KR101503001B1 - System and method for determining fault of gnss using estimated value of baseline length and ground facility antenna of multiple gnss - Google Patents

System and method for determining fault of gnss using estimated value of baseline length and ground facility antenna of multiple gnss Download PDF

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KR101503001B1
KR101503001B1 KR20140010177A KR20140010177A KR101503001B1 KR 101503001 B1 KR101503001 B1 KR 101503001B1 KR 20140010177 A KR20140010177 A KR 20140010177A KR 20140010177 A KR20140010177 A KR 20140010177A KR 101503001 B1 KR101503001 B1 KR 101503001B1
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satellite
antenna
error
navigation system
information
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KR20140010177A
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Korean (ko)
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이영재
성상경
원대희
안종선
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건국대학교 산학협력단
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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
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/09—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing processing capability normally carried out by the receiver
    • 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
    • G01S19/20—Integrity monitoring, fault detection or fault isolation of space segment
    • 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
    • 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
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Security & Cryptography (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The present invention relates to a system and a method for determining a failure in a global positioning system using a ground facility antenna and a baseline length prediction value. The system comprises: an error calculating unit to calculate an error of a distance measurement value (pseudorange) based on a satellite coordinate calculated using satellite information, a satellite clock error correction value, and geometric distance information of a ground facility antenna position coordinate; a clock error estimating unit to select a common visible satellite commonly received with a ground facility of a peripheral global positioning system and to estimate a relative receiver clock error of each base station for the selected satellite; a distance measurement value correcting unit to calculate the distance measurement value that the error is offset by correcting the error of the distance measurement value between the satellite and the ground facility antenna that are received through the error calculating unit; and a failure determining unit to generate test statistics by comparing a baseline vector and a length that are generated using the antenna position coordinate of the ground facility of the peripheral global positioning system and the antenna position coordinate thereof with a baseline distance from the ground facility antenna of the peripheral global positioning system that is predicted using the distance measurement value that the error between the satellite and the ground facility antenna is offset and to determine whether there is a failure in the global positioning system by comparing the generated test statistics with limitation values, thereby improving reliability of failure detection.

Description

TECHNICAL FIELD The present invention relates to a system and a method for determining a failure of a satellite navigation system using a ground facility antenna and a base line length predicted value, and a method thereof. BACKGROUND ART < RTI ID = 0.0 > [0002] < / RTI &

The present invention relates to a system and method for detecting a failure of various information transmitted in a satellite navigation system using precisely measured baseline length information between terrestrial equipment antennas of a plurality of satellite navigation systems, And more particularly, to a technique for estimating a base line between multiple terrestrial equipment antennas using information transmitted from a satellite navigation system and comparing the base line information with actual baseline information to determine a failure.

Regarding the technique using the length of the baseline vector, many have been disclosed and registered in addition to Korean Patent Laid-Open No. 10-2002-0079125 (hereinafter referred to as "precedent document").

The above-mentioned prior art documents a method of measuring the three-dimensional posture of an antibody by receiving signals from four or more satellites using three or more antennas spaced apart from the antibody and calculating a vector between two or more antennas (baseline vector) Characterized in that the number of independent undefined numbers to be searched is reduced by one or more by using the length and the angle between the two or more baseline vectors that are already known in determining the number of undetermined numbers existing in the carrier phase measurement of the satellite signal do.

On the other hand, the Global Navigation Satellite System (GNSS) measures the distance between the navigation system antennas of the ground user from the navigation satellites orbiting the earth on a predetermined orbit, And time.

Although the satellite navigation system is used in various fields including the precedent literature, securing the integrity of the satellite navigation system should be the highest priority in the field where safety must be ensured. Various systems and methods have been developed for this purpose.

Conventional methods of ensuring integrity include Receiver Autonomous Integrity Monitoring (RAIM) and its modification method for checking whether the measured value is abnormal on the user side, systems for performing fault detection by constructing a monitoring system in a certain space And algorithms have been developed.

However, there is a limitation in that the accuracy of the measurement error of the user side is low and the accuracy and reliability of the inspection method is low, and the geographical usability range of the fault detection is narrow in the case of the monitoring system of a certain space.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems and provides a method for improving the reliability of fault detection and mitigating spatial restriction conditions, A system for determining whether a satellite navigation system is malfunctioning (a navigation message, a distance measurement value, a ground facility) by comparing the baseline length with the actual baseline length based on various information transmitted from the satellite navigation system, The present invention has been made in view of the above problems.

