KR101533990B1 - Integrated DGPS/DGLONASS RSIM System and Its Integrity checking Method - Google Patents

Abstract

DGPS / DGLONASS integrated RSIM system and an integrity checking method using the same.
The DGPS / DGLONASS integrated RSIM system includes a GNSS receiver library for receiving raw information transmitted from each of a reference station receiver and a monitoring station receiver and processing each raw information; A reference station thread for calculating GPS pseudorange correction information and GLONASS pseudorange correction information from each raw information processed in said GNSS receiver library; An RTCM processor for generating the GPS pseudorange correction information and the GLONASS pseudorange correction information in an RTCM message according to the RTCM international standard format; A monitoring station thread for detecting pseudo range information from the RTCM message and generating parameters necessary for integrity checking; In order to check the integrity of data generated in each of the reference station thread and the monitoring station thread, a comparison is made between the reference value set in the controller and the data generated in the RS thread and the IM thread, And an alarm notification unit for judging the alarm.

Description

[0001] DGPS / DGLONASS Integrated RSIM System and Integrity Checking Method Using the Integrated DGPS / DGLONASS [

The present invention relates to a RSIM system, and more particularly, to a DGPS / DGLONASS integrated RSIM system and an integrity checking method using the same.

<Satellite navigation correction system (DGNSS)>

In general, Differential GPS (DGPS) is a system that can calculate a more accurate position by using error information if the GPS error information is informed to other GPS users in the vicinity.

This system is called Global Navigation Satellite System (DGNSS) to improve the positioning accuracy and improve the positioning accuracy of Global Positioning System (GNSS) such as US GPS, GLONASS in Russia, Galileo in EU and COMPASS in China.

Generally, the DGNSS system consists of a Reference Station (RS), an Integrity Monitor (IM), and a Control Station (CS).

The reference station (RS) generates calibration information, converts it into the RTCM international standard format, and broadcasts it through MSK modulation.

The integrity monitoring station (IM) receives and demodulates the correction information broadcasted by the reference station, and analyzes the RTCM correction information to monitor integrity.

The control station (CS) controls and monitors the reference station system (RS) and the integrity monitoring (IM) system using an international standard RSIM message.

The DGPS reference station system and related technologies, such as the correction information generation and integrity monitoring technology, are handled in the hardware-based reference station system itself, so that flexible adaptation to the increase of the DGNSS service performance requirements of international organizations and the GNSS diversification It is difficult to solve the problems of DGNSS service advancement, convenience of equipment replacement, addition of new signals and functions, and compatibility problems with new services.

In addition, another problem of the related art is the increase of the DGNSS reference station component due to the separated structure of RS and IM, the RS, the IM computer, the MSK modulator, and the demodulator in addition to the receiver for the DGNSS reference station under the structure in which the software RS and IM are separated. The increase in the number of components causes an increase in management and installation costs.

In addition, the structure of DGNSS reference station, which is divided into three components of RS, IM, and CS, is complicated to install and operate because all three programs need to be managed. Even though RS and IM itself have UI, The operation complexity increases and the installation cost also increases.

Accordingly, the present invention provides a DGPS / DGLONASS integrated RSIM system and an integrity checking method using the same, which can solve the above-mentioned problems.

(Patent Document 1) Korean Patent Registration No. 10-1040053

A problem to be solved by the present invention is to provide a DGPS / DGLONASS integrated RSIM system and an integrity checking method using the DGPS / DGLONASS which can perform correction information generation and integrity check within one software without a separate network connection between the reference station and the monitoring station The purpose.

According to an aspect of the present invention, there is provided a DGPS / DGLONASS integrated RSIM system including a GNSS receiver library for receiving raw information transmitted from a reference station receiver and a monitoring station receiver, and processing each source information; A reference station thread for calculating GPS pseudorange correction information and GLONASS pseudorange correction information from each raw information processed in said GNSS receiver library; An RTCM processor for generating the GPS pseudorange correction information and the GLONASS pseudorange correction information in an RTCM message according to the RTCM international standard format; A monitoring station thread for detecting pseudo range information from the RTCM message and generating parameters necessary for integrity checking; In order to detect the integrity of data generated in each of the reference station thread and the monitoring station thread, a comparison is made between a preset reference value and data generated in the RS thread and the IM thread, And an alarm notification unit for judging the alarm.

The GNSS receiver library comprising: a first packet parser for processing raw information provided from the reference station receiver; And a second packet parser for processing the raw information provided from the monitoring station receiver.

