CN111371516B - Method and device for monitoring performance of remote receiving station of distributed positioning system - Google Patents
Method and device for monitoring performance of remote receiving station of distributed positioning system Download PDFInfo
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Abstract
The invention discloses a performance monitoring method for a remote receiving station of a distributed positioning system, which is characterized in that a reference station with an accurately known position is additionally arranged according to the specific layout of the remote receiving station of the distributed positioning system, and different remote receiving station combinations are selected and set; calculating a corresponding reference station positioning error according to the known time measurement error of the distributed positioning system and the GDOP determined by different combinations of the reference station and the remote receiving station; the distributed positioning system positions the reference station by receiving the reference signal transmitted by the reference station, performs hypothesis test on the positioning error and judges whether the performance of the remote receiving station is normal. The invention also provides a performance monitoring device for the remote receiving station of the distributed positioning system; the invention can realize the on-line monitoring of the performance of the remote receiving station of the distributed positioning system, ensure that the distributed positioning system in actual operation is not in a performance degradation working state, and ensure that the positioning system meets the high-performance positioning requirement.
Description
Technical Field
The invention relates to the technical field of communication, in particular to a method and a device for monitoring performance of a remote receiving station of a distributed positioning system.
Background
The distributed positioning system receives signals transmitted by a target by utilizing remote receiving stations distributed at different positions, and realizes the positioning of the target according to different positioning principles by measuring the time of the target signals reaching each receiving station. The multi-point positioning system is a typical distributed positioning system, and the system realizes the positioning of the target by measuring the time difference of the target signal reaching each remote station and adopting a time difference positioning principle. Therefore, the performance of the remote receiving station of the distributed positioning system for detecting the target signal and measuring the arrival time directly determines the positioning performance of the system.
In the distributed positioning system in practical application, for the target positioning of a common small and medium-sized airport, the number of remote receiving stations can reach two to thirty; for large airports or airport target positioning with complex geographic environment, the number of the remote receiving stations is as high as four, fifty or even more. The remote receiving stations of the distributed positioning system are distributed at different positions in a certain area so as to realize complete coverage of a monitoring area and effective positioning of a target. The remote receiving stations of the distributed positioning system with scattered positions and a large number of remote receiving stations are possibly influenced by some unknown factors, so that the positioning performance of the system is reduced and is difficult to find or investigate.
For example, a high-power mobile communication base station exists near a certain remote receiving station, or a high-voltage power transmission line exists, and the detection rate of the receiving station to a target signal is reduced due to strong electromagnetic interference; for example, an environment control system of an outdoor unit of a remote receiving station is abnormal, the frequency of a crystal oscillator is drifted due to the abnormal working temperature, or the accuracy of a clock is reduced due to the aging of the crystal oscillator, so that the receiving station cannot accurately measure the arrival time of a target signal. In such cases and other unknown cases, the distributed positioning system can still work, but the performance of the remote receiving station is reduced, which leads to a large error or even an error in the target positioning result. Because the real position of the target is unknown, whether the performance of the remote receiving station of the distributed positioning system in operation is normal or not can not be directly judged according to the target positioning result, so that how to monitor the performance of the remote receiving station of the distributed positioning system to ensure that the performance degradation of the distributed positioning system in actual operation does not occur is an important problem to be solved by the distributed positioning technology.
In view of the above, the present invention is particularly proposed.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a method and a device for monitoring the performance of a remote receiving station of a distributed positioning system, which are used for monitoring the performance of the remote receiving station of the running distributed positioning system, finding out the possible performance degradation of the positioning system in time and ensuring the positioning performance requirement of the positioning system.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a performance monitoring method for a remote receiving station of a distributed positioning system comprises the following steps:
s1, determining a common visual position in a geometric area formed by remote receiving stations according to the specific layout of the remote receiving stations of the distributed positioning system to set a reference station;
s2, selecting and setting a remote receiving station combination; calculating a corresponding reference station positioning error according to a known time measurement error of the distributed positioning system and a GDOP (global positioning operational unit) determined by a combination of a reference station and each remote receiving station;
s3, a remote receiving station of the distributed positioning system receives a reference signal periodically transmitted by a reference station, measures the arrival time of the signal, and sends the arrival time of the signal and identification information of the reference station to a central processing station of the distributed positioning system;
s4, after the central processing station receives the signal sent by the far-end receiving station and judges that the signal is a reference signal rather than a target signal, the central processing station combines the reference signal and the target signal according to a set far-end receiving station and calculates the position of the reference station according to the signal arrival time measured by the far-end receiving station;
s5, the central processing station performs positioning error hypothesis test on each set remote receiving station combination; and judging the working performance of the remote receiving station according to the detection result.