In order to accomplish the above object, the present invention provides a failure determination system for a satellite navigation system using a terrestrial facility antenna and a base line length predicted value. The system includes satellite coordinates, a satellite clock error correction value, An error calculation unit for calculating an error of the distance measurement value (pseudo range) based on the geometric distance information of the coordinates; A clock error estimator for selecting a common visible satellite common to the ground facilities of the neighboring satellite navigation system and estimating a relative receiver clock error of each reference station with respect to the selected satellite; A distance measurement value correcting unit for calculating an offset-canceled distance measurement value by correcting the error of the distance measurement value between the satellite and the terrestrial equipment antenna received through the error calculating unit; The satellite navigation system predicted using the distance measurement of the offset between the base line vector and length generated using the antenna position coordinates of the ground equipment of the neighboring satellite navigation system and its own antenna position coordinates and the satellite and terrestrial equipment antennas A failure determination unit for generating a test statistic by comparing the system with a base line distance to a ground equipment antenna and comparing the generated test statistic with a threshold value to determine whether the satellite navigation system is malfunctioning; .

The error calculator receives the satellite information from the satellite navigation system, calculates geometric distance information of the satellite coordinates, satellite clock error correction value, and ground facility antenna position coordinates based on the received satellite information, An error calculation module for calculating an error of a distance measurement value (pseudo range) between the satellite and the ground facility antenna based on the satellite clock error correction value and the geometric distance information of the ground facility antenna position coordinates; A transmission / reception module for transmitting the information calculated through the error calculation module and the information received from the satellite navigation system to the ground facility and receiving the ground facility information from the ground facility; .

The satellite information may also include a navigation message, a distance measurement between the satellite and the terrestrial equipment antenna.

The clock error estimator may further include a common satellite sorting module for sorting the visible satellites commonly received with the ground equipment of the peripheral satellite navigation system to eliminate the clock error of each reference station receiver included in the information transmitted and received with the ground equipment; And a controller for calculating a difference between the satellite coordinates, the satellite clock error correction value and the geometrical distance information of the ground facility antenna position coordinates calculated through the error calculator and the ground facility information received from the ground equipment, A receiver clock error estimation module for estimating a relative receiver clock error by integrating it with the selected satellite through the selection module; And a control unit.

The distance measurement value correcting unit may further include a distance measuring unit that calculates a distance measurement value by subtracting an error of the estimated distance measurement value from the distance measurement value between the satellite and the ground equipment antenna included in the satellite information received through the error calculation unit, And calculating a distance measurement value with the error canceled by correcting the estimated relative receiver time error by differential.

The failure determination unit may further include a base line vector for generating a base line vector and a length by differentialing one of the antenna position coordinates of the ground equipment of the peripheral satellite navigation system constituting the base line information with the antenna position coordinates of the antenna, Generating module; An antenna-satellite vector generation module for generating a terrestrial facility antenna-satellite vector by subtracting the satellite coordinates calculated through the error calculation unit from the ground facility antenna position coordinates of the own and the surrounding satellite navigation system; Ambient satellite navigation system A subtracted angle calculation module that calculates the subtotal angle between the satellites commonly received from the ground equipment and the terrestrial equipment antenna coordinates; Based on the subtracted angle information calculated by the subtracted angle calculation module and the distance measurement value canceled by the distance measurement value correcting unit, a base line for predicting a base line distance from the ground equipment antenna of the peripheral satellite navigation system A distance prediction module; And generating a test statistic by comparing the baseline vector and length generated by the baseline vector and length generation module with a baseline distance predicted by the baseline distance prediction module and comparing the calculated test statistic with a threshold value to determine whether the satellite navigation system is malfunctioning A failure determination module for determining the failure; And a control unit.

In addition, the failure determination module determines whether the generated test statistic exceeds the threshold value. If the generated test statistic exceeds the threshold, the failure determination module receives a failure result in the ground facility constituting another base line in the vicinity, .

The failure determination module determines that the failure of the satellite coordinates is caused by the failure of the navigation message when the failure result is the same as the determination result. If the failure is not the same, the failure determination module determines that the failure is the non-common measurement value failure.

The present invention relates to a method for determining a failure of a satellite navigation system using a terrestrial facility antenna and a baseline length predicted value, the method comprising the steps of (a) calculating satellite coordinates, a satellite clock error correction value, Calculating an error of the distance measurement value (pseudo range) based on the geometric distance information of the position coordinates; (b) selecting a common visible satellite common to the ground equipment of the peripheral satellite navigation system and estimating a relative receiver clock error of each reference station with respect to the selected satellite; (c) calculating an offset-canceled distance measurement value by correcting an error of the distance measurement value between the satellite and the terrestrial equipment antenna received by the distance measurement value correction unit through the error calculation unit; And (d) the fault determination unit calculates the distance between the base line vector and the length generated using the antenna position coordinates of the ground equipment of the peripheral satellite navigation system and the antenna position coordinates thereof, and the offset between the satellite and the ground equipment antenna Generating a test statistic by comparing the predicted base station distance with the ground equipment antenna of the surrounding satellite navigation system and comparing the generated test statistic with a threshold value to determine whether the satellite navigation system is malfunctioning; .