Wherein the reference station thread comprises: a GPS pseudorange correction information calculation unit for calculating GPS pseudorange correction information from raw information processed in the first packet parser; And a GLONASS pseudo distance correction information calculation unit for calculating GLONASS pseudo distance correction information from the raw information processed in the second packet parser.

The RTCM processing unit  An RTCM decoder for decoding the pseudorange correction information calculated from the reference station thread; And an RTCM encoder for encoding the pseudo range correction information decoded in correspondence with the RTCM communication format and transmitting an RTCM message.

The monitoring station thread includes a GPS pseudo distance calculating unit for receiving the RTCM message from the RTCM processor and calculating the GPS pseudo distance information; And a GLONASS pseudo distance calculating unit for calculating the GLONASS pseudo distance information from the RTCM message.

In order to achieve the above object, an integrity checking method using the DGPS / DGLONASS integrated RSIM system according to any one of claims 1 to 5 is characterized in that the source information transmitted from each of the RS receiver and the IM receiver is divided into first and second Receiving at the parser (S110); Parsing the raw information (S120); (S130) receiving the parsed raw information at the RS thread to generate satellite pseudorange correction information (PRC); Performing an integrity check on the basis of the pseudo range correction information generated in the RS thread in the alarm detector 150 (S140); Comparing the result of the integrity check detected by the alarm detector 150 with a preset threshold value to determine whether an alarm is generated (S150); Generating the RTCM message using the pseudorange correction information in the RTCM processor 130 (S160); Analyzing the RTCM message in the IM thread 140, and performing a Correction Age check of the pseudorange correction information (S180); After S180, performing a position error calculation of the satellite (S190); Performing PR and PPRC residual calculation after step S190 (S200); Performing an integrity check on the data generated by the IM thread 140 in the alarm detection unit 150 (S210); And a step S220 of comparing an inspection result value of S190 with a preset threshold value to determine whether or not an alarm is generated.

Therefore, the integrity check method using the DGPS / DGLONASS integrated RSIM system according to the embodiment of the present invention can perform correction information generation and integrity check without a separate network connection between the existing reference station (RS) and the monitoring station (IM) .

In addition, it is possible to solve the compatibility problem of the new service with the flexibility to cope with the increase of the DGNSS service performance requirement of the international organization, the limitation of the DGNSS service advancement according to the GNSS diversification era, In addition, it can be used for diversification and service of correction information service.

1 is a block diagram illustrating a DGPS / DGLONASS integrated RSIM system according to an embodiment of the present invention.
FIG. 2 is a block diagram of the alarming alarm detector shown in FIG. 1. Referring to FIG.
3 is a flowchart illustrating an RSIM integrity check method using the DGPS / DGLONASS integrated RSIM system shown in FIG.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a detailed description of preferred embodiments of the present invention will be given with reference to the accompanying drawings. In the following description of the present invention, detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

Embodiments in accordance with the concepts of the present invention can make various changes and have various forms, so that specific embodiments are illustrated in the drawings and described in detail in this specification or application. It is to be understood, however, that it is not intended to limit the embodiments according to the concepts of the present invention to the particular forms of disclosure, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between. Other expressions that describe the relationship between components, such as "between" and "between" or "neighboring to" and "directly adjacent to" should be interpreted as well.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, the terms "comprises &quot;,or" having &quot;, or the like, specify that there is a stated feature, number, step, operation, , Steps, operations, components, parts, or combinations thereof, as a matter of principle.

Before describing the present invention, the RSIM system refers to a reference station (RS) and an integrity monitor (IM) system, and the RSIM message and the RSIM international standard message refer to a reference station (RS) (PRC / RRC) refers to a message transmitted between an Integrity Monitor (IM) and an Integrity Monitor (IM). The pseudorange correction information (PRC / RRC) refers to a pseudorange correction (PRC) and a pseudorange rate correction Correction information &quot;

1 is a block diagram illustrating a DGPS / DGLONASS integrated RSIM system according to an embodiment of the present invention.

1, the DGPS / DGLONASS integrated RSIM system of the present invention includes a first parser 111, a second parser 112, an RS thread 120, an RTCM processing unit 130, an IM thread 140, And an alarm detection unit 150.

The first packet parser 111 parses the raw information of the reference GNSS receiver.

The second packet parser 112 parses the raw information of the monitoring GNSS receiver.