Further, in the performance monitoring method for the remote receiving stations of the distributed positioning system, in step s1, if the remote receiving stations do not have a common visual position, the remote receiving stations are divided into subsets, for each subset of the remote receiving stations, the common visual position in a geometric area formed by the remote receiving stations of the subset is searched, and a reference station is set.
Further, in the method for monitoring performance of a remote receiving station of a distributed positioning system, in step s2, the method includes:
s21, when the combination of the remote receiving stations is selected and set, selecting and setting different combinations of the remote receiving stations which are visible together with the reference station according to the minimum number of the receiving stations required by the distributed positioning system for positioning the target or the minimum number of the receiving stations which are set by the system for positioning the target;
s22, for each remote receiving station combination, calculating a corresponding reference station positioning error according to a known remote receiving station time measurement error and a GDOP determined by a position relation between a reference station and the remote receiving station.
Further, in the method for monitoring performance of a remote receiving station of a distributed positioning system, in step s22, the method includes:
mean square error (sigma) of arrival time of target signal from remote receiving station in known distributed positioning system*)2And corresponding mean square distance measurement error (c σ)*)2(ii) a GDOP is used for measuring the target signal arrival time measurement error sigma under the geometric position relation between the target and the remote receiving station of the distributed positioning system*For target positioning error sigmaPThe factors of the generated influence have the relationship:
σP＝GDOP×(cσ*) Where c is the signal propagation speed;
calculating the variance of the positioning error of the corresponding remote receiving station combination to the reference station
Further, in the method for monitoring performance of a remote receiving station of a distributed positioning system, in step s3, the method includes:
s31, the reference station periodically transmits a preset number of reference signals to a remote receiving station of the distributed positioning system according to a preset time interval, wherein the reference signals comprise identification information of the reference station;
and S32, the remote receiving station of the distributed positioning system receives the reference signal transmitted by the reference station, measures the arrival time of the signal, and sends the arrival time of the signal and the identification information of the reference station to the central processing station of the distributed positioning system.
Further, in the method for monitoring performance of a remote receiving station of a distributed positioning system, in step s4, the method includes:
a central processing station of the distributed positioning system receives signals sent by remote receiving stations, after the signals are judged as reference signals, for each remote receiving station combination according to the arrival time of the signals measured by the remote receiving stations, the position of the reference station is calculated according to the received n (n is a positive integer) reference signals, and the sample variance s of the positioning error of the remote receiving station combination to the reference station is calculated2。
Further, in the method for monitoring performance of a remote receiving station of a distributed positioning system, in step s5, the method includes:
s51, for each set remote receiving station combination, carrying out corresponding reference station positioning error hypothesis test:
obeying the positioning result of a certain receiving station combination to a reference station
The distribution of the water content is carried out,
combining error variances for the reference station locations for the known receiving stations;
setting the significance level as alpha, the variance σ of the reference station positioning error for each remote receiving station combination2Performing hypothesis testing:
if H is0If true, the performance of the remote receiving station in the combination is judged to be normal; otherwise, the remote receiving station in the combination is judged to have abnormal performance. Constructing test statistics:
where n is the number of samples, i.e. the number of times the reference station is located by the remote receiving station combination, s2The sample variance, i.e., the error variance of the reference station for n position fixes of the remote receiving station combination. The rejection area of the above test problem is:
s52, judging the working performance of the remote receiving station according to the detection result.
In a second aspect, the present invention further provides a performance monitoring device for a remote receiving station of a distributed positioning system, which implements the method described above, and includes a reference signal transmitting device, a receiving device, and a monitoring device; the three are sequentially connected in communication.
Further, in the performance monitoring apparatus for a remote receiving station of a distributed positioning system, the reference signal transmitting apparatus includes a reference signal encoder, a transmission controller, a modulator, and a first transmitter;
the reference signal encoder: the device is used for encoding the reference station identification codes according to a preset format;
the transmission controller: the device is used for controlling the transmission interval, the transmission period and the transmission number of the reference signals;
the modulator is: the reference coding signal is used for modulating the reference coding signal generated by the reference signal coder to generate a modulated reference signal;
the first transmitter: for transmitting a modulated reference signal carrying reference station identification information generated by a modulator to receiving means;
the receiving device comprises a first receiver, a first demodulator, a signal arrival time measuring module, a monitoring signal encoder and a second transmitter:
a first receiver: the reference signal transmitting device is used for transmitting a reference signal to a reference station;
a first demodulator: for demodulating a modulated reference signal received by a first receiver;
a signal arrival time measurement module: for measuring the time of arrival of the reference signal at the receiving device.