The satellite information may also include a navigation message, a distance measurement between the satellite and the terrestrial equipment antenna.

The step (a) further includes the steps of: (a-1) receiving the satellite information from the satellite navigation system and calculating a satellite coordinate, a satellite clock error correction value, and a geometric Calculating distance information; (a-2) The error of the distance measurement (pseudo range) between the satellite and the ground equipment antenna based on the calculated satellite coordinates, the satellite clock error correction value and the geometrical distance information of the ground facility antenna position coordinates Calculating; And (a-3) the error calculation unit transmits the information calculated through the steps (a-1) to (a-2) and the information received from the satellite navigation system to the ground facility, ; And a control unit.

In addition, the step (b) includes the steps of: (b-1) determining whether the time-difference estimating unit receives the time- Selecting a visible satellite; (b-2) The clock error estimating unit calculates the difference between the satellite coordinates, the satellite clock error correction value, the geographical distance information of the ground facility antenna position coordinates, and the ground facility information received from the ground equipment, differential; And (b-3) estimating a relative receiver clock error by integrating the differential value of the clock error estimator with respect to the selected satellite through the step (b-1). And a control unit.

The step (c) includes the steps of: (c-1) adjusting the distance measurement value to a distance measurement value between the satellite and the terrestrial equipment antenna included in the satellite information received through the step (a) Differential of the error of the phase difference; And (c-2) calculating an offset-canceled distance measurement value by correcting the distance measurement value correction unit by differentialing a relative receiver time offset estimated through the process (b); And a control unit.

The step (d) further includes the steps of (d-1) differential-determining the antenna position coordinates of one of the ground facilities of the peripheral satellite navigation system constituting the baseline information, Generating a baseline vector and a length; (d-2) The failure determination unit generates a ground facility antenna-satellite vector by subtracting the satellite coordinate calculated through the process (a) from the ground facility antenna position coordinates of the own satellite and the surrounding satellite navigation system step; (d-3) calculating a tolerance angle between the terrestrial equipment antenna coordinates and a satellite commonly received in the terrestrial equipments of the peripheral satellite navigation system; (d-4) The failure determining unit determines whether or not the ground equipment of the neighboring satellite navigation system based on the subtracted information calculated through the step (d-3) and the offset measured by the error in the step (c) Predicting a base line distance (Base Line) with the antenna; And (d-5) the failure determination unit generates a test statistic by comparing the baseline vector and length generated through the step (d-1) with the baseline distance predicted through the step (d-4) Determining whether the satellite navigation system is malfunctioning or not, comparing with the threshold; And a control unit.

The step (d-5) further comprises: (d-5-1) determining whether the failure determination unit determines the baseline vector and the length generated through the step (d-1) Generating a test statistic through comparison with distance; (d-5-2) determining whether the test statistic generated by the failure judgment unit exceeds a threshold value; And (d-5-3) if it is determined in step (d-5-2) that the failure determination unit receives a failure result in the ground facility constituting another baseline in the vicinity, Determining a type; And a control unit.

If it is determined in step (d-5-3) that the failure results are the same, the failure determination unit determines that the satellite coordinates are out of order due to the failure of the navigation message. If not, .

According to the present invention, it is possible to improve the integrity of the satellite navigation system by providing the feasibility and failure detection performance of exchanging information between the satellite navigation systems currently installed for research, measurement, navigation, It is effective.

Brief Description of the Drawings Fig. 1 is an overall view conceptually showing a failure determination system of a satellite navigation system using a terrestrial facility antenna and a base line length prediction value according to the present invention. Fig.
FIG. 2 is a diagram illustrating an example of calculating a subtotal angle and a baseline length between a satellite and a terrestrial equipment antenna coordinates commonly received in a terrestrial facility of a peripheral satellite navigation system according to the present invention;
FIG. 3 is a diagram illustrating a case where a satellite coordinate is determined as a failure according to the present invention; FIG.
FIG. 4 illustrates an example of a case where a non-common fault is determined according to the present invention. FIG.
FIG. 5 is an exemplary view showing a state applied to a domestic airline according to the present invention; FIG.
FIG. 6 is a view showing a configuration of a satellite navigation system according to an embodiment of the present invention; FIG. 6 is a diagram showing a configuration of a satellite navigation system according to an embodiment of the present invention; An example of a figure.
FIG. 7 is an overall flowchart of a method for determining a failure of a satellite navigation system using a terrestrial facility antenna and a baseline length predicted value according to the present invention.