The RS thread 120 performs the function of generating GPS pseudorange correction information (PRC) and GLONASS pseudorange correction information (PRC) from the parsed raw information.

The RTCM processor 130 functions to generate each pseudorange correction information (PRC) generated by the RS thread 120 as an RTCM message according to the RTCM international standard format.

The IM thread 140 analyzes the RTCM message and performs functions such as satellite orbital force extraction, satellite position information extraction, and pseudorange information.

Next, the alarm detector 150 checks the integrity of data generated by the RS thread 120 and the IM thread 140.

More specifically, the alarm detector 150 includes a C / No detector 151, a SatCnt detector 152, a PRC / PR residual detector 153, a DOP detector 154, a Correction Age detector 155, a UDRE detector 156 and a position error detection unit 157. [

The C / No detector 141 performs a function of detecting how much noise is affected by the carrier wave.

The SatCnt detection unit 142 detects how many GPS satellites are captured and how the number of satellites changes within a specific time.

The PRC / PR residual detection unit 143 detects a pseudo range residual after applying the pseudo range correction information, and then detects a change degree of the detected residual.

The DOP detector 144 detects a DOP value of GPS information of a currently observed satellite.

The Correction Age detector 155 calculates a difference between the generation time of the currently received DGNSS correction information (RTCM Type 9) and the local time of IM.

The UDRE detector 156 detects a UDRE value of GPS information and GLONASS information of a currently observed satellite.

The position error detector 157 determines the position of the IM using the DGNSS correction information transmitted from the RS, and calculates the error.

 The first comparing unit 158 may further include a first comparing unit 158 and a second comparing unit 159. The first comparing unit 158 may compare the RS thread 120 and the IM And detects the integrity of the information generated by the thread 140.

More specifically, the first processor performs an integrity check of the GPS pseudorange correction information and the GLONASS pseudorange correction information generated by the RS thread 120, and then compares the resultant value with a preset threshold value And outputs an alarm occurrence signal when the comparison result value is greater than or equal to the threshold value.

Also, the second processing unit calculates Correction Age check, position error calculation, PR, and RR from the GPS pseudo range information and GLONASS pseudo range information generated in the IM thread 140, and performs integrity check. The result of the integrity check is then compared with a predetermined threshold value, and if the comparison result is greater than or equal to the threshold value, an alarm generation signal is output.

3 is a flowchart illustrating an integrity checking method using the DGPS / DGLONASS integrated RSIM system shown in FIG.

As shown in FIG. 3, the RSIM integrity checking method (S100) of the present invention receives raw information transmitted from the RS receiver and the IM receiver by the first and second parsers (S110) .

Thereafter, the parsed raw information is received by the RS thread to generate satellite pseudorange correction information (PRC) (S130). The alarm detection unit 150 performs an integrity check based on the information generated in the RS thread 120.

Thereafter, the result of the integrity check is compared with a preset threshold value to determine whether an alarm has occurred (S150).

If the result is smaller than the threshold value, the pseudo range correction information is transmitted to the RTCM processor 130 and generated as an RTCM message (S160).

Then, the IM thread 140 analyzes the RTCM message, performs Correction Age check of the pseudorange correction information (S180), and performs position error calculation, PR, and PPRC residual calculation.

Then, the alarm detector 150 checks the integrity of the data generated by the IM thread 140, and then compares the result of the check with a preset threshold value to determine whether an alarm has occurred.

Here, the integrity verification method proposed in the present invention may be a program implemented as a computer-readable code on a computer-readable recording medium. A computer-readable recording medium includes all kinds of recording apparatuses in which data that can be read by a computer system is stored. Examples of the computer-readable recording medium include ROM, RAM, CD-ROM, magnetic tape, hard disk, floppy disk, flash memory, optical data storage, And the like. The computer readable recording medium may also be distributed over a networked computer system and stored and executed as computer readable code in a distributed manner.

Therefore, the DGPS / DGLONASS integrated RSIM system and the integrity checking method using the DGPS / DGLONASS according to the embodiment of the present invention perform correction information generation and integrity check without a separate network connection between the existing reference station (RS) and the monitoring station (IM) .

In addition, it is possible to solve the compatibility problem of the new service with the flexibility to cope with the increase of the DGNSS service performance requirement of the international organization, the limitation of the DGNSS service advancement according to the GNSS diversification era, In addition, it can be used for diversification and service of correction information service.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is evident that many alternatives, modifications, and variations will readily occur to those skilled in the art without departing from the spirit and scope of the invention. Therefore, it should be understood that the disclosed embodiments are to be considered in an illustrative rather than a restrictive sense, and that the true scope of the invention is indicated by the appended claims rather than by the foregoing description, and all differences within the scope of equivalents thereof, .