A monitoring signal encoder: and the device is used for coding the reference station identification code and the measured time of the reference signal reaching the receiving device according to a certain format to form a monitoring coded signal. The specific encoding format is selected according to the requirements of the actual distributed positioning system.
A second transmitter: and the monitoring coding signal is used for sending the monitoring coding signal carrying the identification information of the reference station and the time information of the reference signal reaching the receiving device to the monitoring device.
Further, in the performance monitoring device for the remote receiving station of the distributed positioning system, the monitoring device includes a second receiver, a monitoring signal decoder, a remote receiving station combination and parameter setting module, a position resolving module, a performance detecting module, and an alarm display module:
a second receiver: the monitoring coding signal is used for receiving monitoring coding signals which are sent by a receiving device and carry identification information of a reference station and time information of the reference signals arriving at the receiving device;
the monitor signal decoder: the device is used for decoding the monitoring coding signal to obtain a reference station identification code and the time of the reference signal reaching the receiving device;
the remote receiving station combination and parameter setting module: the system is used for selecting and setting different remote station combinations and related parameters according to rules according to the specific layout of the remote receiving stations of the distributed positioning system and the setting of the reference station;
a position calculating module: according to the time of the reference signal sent by the reference station reaching different remote receiving stations and the specific remote receiving station combination, the position coordinate of the reference station for transmitting the reference signal is calculated;
a performance detection module: the system is used for detecting the position error of the calculated reference station and judging the performance of the corresponding remote receiving station combination;
the alarm display module: and giving alarm information and specific remote receiving station numbers and positions for the remote receiving station combinations which do not pass the performance detection.
The invention has the beneficial effects that:
the method of the invention periodically sends a certain amount of reference signals according to a certain time interval through a reference station with accurately known position, a remote receiving station of the distributed positioning system receives the reference signals sent by the reference station, the arrival time of the signals is measured and sent to a central processing station, and then the processes of positioning and positioning error hypothesis testing of the reference station are repeated, the performance of the remote receiving station of the running distributed positioning system is monitored, the possible performance degradation of the positioning system is discovered in time, and the positioning performance requirement of the positioning system is ensured. The remote receiving stations of the distributed positioning system are dispersed in position and are numerous, and the remote receiving stations are possibly influenced by some unknown environmental factors in actual work, so that the performance of the remote receiving stations of the distributed positioning system is reduced and difficult to find or investigate although the remote receiving stations are in a working state, and therefore the method is applied to the performance monitoring device of the remote receiving stations of the distributed positioning system, and is beneficial to realizing the performance monitoring of the remote receiving stations of the distributed positioning system. The invention also provides a performance monitoring device for the remote receiving station of the distributed positioning system for implementing the method.
Drawings
In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
FIG. 1 is a diagram illustrating remote receiving station distribution and remote receiving station combination selection in a distributed positioning system according to an embodiment of the present invention;
FIG. 2 is a flow chart of an embodiment of a method for monitoring performance of a remote receiving station of a distributed positioning system according to the present invention;
FIG. 3 is a logic diagram of an exemplary embodiment of a reference signal transmitter in a remote receiver station performance monitoring apparatus of a distributed positioning system;
FIG. 4 is a logic diagram of a receiver in an embodiment of a device for monitoring performance of remote receiving stations of a distributed positioning system according to the present invention;
FIG. 5 is a logic diagram of an embodiment of a monitoring device in a remote receiver station performance monitoring device of a distributed positioning system in accordance with the present invention;
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.
It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the invention pertains.