Specific features and advantages of the present invention will become more apparent from the following detailed description based on the accompanying drawings. It is to be noted that the detailed description of known functions and constructions related to the present invention is omitted when it is determined that the gist of the present invention may be unnecessarily blurred.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will now be described in detail with reference to the accompanying drawings.

A fault determination system for a satellite navigation system using a terrestrial equipment antenna and a predicted value of a baseline length according to the present invention will be described with reference to FIGS. 1 to 6. FIG.

FIG. 1 is a schematic diagram showing a conceptual view of a failure determination system S of a satellite navigation system using a ground facility antenna and a base line length predicted value according to the present invention. FIG. 2 is a block diagram FIG. 3 is a view illustrating a case where a satellite coordinate is determined as a failure according to an embodiment of the present invention. FIG. 4 FIG. 5 is a view showing a state applied to a domestic airline according to the present invention, and FIG. 6 is a view showing an example of a case where the ground of the satellite navigation system according to the present invention It is possible to integrate information of ground equipment of all satellite navigation systems and a figure composed of dispersed form through one-to-one exchange of mutual facilities. Is an example in which an integrated central processing facility is configured.

As shown in FIG. 1, the failure determination system S of the satellite navigation system using the terrestrial equipment antenna and the baseline length predictive value according to the present invention includes an error calculator 100, a clock error estimator 200, A correction unit 300 and a failure determination unit 400. [

The error calculator 100 calculates the error of the distance measurement value (pseudo range) based on the satellite coordinates, the satellite clock error correction value calculated using the satellite information, and the geometric distance information of the ground facility antenna position coordinates As shown in FIG. 1, includes an error calculation module 110 and a transmission / reception module 120.

Specifically, the error calculation module 110 receives the satellite information from the satellite navigation system 10 and calculates geometric distance information of the satellite coordinates, satellite clock error correction values, and ground facility antenna position coordinates based on the received satellite information And calculates the error of the distance measurement (pseudorange) between the satellite and the ground equipment antenna based on the calculated satellite coordinates, the satellite clock error correction value and the geometric distance information of the ground facility antenna position coordinates.

At this time, the satellite information received from the satellite navigation system 10 includes a navigation message, a distance measurement between the satellite and the ground facility antenna.

The transmission / reception module 120 transmits the information calculated through the error calculation module 110 and the information received from the satellite navigation system 10 to the ground facility, and receives the ground facility information from the ground facility.

At this time, the transmitted / received information includes the time error of each reference station receiver, and it is necessary to remove the error. To this end, the received satellite is commonly selected from the ground equipment of the satellite navigation system 10, and the relative receiver clock error for the selected satellite is estimated.

The clock error estimator 200 performs a function of selecting a common visible satellite common to the ground facilities of the peripheral satellite navigation system 10 and estimating the relative receiver clock error of each reference station with respect to the selected satellite As shown in FIG. 1, includes a common satellite selection module 210 and a receiver clock error estimation module 220.

Specifically, the common satellite selection module 210 selects the visible satellite that is commonly received with the ground equipment of the peripheral satellite navigation system 10 to remove the clock error of each reference station receiver included in the information transmitted / received with the ground equipment do.

The receiver clock error estimation module 220 calculates the difference between the satellite coordinates, the satellite clock error correction value, the geometric distance information of the ground facility antenna position coordinates, and the ground facility information received from the ground equipment, and the differential value is integrated with the selected satellite through the common satellite selection module 210 to estimate the relative receiver clock error.

The distance measurement value correction unit 300 calculates an offset-canceled distance measurement value by correcting the error of the distance measurement value between the satellite and the terrestrial equipment antenna received through the error calculation unit 100. [

Specifically, the distance measurement value correction unit 300 multiplies the distance measurement value between the satellite and the ground equipment antenna included in the satellite information received from the satellite navigation system 10 through the error calculation unit 100, And the differential receiver clock error estimated through the clock error estimator 200 is corrected by differential correction to calculate the error-canceled distance measurement value.

The failure determination unit 400 determines the error between the base line vector and the length generated using the antenna position coordinates of the ground equipment of the peripheral satellite navigation system 10 and the antenna position coordinates thereof, A test statistic is generated by comparing the measured value with the baseline distance of the terrestrial equipment antenna of the peripheral satellite navigation system 10 predicted using the measured value, and compared with the generated test statistic and the threshold value, 1, the base-line vector and length generating module 410, the antenna-satellite vector generating module 420, the subtracted angle calculating module 430, and the base-line distance predicting module 420, as shown in FIG. 440 and a failure determination module 450.

Specifically, the baseline vector and length generation module 410 differentiates one of the antenna position coordinates and the antenna position coordinates of one of the ground facilities of the peripheral satellite navigation system 10 constituting the baseline information, Vector and length.

