CN101799525B - Method for autonomously monitoring integrity of monitoring stations of global navigation satellite system augmentation system - Google Patents

Abstract

The invention discloses a method for autonomously monitoring the integrity of monitoring stations of a global navigation satellite system augmentation system, which comprises the following steps: receiving a satellite ephemeris and initial satellite data respectively by using each monitoring station of the GNSS augmentation system; transmitting the initial satellite data of each monitoring station to a master control station through a communication network; constructing a single-satellite multi-monitoring-station error equation by using the master control station according to the precise satellite ephemeris and the initial satellite data of each monitoring station; calculating a weight matrix according to different elevating angles of each monitoring station relative to satellites; establishing multi-satellite multi-monitoring-station errors and the weight matrix thereof; constructing a normal equation according to the error equation and the satellite weight matrix and resolving the normal equation according to a least square method; and performing gross error test and gross error identification according to corresponding residual errors so as to realize the autonomous integrity monitoring of the monitoring stations. Through the method, the monitoring stations which may have the errors can be eliminated and the reliability of the whole GNSS augmentation system is improved.

Description

The autonomous completeness monitoring method of global navigation satellite system augmentation system monitoring station

Technical field

The present invention relates to the satellite navigation field, particularly utilize global navigation satellite system augmentation system, this system monitoring station is carried out the method for autonomous completeness monitoring.

Background technology

GLONASS (Global Navigation Satellite System; Guide number SS) can in the scope of global land, sea and air, realize in all types of user, having obtained widespread use by navigation informations such as high-precision position and speed of real-time continuous and time.The GNSS enhanced system is to make the user obtain the gordian technique of high precision navigator fix achievement.

At general GNSS enhanced system such as GPS (Global Positioning System; Abbreviation GPS) WAAS WAAS (Wide Area Augmentation System; Be called for short WASS) in; General mainly is made up of following five parts: ground CORS CORS station (Continuously Operating Reference Stations, abbreviation CORS), master station, difference information monitoring station, GNSS difference are broadcast station, communication network and subscriber station.

The number that the ground CORS is laid and GNSS enhanced system the scope that will cover relevant, in some provincial scope, generally can be advisable for about 100 kilometers construction websites.The function of ground CORS is reception GNSS observation data, and is transferred to master station through communication network.The ground CORS requires: 360 ° of full visuals field of the GNSS Satellite Tracking that is not less than 5 ° of elevation angles are arranged on every side, atural object, the landforms of strong reflection can not be arranged on every side; Absolute precision is superior to 1 centimetre; Be equipped with high precision double frequency GNSS receiver, have the ability of real-time transmission data.

Master station is the core of GNSS enhanced system, and main effect is to collect, store the GNSS raw data that each CORS station transmits and the network differential information of calculating precise ephemeris and satellite clock correction and generation.The requirement of master station is: the network communication apparatus that possesses each CORS station transmission data of jumbo reception; Possess the computing machine of higher gears and the data-storing output device that capacity is big, speed is fast, read-write; Possess the ability of calculating the forecast precise ephemeris, possess the ability of calculating satellite alert clock correction and variability thereof, every 6s calculates once; The ability that possesses ionosphere, zoning correction model; Possess computational grid difference information ability, and possess difference information is changed with RTCM (Radio Technical Committee for Marine Services, RTCM-Radio Technical Commission for Maritime Services) or RTCA (Radio Technical Commission for Aeronautics; RTCA) ability of the differential correcting form of regulation and stipulation possesses the ability of broadcast completeness monitoring information.

The main effect of difference information monitoring station is that the monitoring whole GNSS strengthens system, and completeness, the security of correctness information to guarantee that the user uses of GNSS difference information are provided.The requirement of difference information monitoring station is: in the efficient working range zone that the GNSS difference information covers, should have a monitoring station at least; The equipment of monitoring station and CORS station are identical, but should have the receiving equipment that receives the GNSS difference information; The monitoring station is the high precision website, should be superior to 1 centimetre; The monitoring station possess utilize position, network differential information calculations monitoring station and judge whether to exist mistake with identification rough error ability; Monitoring station and master station should have the good communication network, and real-time arrives master station with the completeness information transmission.