Example 1
A distributed positioning system far-end receiving station performance monitoring method, according to the specific layout of the distributed positioning system far-end receiving station, add the accurate known reference station of position, choose and presume different far-end receiving station combinations; calculating a corresponding positioning error of the reference station according to a known time measurement error of the distributed positioning system and a Precision Geometric Dilution of Precision (GDOP) determined by different combinations of the reference station and the remote receiving station; the distributed positioning system positions the reference station by receiving the reference signal transmitted by the reference station, performs hypothesis test on the positioning error and judges whether the performance of the remote receiving station is normal. The invention discloses a performance monitoring method for a remote receiving station of a distributed positioning system, which comprises the following steps:
s1, determining a common visual position in a geometric area formed by remote receiving stations according to the specific layout of the remote receiving stations of the distributed positioning system to set a reference station;
s2, selecting and setting a remote receiving station combination; calculating a corresponding reference station positioning error according to a known time measurement error of the distributed positioning system and a GDOP (global positioning operational unit) determined by a combination of a reference station and each remote receiving station;
s3, a remote receiving station of the distributed positioning system receives a reference signal periodically transmitted by a reference station, measures the arrival time of the signal, and sends the arrival time of the signal and identification information of the reference station to a central processing station of the distributed positioning system;
s4, after the central processing station receives the signal sent by the far-end receiving station and judges that the signal is a reference signal rather than a target signal, the central processing station combines the reference signal and the target signal according to a set far-end receiving station and calculates the position of the reference station according to the signal arrival time measured by the far-end receiving station;
s5, the central processing station performs positioning error hypothesis test on each set remote receiving station combination; and judging the working performance of the remote receiving station according to the detection result.
The method is used for monitoring the performance of the remote receiving station of the distributed positioning system in operation, discovering the possible performance degradation of the positioning system in time and ensuring the positioning performance requirement of the positioning system.
Specifically, the method comprises the following steps:
in step s1, according to the specific layout of the remote receiving stations of the distributed positioning system, determining a common visual position inside a geometric area formed by the remote receiving stations to set a reference station, including:
in this step, a specific embodiment is taken as an example: the multi-point positioning system is provided with 6 remote receiving stations (referred to as receiving stations, the same below), as shown in fig. 1, the remote receiving stations are distributed at different positions, a reference station with a precisely known position is arranged at a common visible position in a geometric area formed by the 6 remote receiving stations, and a method for monitoring the performance of the remote receiving stations of the distributed positioning system is shown in fig. 2.
If the common visual position does not exist in the far-end receiving stations, the far-end receiving stations are divided into subsets, for each subset of the far-end receiving stations, the common visual position located in a geometric area formed by the subset of the far-end receiving stations is searched, and the reference station is set.
And the common visual position in the geometric area formed by the remote receiving stations or the reference stations arranged at the common visual position in the geometric area formed by the remote receiving stations after the remote receiving stations are divided into subsets are used for accurately measuring the positions of the corresponding reference stations and setting the reference station identification codes. The purpose of setting the reference station identification code is to distinguish a reference signal transmitted by a reference station from a target signal transmitted by a target to be positioned by a distributed positioning system, such as an airplane, a vehicle and the like; and secondly, if a plurality of reference stations exist, the plurality of reference stations can be distinguished.
S2, selecting and setting a remote receiving station combination; calculating the positioning error of the corresponding reference station according to the known time measurement error of the distributed positioning system and the GDOP determined by the combination of the reference station and each remote receiving station, wherein the method comprises the following steps:
and S21, when the combination of the remote receiving stations is selected and set, selecting and setting different combinations of the remote receiving stations which are visible together with the reference station according to the minimum number of the receiving stations required by the distributed positioning system for positioning the target or the minimum number of the receiving stations which are set by the system for positioning the target. The selected and set remote receiving station combination has to satisfy that the number of the receiving stations in each combination is the minimum number required for positioning, and satisfies that each remote receiving station in the positioning system at least belongs to a certain receiving station combination.
The above 6 remote receiving stations are also taken as an example. And the central processing station of the distributed positioning system selects and sets the combination of the remote receiving stations according to the specific layout of the remote receiving stations and the setting of the reference station. For example: the minimum number of receiving stations set by the positioning system for positioning targets such as airplanes and vehicles is set to be 4, and the remote receiving station combinations (1,2,4,5) and (1,3,4,6) are selected according to the minimum number of the receiving station combinations. The two receiving station combinations are selected to satisfy the condition that the number of the receiving stations in each combination is the minimum number of 4 required for positioning, and any receiving station in 6 remote receiving stations at least belongs to a certain receiving station combination.
S22, for each remote receiving station combination, calculating a corresponding reference station positioning error according to a known remote receiving station time measurement error and a GDOP determined by a position relation between a reference station and the remote receiving station.