The antenna-satellite vector generation module 420 receives the satellite coordinates calculated through the error calculation unit 100 and the ground facility antenna position coordinates of the own and the surrounding satellite navigation system 10, And generates a satellite vector.

The subtracted angle calculation module 430 calculates a subtended angle formed between the satellite and the terrestrial equipment antenna coordinates commonly received from the terrestrial equipments of the peripheral satellite navigation system 10.

At this time, the terrestrial equipment antenna capable of configuring the satellite coordinates and the baseline constitutes a triangle as shown in FIG. 2, and the subtraction angle calculating module 430 can calculate the subtotal angle using the triangle formula. As the triangle formula, Heron's formula, the mid-line theorem of Pabus, the sine law, the cosine first law, and the cosine second law.

As shown in FIG. 2, the baseline distance prediction module 440 calculates the subtracted angle information calculated through the subtracted angle calculation module 430 and the distance measurement value canceled by the error measured through the distance measurement value correction unit 300 To estimate the base line distance (base line) to the terrestrial equipment antenna of the peripheral satellite navigation system 10. [

On the other hand, the parameters of FIG. 2 are defined as follows.

Figure 112014008946310-pat00001
: The actual distance of the two ground reference antennas, where the ground reference antenna uses precisely measured coordinates.

Figure 112014008946310-pat00002
: The distance measurement between the satellite (PRN i) and the ground reference station antenna A (code, carrier)

Figure 112014008946310-pat00003
: Distance measurement value (code, carrier wave) between satellite (PRN i) and ground reference station antenna B

Figure 112014008946310-pat00004
Is a Unit Line of Sight Vector between the satellite (PRN i) and the ground reference station antenna (A). The satellite coordinates calculated through the ephemeris or Almanac information transmitted from the satellite (PRN i) Lt; RTI ID = 0.0 > A < / RTI >

Figure 112014008946310-pat00005
: Unit Line of Sight Vector between the satellite (PRN i) and the ground reference station antenna (B). The satellite coordinates calculated through the ephemeris or Almanac information transmitted from the satellite (PRN i) Based on the coordinates of the ground reference station antenna B,

Figure 112014008946310-pat00006
: The test statistic, which is the difference between true and predicted values. If it exceeds the limit value in comparison with the future limit value, it is determined as a failure.

The failure determination module 450 generates a test statistic by comparing the baseline vector and length generated through the baseline vector and length generation module 410 with the baseline distance predicted through the baseline distance prediction module 440, It is determined whether or not the satellite navigation system 10 has failed.

For reference, test statistic is a statistic used to determine the probability distribution for statistical hypothesis testing. That is, the sampling distribution of estimates observed under the condition of the null hypothesis (or the hypothesis) is a statistic that converts the estimates to a probability distribution with an area of 1. Suppose, for example, that we test the null hypothesis that the population mean of two populations is equal in the population, such as H0: μ1-μ2 = 0.

In this case, the observed value is

Figure 112014008946310-pat00007
, And this value has a certain sampling distribution depending on the properties of the estimator. The equation for converting this sampling distribution to a probability distribution with 1 area (standard normalization) is shown in [Equation 1].

[Equation 1]

Figure 112014008946310-pat00008

Also, the limit value is determined according to the user's probabilistic requirement (false alarm rate) using the statistical analysis of the test statistic collected at the time when the satellite navigation system 10 is in a normal state.

At this time, the failure determination module 450 can use the length variation as well as the distance comparison when generating the test statistics.

That is, the failure determination module 450 determines whether or not the generated test statistic exceeds the threshold value. If the test statistic exceeds the threshold, the failure determination module 450 receives the failure result in the ground facility constituting another base line in the vicinity, Determine the fault type.

That is, the fault type is judged and it is judged whether or not the fault results are the same.

As a result of the determination, if the failure results are the same, it is determined that the satellite coordinates are broken due to the failure of the navigation message (see FIG. 3). Here, non-common measurement faults include ionospheric storms, regional convective layer anomalies, and terrestrial receiver clock failures.

In a series of fault detection systems, as described above, they may be configured in a distributed fashion through a 1: 1 exchange between the ground facilities of the inter-satellite navigation system 10, as shown in FIG. 6, The information of the ground facilities of all the satellite navigation systems 10 capable of being transmitted through the satellite 20 can be collected and integrated.

Hereinafter, a method for determining a failure of a satellite navigation system using a ground facility antenna and a base line length predicted value using the system will be described with reference to FIG.

