScaled up, such as 2 σb。
Confirming this air pressure and measured value h that getbIn the case of effective, receiver aids in into MEMS barometers
Positioning calculation program 205, adds the equation of a maximum height limit change in common positioning calculation equation, such as limits
It is 0 that moment inner receiver height change is positioned at two：
△ h=a △ x+b △ y+c △ z=0
So, the height change measured value new as one is used for positioning calculation.It is fixed in the example that the present invention provides
Method is least square method used by position resolves.After the completion of resolving, receiver obtains positioning result and measured value residual error.Its
In, the residual error of respective heights auxiliary formula is △ hb。
The quadratic sum of all measured value residual errors is added, obtains a numerical value wsse.
Obtaining the residual error △ h of height changebAfter residual sum of squares (RSS) wsse, present receiving machine is determined in step 206
GNSS satellite number used in position is counted.Can be only if GNSS satellite number used in receiver positioning can not meet
Halt the condition (such as 4 satellites of single system) of position, be then transferred to step 207, positioning integrity detection can not be carried out.
If step 206 by, respectively in step 208 and step 209 by △ hbWith wsse respectively with it is corresponding
Threshold value is compared.If △ hbMore than corresponding threshold value, then step 210 is gone to, it is believed that current position error is larger, not defeated
Go out.As △ hbWhen in allowed band, all residual sum of squares (RSS) wsse are detected.If when still in allowed band,
Go to step 211, it is believed that positioning is intact.
△hbThreshold value T△h, different locator values can be used in different use environments.When satellite-signal is preferable
Can be with TbEqual or scaled (such as 2*Tb), general receiver position error is referred in compared with complicated applications
Empirical value determines.As for wsse threshold value Twsse, can estimate to obtain by card side, receiver position error can also be used
Empirical value calculate.
Preferred embodiment of the invention described in detail above.It should be appreciated that one of ordinary skill in the art without
Creative work can is needed to make many modifications and variations according to the design of the present invention.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical scheme, all should be in the protection domain being defined in the patent claims.
Claims (2)
1. a kind of algorithm of satellite fix integrity detection, it is characterised in that the algorithm comprises the following steps：
Step 1：The measurement data exported to barometer is handled and cached, and detects it with the presence or absence of mutation, if deposited
It is being mutated, then is being aided in without using height, be directly entered common positioning calculation；
Step 2：Add height auxiliary formula carry out positioning calculation, after the completion of statistics height auxiliary formula correspond to measured value residual error
Size, the quadratic sum with all measured value residual errors；
Step 3：Usable satellite number is counted, only when usable satellite number can at least meet location-independent requirement, entered
Row detects in next step；
Step 4：Height is aided in into measured value residual error corresponding to formula, and all measured value residuals sum of squares (RSS), with corresponding threshold value
It is compared, completes positioning integrity and judge that realization judges that satellite-signal blocks situation；
Barometrical measurement data is handled and cached described in the step 1, it is the atmospheric pressure value for exporting barometer
The height value of receiver present position is converted to, and is cached；
The measurement data that detection barometer described in the step 1 is exported is by itself and previous measurement with the presence or absence of mutation
It is poor that the measured value of epoch is made, and by the difference and a certain threshold value TbIt is compared, if there is mutation, then without using highly auxiliary
Help, be directly entered common positioning calculation；
Threshold value TbNumerical value choose, can be to steady measured value noise σ corresponding to MEMS barometersbScaled up；
The method of the positioning calculation is least square method；
The method for judging satellite-signal and blocking situation described in step 4, it is specific as follows：
If the residual error of height change exceedes certain threshold value, prompt receiver positioning precision poor, not export；
If the residual error of height change is in allowed band, but overall residual sum of squares (RSS) exceedes certain threshold value, then prompts receiver
Positioning precision is poor, not exports；
If residual error in allowed band, prompts receiver positioning precision good.
A kind of 2. device of satellite fix integrity detection, it is characterised in that：Described device includes multimode antenna (102), radio frequency
Signal processing module (103), digital signal processing module (104), barometer (105), positioning calculation module (106) and positioning
Integrity detection module (107) is formed, and the multimode antenna (102) is connected with radio-frequency signal processing module (103), the radio frequency
Signal processing module (103) output end is connected with digital signal processing module (104), the digital signal processing module (104)
Output end is connected with positioning calculation module (106), and barometer (105) output end is connected with positioning calculation module (106), institute
State barometer (105) output end, positioning calculation module (106) output end is connected with positioning integrity detection module (107)；
The multimode antenna (102), it is responsible for receiving the radiofrequency signal sent from satellite constellation, and passes it to radiofrequency signal
Processing module；
The radio-frequency signal processing module (103), is converted to digital medium-frequency signal, and deliver to numeral by the radiofrequency signal received
Signal processing module；
The digital signal processing module (104), it is responsible for that intermediate-freuqncy signal is captured and tracked, demodulation obtains measured value and led
Avionics text；
The positioning calculation module (106), it is responsible for handling the information that satellite measurement and odometer export, and calculates
Obtain the Position, Velocity and Time information of present receiving machine；
The barometer (105), independently of the operation of GNSS receiver, and provide current air pressure to receiver in real time and believe
Breath；
The positioning integrity detection module (107), the positioning result obtained with reference to receiver in settlement process is positioned and survey
The information such as value residual error, provide the whether good judgement of the positioning result of receiver；
The air pressure is calculated as MEMS barometers；
The multimode antenna receives the radiofrequency signal from multiple GNSS satellite constellations (101).
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| CN105510949A (en) * | 2016-01-05 | 2016-04-20 | 中国科学院嘉兴微电子与系统工程中心 | Adaptive positioning device and estimation method based on MEMS barometer auxiliary GNSS receiver |
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| US6847893B1 (en) * | 2003-01-22 | 2005-01-25 | Trimble Navigation, Ltd | Horizontal/vertical exclusion level determination scheme for RAIM fault detection and exclusion implementation |
| CN100419380C (en) * | 2007-01-05 | 2008-09-17 | 北京航空航天大学 | High integral navigation device combined by MIMU/GPS/micromagnetic compass/barometric altimeter |
| EP2648018B1 (en) * | 2012-04-02 | 2014-10-15 | Airbus DS GmbH | An improved RAIM algorithm |
| CN103616700B (en) * | 2013-11-26 | 2016-03-30 | 中国科学院嘉兴微电子与系统工程中心 | The satellite-signal of receiver and the residing environment of receiver assessment blocks the method for situation |
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