Mean square error (σ) of arrival time of signal at remote receiving station for deterministic distributed positioning system*)2Knowing the corresponding mean square distance measurement error (c σ)*)2Also known, here c is the signal propagation speed. GDOP is used for measuring the target signal arrival time measurement error sigma under the geometric position relation between the target and the remote receiving station of the distributed positioning system*For target positioning error sigmaPThe factors of the generated influence have the relationship:
σP＝GDOP×(cσ*)。
thus, in the above example, for each of the two remote receiver station combinations, the remote receiver station time mean square error (σ) is determined according to the known distributed positioning system*)2(i.e., known mean square distance measurement error (c σ)*)2) And GDOP determined by the position relation between the reference station and the remote receiving station, the variance of the positioning error of the reference station of the corresponding remote receiving station combination can be calculated
For example, the remote receiving station of the distributed positioning system is designed to measure the time of arrival of the signal with a precision of 10 nanoseconds, i.e., 10 × 10-9Second, then the mean square error (σ) of the arrival time of the signal at the remote receiving station*)2100 ns, the signal propagation speed c is 3 × 108M/s, mean square distance measurement error (c σ)*)29 m; since the coordinates of the reference station and the remote receiving station are known, the GDOP determined by the positional relationship between the reference station and the remote receiving station can be calculated, for example, for the combination of the remote receiving stations (1,2,4,5), the GDOP determined by the positional relationship between the reference station and the 4 remote receiving stations is designed to be 1.2; based on the known time mean square error (σ) of the remote receiving station*)2The calculated GDOP determined by the positional relationship of the reference station with respect to the 4 remote stations is determined by σP＝GDOP×(cσ*) Calculating corresponding reference station positioning error variance
S3, a remote receiving station of the distributed positioning system receives a reference signal periodically transmitted by a reference station, measures the arrival time of the signal, and sends the arrival time of the signal and identification information of the reference station to a central processing station of the distributed positioning system; the method comprises the following steps:
s31, the reference station periodically transmits a certain number of reference signals to the remote receiving station of the distributed positioning system according to a certain time interval, and the reference signals contain identification information of the reference station.
In this embodiment, the reference station transmits N reference signals including reference station identification information to the remote receiving station of the distributed positioning system at a period T every N hours according to the set transmission time interval, transmission period, and number of reference signals. For example, every N-12 hours, the reference station transmits N-31 reference signals containing reference station identification information to the remote receiving station of the distributed positioning system with a period T-1 second.
And S32, the remote receiving station of the distributed positioning system receives the reference signal transmitted by the reference station, measures the arrival time of the signal, and sends the arrival time of the signal and the identification information of the reference station to the central processing station of the distributed positioning system.
S4, after the central processing station receives the signals sent by the far-end receiving station and judges that the signals are reference signals transmitted by the reference station but not target signals transmitted by targets such as airplanes, vehicles and the like, the central processing station combines the reference signals according to the set far-end receiving station, the position of the reference station is calculated according to the signal arrival time measured by the far-end receiving station, and the positioning error of the reference station is calculated according to the calculated position of the reference station and the known actual position of the reference station; the method comprises the following steps:
the central processing station of the distributed positioning system receives the signal sent by the far-end receiving station, after the signal is judged as a reference signal, for each far-end receiving station combination according to the signal arrival time measured by the far-end receiving station, the position of the reference station is calculated according to the n received reference signals, and the sample variance s of the positioning error of the far-end receiving station combination to the reference station is calculated2。
For example, for a remote receiving station combination (1,2,4,5), the position of a reference station is obtained by resolving a positioning equation according to the arrival time of a reference signal measured by each remote receiving station and the known position coordinates of the remote receiving station; positioning the reference station according to the received n-31 reference signals, respectively calculating to obtain 31 reference station positioning positions, calculating the error between the 31 reference station positioning positions and the known real position of the reference station, and obtaining a reference station positioning error sample variance s220.25 m.
S5, the central processing station performs positioning error hypothesis test on each set remote receiving station combination; judging the working performance of the remote receiving station according to the inspection result, comprising:
s51, carrying out corresponding reference station positioning error hypothesis test on each set remote receiving station combination.
Obeying the positioning result of a certain receiving station combination to a reference station
Distribution, wherein is known
The time mean square error of a remote receiving station is measured according to a distributed positioning system; and the error variance of the positioning of the combination of the receiving stations to the reference station, which is calculated by the GDOP determined by the position relation between the reference station and the remote receiving station. The remote receiving station combines a plurality of reference signals transmitted by the reference station to carry out a plurality of times of positioning on the reference station, and carries out hypothesis test on the positioning error variance so as to judge whether the working performance of the remote receiving station in the combination is normal.