FIG. 7 is an overall flowchart of a method for determining a failure of a satellite navigation system using a terrestrial facility antenna and a base line length predicted value according to the present invention. The error calculation module 110 of the error calculation unit 100 calculates (S10), calculates satellite coordinates, a satellite clock error correction value, and geometric distance information of the terrestrial equipment antenna position coordinates based on the received satellite information (S20), calculates satellite coordinates, satellite clock error correction (Pseudo range) between the satellite and the terrestrial equipment antenna based on the geometric distance information of the terrestrial equipments and the ground equipment antenna coordinates (S30).

Then, the transmission / reception module 120 of the error calculation unit 100 transmits the information calculated in steps S20 to S30 and the information received from the satellite navigation system 10 to the ground facility (S40) (S50).

Then, the common satellite selection module 210 of the clock error estimation unit 200 determines whether or not the common equipment is in common with the ground equipment of the peripheral satellite navigation system 10 in order to eliminate the clock error of each reference station receiver included in the information transmitted / (S60), the receiver clock error estimation module 220 calculates the satellite coordinate, the satellite clock error correction value, and the geometric distance information of the ground facility antenna position coordinates calculated through the error calculation unit 100 (S70), and the differential receiver clock error is estimated by integrating the difference value with the satellite selected through the common satellite sorting module 210. The satellite receiver clock error is calculated based on the relative receiver clock error.

Then, the distance measurement value correction unit 300 multiplies the distance measurement value between the satellite and the ground equipment antenna included in the satellite information received from the satellite navigation system 10 through the error calculation unit 100, And calculates a distance measurement value by canceling the error by correcting the relative receiver clock error estimated through the clock error estimation unit 200 (S80).

Then, the baseline vector and length generation module 410 of the failure determination unit 400 determines whether the antenna position coordinates of any one of the ground facilities of the peripheral satellite navigation system 10 constituting the baseline information and the antenna position coordinates of the own antenna The satellite-to-satellite vector generating module 420 generates the base-line vector and the length of the satellite-to-be-combined with the satellite coordinates calculated through the error calculator 100, A ground facility antenna-satellite vector is generated by subtracting the ground facility antenna position coordinates (S100).

The subtracted angle calculation module 430 of the failure determination unit 400 calculates a subtended angle formed between the satellite and the terrestrial equipment antenna coordinates commonly received from the terrestrial equipment of the peripheral satellite navigation system 10 at step S110.

Subsequently, the baseline distance prediction module 440 of the failure determination unit 400 calculates the subtracted angle information calculated through the subtracted angle calculation module 430 and the distance measurement value canceled by the error measured through the distance measurement value correction unit 300 The base line distance between the terrestrial equipment antenna of the nearby satellite navigation system 10 and the terrestrial equipment antenna is predicted (S120).

The failure determination module 450 of the failure determination unit 400 compares the baseline vector and length generated through the baseline vector and length generation module 410 with the baseline distance predicted through the baseline distance prediction module 440 A test statistic is generated through comparison (S130), and it is determined whether the generated test statistic exceeds a threshold (S140).

As a result of the determination in step S140, if it is determined in step S140 that the failure has occurred in the ground equipment constituting the other base line in the vicinity, the failure type is determined and the failure type is determined in step S150.

If it is determined that the failure results are the same, it is determined that there is a failure in the satellite coordinates due to the failure of the navigation message (S160).

On the other hand, as a result of the determination in step S140, if it is not exceeded, it is determined to be normal and the process is terminated.

While the present invention has been particularly shown and described with reference to preferred embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. It will be appreciated by those skilled in the art that numerous changes and modifications may be made without departing from the invention. Accordingly, all such appropriate modifications and changes, and equivalents thereof, should be regarded as within the scope of the present invention.

100: error calculator 200: clock error estimator
300: distance measurement value correction unit 400:
110: error calculation module 120: transmission / reception module
210: Common satellite selection module 220: Receiver clock error estimation module
410: Baseline Vector and Length Generation Module
420: Antenna-satellite vector generation module
430:
440: Baseline distance prediction module
450: Fault determination module

Claims (16)