100: DGPS / DGLONASS Integrated RSIM System
110: GNSS receiver library 111: 1st packet parser
112: second packet parser 120: RS thread
130: RTCM processor 131: RTCM decoder
132: RTCM encoder 140: IM thread
150: Alarm detection unit 151: C / No detection unit
152: SatCnt detection unit 153: PRC / PR Residual detection unit
154: DOP detector 155: Correction Age detector
156: UDRE detection unit 157: Position error detection unit
158: first processing section 159: second processing section

Claims (7)

A GNSS receiver library 110 for receiving raw information transmitted from each of the reference station receiver and the monitoring station receiver, and processing each raw information;
A reference station thread 120 for calculating GPS pseudorange correction information and GLONASS pseudorange correction information from each raw information processed in the GNSS receiver library;
An RTCM processor 130 for generating the GPS pseudorange correction information and the GLONASS pseudorange correction information according to the RTCM international standard format as an RTCM message;
A monitoring station thread 140 for detecting pseudo range information from the RTCM message and generating parameters necessary for integrity checking; And
In order to detect the integrity of the data generated in each of the reference station thread 120 and the monitoring station thread 140, a reference value set therein and a reference value generated in the reference station thread 120 and the monitoring station thread 140 And an alarm detection unit (150) for comparing the data to determine whether an alarm is generated in accordance with a satellite error,
The DGPS / DGLONASS integrated RSIM system is configured such that the reference station thread 120 and the monitoring station thread 140 are integrally operated without a separate network connection to perform correction information calculation and integrity check.
The method according to claim 1,
The GNSS receiver library 110,
A first packet parser 111 for processing raw information provided from the reference GNSS receiver; And
And a second packet parser (112) for processing raw information provided from the monitoring GNSS receiver. &Lt; RTI ID = 0.0 &gt; 11. &lt; / RTI &gt;
3. The method of claim 2,
The reference station thread (120)
A GPS pseudo distance correction information calculation unit 121 for calculating GPS pseudo distance correction information from the raw information processed in the first packet parser 111;
And a GLONASS pseudo distance correction information calculation unit (122) for calculating GLONASS pseudo distance correction information from the raw information processed by the second packet parser (112).
The method according to claim 1,
The RTCM processing unit 130,
An RTCM decoder 131 for decoding the pseudorange correction information calculated from the reference station thread 120; And
And an RTCM encoder (132) for encoding the pseudo range correction information decoded in correspondence with the RTCM communication format and transmitting an RTCM message.
5. The method of claim 4,
The monitoring station thread (140)
A GPS pseudo distance calculation unit 141 for receiving the RTCM message from the RTCM processing unit and calculating the GPS pseudo distance information; And
And a GLONASS pseudo distance calculating unit (142) for calculating the GLONASS pseudo distance information from the RTCM message.
A method for integrity checking using the DGPS / DGLONASS integrated RSIM system according to any one of claims 1 to 5,
Receiving (S 110) primitive information transmitted from the RS GNSS receiver and the IM GNSS receiver, respectively, at the first and second parsers;
Parsing the raw information (S120);
(S130) receiving the parsed raw information at the RS thread to generate satellite pseudorange correction information (PRC);
Performing an integrity check on the basis of the pseudo range correction information generated in the RS thread in the alarm detector 150 (S140);
Comparing the result of the integrity check detected by the alarm detector 150 with a preset threshold value to determine whether an alarm is generated (S150);
Generating the RTCM message using the pseudorange correction information in the RTCM processor 130 (S160);
Analyzing the RTCM message in the IM thread 140, and performing a Correction Age check of the pseudorange correction information (S180);
After S180, performing a position error calculation of the satellite (S190);
Performing PR and PPRC residual calculation after step S190 (S200);
Performing an integrity check on the data generated by the IM thread 140 in the alarm detection unit 150 (S210); And
Comparing the test result value of S190 with a preset threshold value to determine whether an alarm is generated (S220). The integrity checking method using the DGPS / DGLONASS integrated RSIM system.
A recording medium including a code recording each step of an integrity checking method using the DGPS / DGLONASS integrated RSIM system of claim 6.

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