Setting the significance level as alpha, the variance σ of the reference station positioning error for each remote receiving station combination2And testing and assuming that:
if H is assumed0If true, the performance of the remote receiving station in the combination is judged to be normal; otherwise, the remote receiving station in the combination is judged to have abnormal performance. According to a mathematical statistics theory, constructing a test statistic:
where n is the number of samples, i.e., the number of times the reference station is located by the remote receiving station combination (each pair of reference stations transmits a reference signal externally, and the remote receiving station combination locates the reference station once), s2The sample variance, i.e., the error variance of the reference station for n (n is a positive integer) times of positioning by the remote receiving station. Rejection region of the above-described test problem (i.e., rejecting hypothesis H)0The value area of the temporal test statistic) is:
for example, assuming a significance level α of 0.05, the reference station positioning error variance σ for the remote receiving station combination (1,2,4,5)2Performing hypothesis testing: is obtained by n-31 and alpha-0.05
From s2＝20.25，
Calculate the value of the test statistic:
due to the fact that
Therefore rejecting hypothesis H0I.e. the remote receiving station combination (1,2,4,5) is considered to be not functioning properly.
S52, judging the working performance of the remote receiving station according to the detection result.
If the performance of the remote receiving station in the combination is judged to be abnormal according to the inspection result, the remote receiving station in the combination is inspected or the remote receiving station in the combination of other receiving stations which do not pass the hypothesis inspection is inspected, and then the remote receiving station of the distributed positioning system with the abnormal performance can be found out, so that the performance monitoring of the remote receiving station of the distributed positioning system is realized.
In this embodiment, if the positioning error variance of the reference station by the two remote station combinations passes the test, the performance of the 6 remote stations in the system is considered to be normal; if the positioning error variance of a certain remote station combination to the reference station is not checked, the performance of the remote station in the group of 4 remote stations is considered to be abnormal, and the remote station needs to be checked; if the variance of the positioning error of the reference station for both sets of remote stations is not verified, then it is considered that there are two sets of 4 remote stations with abnormal performance and that there is a high probability that the remote stations 1, 4 present in both sets will be abnormal in performance, and both should be checked first.
The method monitors the performance of the remote receiving station of the distributed positioning system in operation, can find out the possible performance degradation of the positioning system in time and ensure the positioning performance requirement of the positioning system.
Example 2
In a second aspect, the present invention further provides a device for monitoring performance of a remote receiving station of a distributed positioning system, which is used for implementing the above method of the present invention, and comprises a reference signal transmitting device, a receiving device and a monitoring device;
as shown in fig. 3-5, in conjunction with the flow diagram of fig. 2, wherein:
the reference signal transmitting device forms a complete reference station and comprises a reference signal encoder, a transmitting controller, a modulator and a first transmitter, wherein the reference signal encoder comprises the following parts:
the reference signal encoder: the system is used for encoding the reference station identification codes according to a certain format; selecting a specific coding format according to the requirements of an actual distributed positioning system;
the transmission controller: the reference signal encoder is connected with the base station and is used for controlling the sending interval, the sending period and the sending quantity of the reference signals;
the modulator is: the transmitting controller is connected with the transmitting controller and is used for modulating the reference coding signal generated by the reference signal coder to generate a modulated reference signal; the specific modulation frequency and modulation mode are selected according to the requirements of the actual distributed positioning system.
The first transmitter: and a modulator coupled to transmit the modulated reference signal carrying the reference station identification information generated by the modulator to a receiving device.
The specific process of the reference signal transmitting device participating in the performance monitoring work of the remote receiving station of the distributed positioning system can be referred to step s31 of the method in embodiment 1 of the present invention.
The receiving device forms a relevant working part of a remote receiving station of the distributed positioning system and comprises a first receiver, a first demodulator, a signal arrival time measuring module, a monitoring signal encoder and a second transmitter:
a first receiver: for receiving modulated reference signals carrying reference station identification information transmitted by the reference signal transmitting means.
A first demodulator: for demodulating the modulated reference signal received by the first receiver.
A signal arrival time measurement module: for measuring the time of arrival of the reference signal at the receiving device.
A monitoring signal encoder: and the device is used for coding the reference station identification code and the measured time of the reference signal reaching the receiving device according to a certain format to form a monitoring coded signal. The specific encoding format is selected according to the requirements of the actual distributed positioning system.
A second transmitter: and the monitoring coding signal is used for sending the monitoring coding signal carrying the identification information of the reference station and the time information of the reference signal reaching the receiving device to the monitoring device.
The monitoring device forms a relevant working part of a central processing station of the distributed positioning system and comprises a second receiver, a monitoring signal decoder, a far-end receiving station combination and parameter setting module, a position resolving module, a performance detection module and an alarm display module:
a second receiver: the monitoring coding signal is used for receiving the monitoring coding signal which is sent by the receiving device and carries the identification information of the reference station and the time information of the arrival of the reference signal at the receiving device.