An error calculation unit 100 for calculating an error of the distance measurement value (pseudo range) based on the satellite coordinates calculated by using the satellite information, the satellite clock error correction value, and the geometric distance information of the ground facility antenna position coordinates;
A clock error estimator 200 for selecting a common visible satellite common to the ground equipment of the neighboring satellite navigation system 10 and estimating a relative receiver clock error of each reference station with respect to the selected satellite;
A distance measurement value correcting unit 300 for calculating an offset-canceled distance measurement value by correcting an error of the distance measurement value between the satellite and the terrestrial equipment antenna received through the error calculation unit 100;
The base line vector and length generated using the antenna position coordinates of the ground equipment of the neighboring satellite navigation system 10 and its antenna position coordinates and the distance between the satellite and the ground equipment antenna, A failure determination unit for generating a test statistic through comparison with a base line distance of the terrestrial equipment antenna of the peripheral satellite navigation system 10 and comparing the generated test statistic with the generated test statistic and the threshold value to determine whether the satellite navigation system 10 is faulty (400); A System for Fault Detection in Satellite Navigation System Using Ground Equipment Antenna and Baseline Length Estimation.
The method according to claim 1,
The error calculation unit (100)
Receives satellite information from the satellite navigation system 10, calculates geometric distance information of the satellite coordinates, satellite clock error correction values, and ground facility antenna position coordinates based on the received satellite information, calculates satellite coordinates, satellite clock error An error calculation module (110) for calculating an error of a distance measurement value (pseudorange) between the satellite and the terrestrial equipment antenna based on the correction value and the geometric distance information of the terrestrial equipment antenna position coordinate; And
A transmission / reception module 120 for transmitting the information calculated through the error calculation module 110 and the information received from the satellite navigation system 10 to the ground facility and receiving the ground facility information from the ground facility; And a satellite navigation system using the ground facility antenna and the baseline length predicted value.
The method according to claim 1,
The satellite information includes:
A navigation message, a distance measurement between the satellite and the terrestrial equipment antenna, and a system for determining the failure of the satellite navigation system using the baseline length predicted value.
The method according to claim 1,
The clock error estimating unit (200)
A common satellite sorting module 210 for sorting the visible satellites received commonly by the ground equipment of the peripheral satellite navigation system 10 to eliminate the clock error of each reference station receiver included in the information transmitted and received by the ground equipment; And
The satellite coordinate, the satellite clock error correction value and the geometric distance information of the terrestrial equipment antenna position coordinates calculated through the error calculation unit 100 and the ground equipment information received from the ground equipment are differential, A receiver clock error estimation module 220 for estimating a relative receiver clock error by integrating the selected satellite through the common satellite selection module 210; And a satellite navigation system using the ground facility antenna and the baseline length predicted value.
The method according to claim 1,
The distance measurement value correcting unit 300,
The error of the estimated distance measurement value is subtracted from the distance measurement value between the satellite and the terrestrial equipment antenna included in the satellite information received through the error calculation unit 100 and the time error estimation unit 200 And calculating a distance measurement value with the error canceled by performing differential correction on the estimated relative receiver clock error through the base station antenna and a satellite navigation system using the baseline length predicted value.
The method according to claim 1,
The failure determination unit (400)
A base line vector and a length generating module for generating a base line vector and a length by differentiating the antenna position coordinates of any one of the ground facilities of the peripheral satellite navigation system 10 constituting the base line information and the antenna position coordinates of the antenna, 410);
An antenna-satellite vector generating module (for example, an antenna-satellite vector generating module) for generating a terrestrial facility antenna-satellite vector by subtracting the satellite coordinate calculated through the error calculator 100 from the ground facility antenna position coordinates of the satellite- 420);
A subtracted angle calculation module 430 for calculating a subtotal angle formed between the coordinates of the terrestrial equipment antenna and the satellite commonly received from the terrestrial equipments of the neighboring satellite navigation system;
Based on the subtracted angle information calculated through the subtracted angle calculation module 430 and the distance measurement value canceled by the error measured through the distance measurement value correction unit 300, A baseline distance prediction module 440 for predicting a base line distance (Base Line); And
The baseline vector and length generated through the baseline vector and length generation module 410 are compared with the baseline distance predicted through the baseline distance prediction module 440 and a test statistic is generated and compared with the threshold, A failure determination module 450 for determining whether the system 10 has failed; And a satellite navigation system using the ground facility antenna and the baseline length predicted value.
The method according to claim 6,
The failure determination module 450,
If the generated test statistic exceeds the limit value, it is judged whether or not the generated test statistic exceeds the limit value. Then, if the result exceeds the threshold, the failure result in the ground facility constituting the other base line is inputted. And determining whether the satellite navigation system is the same or not.
8. The method of claim 7,
The failure determination module 450,
And determining that the failure of the satellite coordinate is caused by the failure of the navigation message if the failure result is the same as the failure result, Navigation system failure detection system.
(a) The error calculation unit 100 calculates the error of the distance measurement (pseudo range) based on the satellite coordinates calculated by using the satellite information, the satellite clock error correction value, and the geometric distance information of the ground facility antenna position coordinates. Process;