The monitor signal decoder: and the device is used for decoding the monitoring coding signal to obtain the reference station identification code and the time of the reference signal reaching the receiving device.
The remote receiving station combination and parameter setting module: the method is used for selecting and setting different remote station combinations and related parameters according to rules according to the specific layout of the remote receiving stations and the setting of the reference station of the distributed positioning system.
A position calculating module: and according to the time of arrival of the reference signal sent by the reference station at different remote stations and the specific remote station combination, the position coordinate of the reference station transmitting the reference signal is calculated.
A performance detection module: and the remote station combination testing module is used for testing the position error of the calculated reference station and judging the performance of the corresponding remote station combination.
The alarm display module: and giving alarm information and specific remote station numbers and positions for the remote station combinations which do not pass the performance detection.
The device of the present invention can be used to implement the method of the present invention, and therefore, the reference signal transmitting device, the receiving device, and the monitoring device are performed according to the method steps in embodiment 1 of the present invention in the process of performing performance monitoring on the remote receiving station of the distributed positioning system, so that the specific processes of transmitting and receiving signals, performing signal processing, calculating, and the like of the device can refer to the description of embodiment 1 of the present invention, and then, the online monitoring on the performance of the remote receiving station of the distributed positioning system can be realized, and it is ensured that the distributed positioning system in actual operation is not in a performance degradation working state, so that the positioning system meets the high-performance positioning requirement.
It should be noted that the signal arrival time measuring module, the remote receiving station combination and parameter setting module, the position calculating module, the performance detecting module, the alarm display module, and the like in the present invention can be implemented by way of a single chip microcomputer and a software program, but are not limited thereto.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.
Claims (9)
1. A performance monitoring method for a remote receiving station of a distributed positioning system is characterized by comprising the following steps:
s1, determining a common visual position in a geometric area formed by remote receiving stations according to the specific layout of the remote receiving stations of the distributed positioning system to set a reference station;
s2, selecting and setting a remote receiving station combination; calculating a corresponding reference station positioning error according to a known time measurement error of the distributed positioning system and a GDOP (global positioning operational unit) determined by a combination of a reference station and each remote receiving station;
s3, a remote receiving station of the distributed positioning system receives a reference signal periodically transmitted by a reference station, measures the arrival time of the signal, and sends the arrival time of the signal and identification information of the reference station to a central processing station of the distributed positioning system;
s4, after the central processing station receives the signal sent by the far-end receiving station and judges that the signal is a reference signal rather than a target signal, the central processing station combines the reference signal and the target signal according to a set far-end receiving station and calculates the position of the reference station according to the signal arrival time measured by the far-end receiving station;
s5, the central processing station performs positioning error hypothesis test on each set remote receiving station combination; judging the working performance of the remote receiving station according to the detection result;
step S5, the method comprises the following steps:
s51, for each set remote receiving station combination, carrying out corresponding reference station positioning error hypothesis test:
obeying the positioning result of a certain receiving station combination to a reference station
The distribution of the water content is carried out,
combining error variances for the reference station locations for the known receiving stations;
setting the significance level as alpha, the variance σ of the reference station positioning error for each remote receiving station combination2Performing hypothesis testing:
if H is0If true, the performance of the remote receiving station in the combination is judged to be normal; otherwise, judging that the performance of the remote receiving station in the combination is abnormal; constructing test statistics:
where n is the number of samples, i.e. the number of times the reference station is located by the remote receiving station combination, s2The sample variance, i.e. the error variance of the reference station for n times of positioning by the remote receiving station combination; the rejection field of the test question is:
s52, judging the working performance of the remote receiving station according to the detection result.
2. The method for monitoring performance of remote receiving stations in distributed positioning system according to claim 1, wherein in step s1. if there is no common visual position in the remote receiving stations, the remote receiving stations are divided into subsets, and for each subset of remote receiving stations, the common visual position in the geometric area formed by the remote receiving stations in the subset is searched, and the reference station is set.
3. The method for monitoring the performance of the remote receiving station of the distributed positioning system according to claim 1, wherein in the step s2, the method comprises:
s21, when the combination of the remote receiving stations is selected and set, selecting and setting different combinations of the remote receiving stations which are visible together with the reference station according to the minimum number of the receiving stations required by the distributed positioning system for positioning the target or the minimum number of the receiving stations which are set by the system for positioning the target;
s22, for each remote receiving station combination, calculating a corresponding reference station positioning error according to a known remote receiving station time measurement error and a GDOP determined by a position relation between a reference station and the remote receiving station.
4. The method for monitoring the performance of the remote receiving station of the distributed positioning system according to claim 3, wherein in the step S22, the method comprises the following steps:
mean square error (σ) of arrival time of signal from remote receiving station in known distributed positioning system*)2And corresponding mean square distance measurement error (c σ)*)2(ii) a GDOP is used for measuring the target signal arrival time measurement error sigma under the geometric position relation between the target and the remote receiving station of the distributed positioning system*For target positioning error sigmaPThe factors of the generated influence have the relationship:
σP＝GDOP×(cσ*) Where c is the signal propagation speed;
calculating the variance of the positioning error of the corresponding remote receiving station combination to the reference station
5. The method for monitoring the performance of the remote receiving station of the distributed positioning system according to claim 4, wherein in the step S3, the method comprises the following steps:
s31, the reference station periodically transmits a preset number of reference signals to a remote receiving station of the distributed positioning system according to a preset time interval, wherein the reference signals comprise identification information of the reference station;
and S32, the remote receiving station of the distributed positioning system receives the reference signal transmitted by the reference station, measures the arrival time of the signal, and sends the arrival time of the signal and the identification information of the reference station to the central processing station of the distributed positioning system.
6. The method for monitoring the performance of the remote receiving station of the distributed positioning system according to claim 5, wherein in the step S4, the method comprises the following steps:
the central processing station of the distributed positioning system receives the signal sent by the far-end receiving station, after the signal is judged as a reference signal, the central processing station calculates the position of the reference station according to the received n reference signals for each far-end receiving station combination according to the signal arrival time measured by the far-end receiving station, and calculates the positioning error of the far-end receiving station combination to the reference stationSample variance s of2。
7. A performance monitoring device for a remote receiving station of a distributed positioning system for implementing the method of any one of claims 1 to 6, comprising reference signal transmitting means, receiving means and monitoring means; the three are sequentially connected in communication.
8. The distributed positioning system remote receiving station performance monitoring device of claim 7, wherein the reference signal transmitting device comprises a reference signal encoder, a transmission controller, a modulator, a first transmitter;
the reference signal encoder: the device is used for encoding the reference station identification codes according to a preset format;
the transmission controller: the device is used for controlling the transmission interval, the transmission period and the transmission number of the reference signals;
the modulator is: the reference coding signal is used for modulating the reference coding signal generated by the reference signal coder to generate a modulated reference signal;
the first transmitter: for transmitting a modulated reference signal carrying reference station identification information generated by a modulator to receiving means;
the receiving device comprises a first receiver, a first demodulator, a signal arrival time measuring module, a monitoring signal encoder and a second transmitter:
a first receiver: the reference signal transmitting device is used for transmitting a reference signal to a reference station;
a first demodulator: for demodulating a modulated reference signal received by a first receiver;
a signal arrival time measurement module: for measuring the time of arrival of the reference signal at the receiving device;
a monitoring signal encoder: the device comprises a receiving device, a monitoring code device and a processing device, wherein the receiving device is used for receiving a reference signal and a reference station identification code;
a second transmitter: and the monitoring coding signal is used for sending the monitoring coding signal carrying the identification information of the reference station and the time information of the reference signal reaching the receiving device to the monitoring device.
9. The performance monitoring device for the remote receiving station of the distributed positioning system according to claim 8, wherein the monitoring device comprises a second receiver, a monitoring signal decoder, a remote receiving station combination and parameter setting module, a position calculating module, a performance detecting module, and an alarm display module:
a second receiver: the monitoring coding signal is used for receiving monitoring coding signals which are sent by a receiving device and carry identification information of a reference station and time information of the reference signals arriving at the receiving device;
the monitor signal decoder: the device is used for decoding the monitoring coding signal to obtain a reference station identification code and the time of the reference signal reaching the receiving device;
the remote receiving station combination and parameter setting module: the system is used for selecting and setting different remote station combinations and related parameters according to rules according to the specific layout of the remote receiving stations of the distributed positioning system and the setting of the reference station;
a position calculating module: according to the time of the reference signal sent by the reference station reaching different remote receiving stations and the specific remote receiving station combination, the position coordinate of the reference station for transmitting the reference signal is calculated;
a performance detection module: the system is used for detecting the position error of the calculated reference station and judging the performance of the corresponding remote receiving station combination;
the alarm display module: and giving alarm information and specific remote receiving station numbers and positions for the remote receiving station combinations which do not pass the performance detection.
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