(b) selecting a common visible satellite common to the ground facilities of the peripheral satellite navigation system 10 and estimating a relative receiver clock error of each reference station with respect to the selected satellite;
(c) calculating an offset-canceled distance measurement value by correcting an error of the distance measurement value between the satellite and the terrestrial equipment antenna received by the distance measurement value correction unit 300 through the error calculation unit 100; And
(d) If the failure determination unit 400 determines that the error between the satellite and the ground equipment antenna is caused by the base line vector and length generated using the antenna position coordinates of the ground equipment of the peripheral satellite navigation system 10 and its antenna position coordinates The generated statistic is compared with the baseline distance of the terrestrial equipment antenna of the peripheral satellite navigation system 10 predicted using the canceled distance measurement and compared with the generated test statistic and the limit value, Determining whether a fault has occurred; A method for determining the failure of a satellite navigation system using ground facility antennas and baseline length predictive values.
10. The method of claim 9,
The satellite information includes:
A navigation message, a distance measurement between the satellite and the terrestrial equipment antenna, and a method for determining a failure of the satellite navigation system using the ground facility antenna and the baseline length predicted value.
10. The method of claim 9,
In the step (a)
(a-1) The error calculation unit 100 receives the satellite information from the satellite navigation system 10, and calculates, based on the received satellite information, the satellite coordinates, the satellite clock error correction value, and the geometric distance Calculating information;
(a-2) Based on the calculated satellite coordinates, satellite clock error correction values, and geometric distance information of ground facility antenna position coordinates, the error calculation unit 100 calculates a distance measurement value between the satellite and the ground facility antenna ); And
(a-3) The error calculation unit 100 transmits the information calculated through the steps (a-1) to (a-2) and the information received from the satellite navigation system 10 to the ground equipment, Receiving ground facility information from a ground facility; And determining a failure of the satellite navigation system using the ground facility antenna and the baseline length predicted value.
10. The method of claim 9,
The step (b)
(b-1) The time error estimating unit 200 estimates the time difference between the reference signal received from the base station and the reference signal received from the base station, Selecting a satellite;
(b-2) The time error estimating unit 200 calculates the satellite coordinate, the satellite clock error correction value, and the geometric distance information of the terrestrial equipment antenna position coordinates calculated in the step (a) Differentiating the information; And
(b-3) estimating the relative receiver clock error by integrating the difference value by the clock error estimator 200 with respect to the selected satellite through the step (b-1); And determining a failure of the satellite navigation system using the ground facility antenna and the baseline length predicted value.
10. The method of claim 9,
The step (c)
(c-1) The distance measurement value correcting unit 300 corrects the error of the estimated distance measurement value by a difference between the distance measurement value between the satellite and the terrestrial equipment antenna included in the satellite information received through the process (a) differential; And
(c-2) calculating the distance measurement value with the error canceled by the distance measurement value correction unit 300 by performing differential correction on the relative receiver time error estimated through the process (b); And determining a failure of the satellite navigation system using the ground facility antenna and the baseline length predicted value.
10. The method of claim 9,
The step (d)
(d-1) The failure determination unit 400 differentiates one of the antenna position coordinates and the antenna position coordinates of the ground equipment of the peripheral satellite navigation system 10 constituting the baseline information, Generating a vector and a length;
(d-2) The failure determination unit 400 differentiates the satellite coordinate calculated through the process (a) from the ground facility antenna position coordinates of the own satellite and the surrounding satellite navigation system, Generating a vector;
(d-3) calculating the subtended angle formed between the terrestrial equipment antenna coordinates and the satellite commonly received in the terrestrial equipment of the surrounding satellite navigation system;
(d-4) Based on the subtracted angle information calculated through the step (d-3) and the distance measurement value canceled by the error measured in the step (c) Predicting a base line distance (Base Line) of the system 10 to the ground equipment antenna; And
(d-5) The failure determination unit 400 compares the baseline vector and length generated through the step (d-1) with the baseline distance predicted through the step (d-4) And compares the generated value with a threshold value to determine whether the satellite navigation system 10 has failed; And determining a failure of the satellite navigation system using the ground facility antenna and the baseline length predicted value.
15. The method of claim 14,
The step (d-5)
(d-5-1) The failure determination unit 400 compares the baseline vector and length generated through the step (d-1) with the baseline distance predicted through the step (d-4) Generating a test statistic;
(d-5-2) determining whether the test statistic generated by the failure determination unit 400 exceeds a threshold value; And
(d-5-3) As a result of the determination in the step (d-5-2), if the failure determination unit 400 receives a failure result in the ground facility constituting another baseline in the vicinity, Comparing the fault type with the fault type, and determining whether the fault result is the same; And determining a failure of the satellite navigation system using the ground facility antenna and the baseline length predicted value.
16. The method of claim 15,
As a result of the determination in step (d-5-3), if the failure result is identical, the failure determination unit 400 determines that the satellite coordinates are faulty due to the failure of the navigation message. If not, And determining a failure of the satellite navigation system using the ground facility antenna and the baseline length predicted value.
KR20140010177A 2014-01-28 2014-01-28 System and method for determining fault of gnss using estimated value of baseline length and ground facility antenna of multiple gnss KR101503001B1 (en)

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