The main effect that the GNSS difference is broadcast the station be extrapolation 6s that master station is calculated GNSS satellite clock correction and variability thereof, correct in ionosphere and results such as satellite alert precise ephemeris with RTCM or real-time, continuous the broadcasting of RTCA form to the user.The requirement that the GNSS difference is broadcast the station is: have the data communication special line to get in touch with master station, difference information is broadcast pattern can adopt the radio station frequency modulated subcarrier, digital cellular telephone, satellite communication and public network etc.

Subscriber station can have single-frequency, also can have dual-frequency receiver, but should have three functions that difference information positions of reception simultaneously.The user receives GNSS differential correcting data when receiving the GNSS satellite-signal, carry out the single-point location in view of the above.

In the GNSS enhanced system, the completeness of system requires will have between them high speed, real-time, reliable data communication network by the common real-time implementation of CORS, monitoring station and master station.But generally speaking, the completeness monitoring is mainly accomplished through the monitoring station of system, so be called the completeness monitoring of monitoring station.

The monitoring station of system is independent of system's base station, but its equipment is identical with base station, is equivalent to the static subscriber station of a known coordinate in system's differential correcting information coverage.Its GNSS observation data is different from the observation data of calculating GNSS differential correcting value; The observation data of monitoring station is not sent to master station; But the GNSS observation data of utilizing GNSS difference information that master station issues and monitoring station is calculated the position of monitoring station; And the difference of calculated value and given value and the warning limit value of GNSS enhanced system carried out the comparison of true value, judge the correctness of differential correcting information.If surpass the limit value that allows, explain that then observed reading or differential correcting information have problem.And observed reading generally adopts smoothing pseudo range, so it is very little the probability of rough error at random to occur, when sending early warning signal simultaneously on particularly a plurality of monitoring stations, explains that then differential correcting information has problem.Further can determine the problem of concrete satellite according to the residual error size of each observed reading; And through the positioning result after this moonscope value of deletion and the comparison of given value; The differential correcting information of confirming this satellite has problem; Should (for example in the 6s) warn to the user through broadcasting the station announcement in warning of regulation is consuming time this moment, notifies the user differential correcting information without this satellite.In the time can't confirming that which satellite has problem, mean that then whole differential correcting information is insecure, information will give a warning.

The monitoring station is equivalent to the subscriber station of known this true value coordinate, can adopt least square method and kalman filter method location to realize the monitoring of monitoring station completeness, is the example explanation with the least square method:

1) check of monitoring station rough error

Least square method difference positioning equation is:

V＝Bδx-L P

Can solve:

δx＝(B ^TPB) ^-1B ^TPL

Then can get:

$\hat{X}=X_0+\mathrm{\δx}$

Wherein:

$\hat{X}={({\hat{X}}_{r_1},{\hat{X}}_{r_2},{\hat{X}}_{r_3},\mathrm{C\Δ}\hat{t})}^T$

$\mathrm{\δx}={(\mathrm{\δ}{x}_{r_1},\mathrm{\δ}{x}_{r_2},\mathrm{\δ}{x}_{r_3},\mathrm{C\Δt})}^T$

In the adjusted value that draws the monitoring station coordinate

After, can with the coordinate true value (X of monitoring station _True, Y _True, Z _True) ^TAsk difference relatively, can get:

$d\hat{X}={(d{\hat{X}}_{r_1},d{\hat{X}}_{r_2},d{\hat{X}}_{r_3})}^T$

$={({\hat{X}}_{r_1}-X_{\mathrm{true}},{\hat{X}}_{r_2}-Y_{\mathrm{true}},{\hat{X}}_{r_3}-Z_{\mathrm{true}})}^T$

As

greater than the regulation limit value the time; Be that the position deviation of monitoring station is during greater than limit value; This time of decidable positioning result has problem; Be to contain rough error in the observed reading, wherein:

$\left|\right|d\hat{X}\left|\right|=\sqrt{{\left(d{\hat{X}}_{r_1}\right)}^2+{\left(d{\hat{X}}_{r_2}\right)}^2+{\left(d{\hat{X}}_{r_3}\right)}^2}$

$=\sqrt{{({\hat{X}}_{r_1}-X_{\mathrm{true}})}^2+{({\hat{X}}_{r_2}-Y_{\mathrm{true}})}^2+{({\hat{X}}_{r_3}-Z_{\mathrm{true}})}^2}$

2) separation of monitoring station rough error

The separation of monitoring station rough error is generally handled according to a plurality of rough errors, and the disposal route of a plurality of rough errors that adopted is back-and-forth methods forward-backward, is exactly to use the data snooping of one dimension to find a plurality of rough errors continuously.

Back-and-forth method is participated in adjustment from whole n observed readings backward, carries out the data snooping of one dimension, and removes that maximum observed reading of standardized residual; Participate in adjustment with n-1 observed reading then, carry out data snooping again, go down successively, up to | W _i|＜K _αTill.The method of this excluding gross error one by one is called back-and-forth method backward; Its shortcoming is: because rough error is all influential to each observed reading; When especially having a plurality of rough error; The maximum observed reading of standardized residual does not comprise rough error probably in the first step data snooping, if it is rejected the judgement that makes the mistake probably.

Back-and-forth method forward, promptly the data from the possible no rough error of minimum begin to carry out adjustment, and remaining observed reading is thought possibly contain rough error; Then, the observed reading that possibly contain rough error is introduced one by one and is carried out adjustment in the master data, judges with statistics to make one's options: be to accept observed reading (thinking that it does not contain rough error) to get into the master data group, still refuse observed reading (think and contain rough error).The difficulty of this method is: no rough error data set choose the comparison difficulty, and the distribution of error receives this influence of choosing very big.

Back-and-forth method forward-backward; In the phase one, select backward with data snooping earlier; Finding out those suspection has the observed reading of rough error, and then confirms with back-and-forth method forward whether those observed readings under a cloud really contain rough error, or still is that the normal observation value is participated in adjustment.This method is carried out rough error and is separated relatively insurance, and it is more reliable that rough error is separated.

Through with upper type, the identification to the GNSS difference information can be realized in the monitoring station, and can circulate a notice of the availability of difference information timely and effectively to the user.But the inventor finds in research with in using: it is under the correct situation that the completeness monitoring of this monitoring station all is based on monitoring station self, judges GNSS difference information correctness.If monitoring station self goes wrong, just can't realize the completeness monitoring of difference information.When particularly carrying out the completeness monitoring simultaneously in a plurality of monitoring stations.

Summary of the invention

In view of this, the object of the present invention is to provide the autonomous completeness monitoring method of a kind of global navigation satellite system augmentation system monitoring station, be used for solving the defective that existing GNSS enhanced system can't guarantee monitoring station self accuracy.

Embodiments of the invention provide the autonomous completeness monitoring method of a kind of global navigation satellite system augmentation system monitoring station, comprising:

Each monitoring station of GNSS enhanced system receives satellite ephemeris respectively, receives the satellite original observed data;

Through communication network the original observed data of each monitoring station is transferred to master station;

Master station makes up the error equation of the many monitoring stations of single star according to the original observed data of High Precision Satellite Ephemeris and each monitoring station;

According to each monitoring station the power battle array is calculated at the differing heights angle of satellite;

Set up the error and the power battle array thereof of the many monitoring stations of many stars;

Make up normal equation, and find the solution according to error equation, satellite power battle array according to least square method;

Carry out rough error check and rough error identification based on corresponding residual error, realize the completeness autonomous monitoring of monitoring station.

The present invention is given value according to the observation data of different satellites on different monitoring stations with co-ordinates of satellite, satellite clock correction and monitoring station coordinate, is unknown parameter with the receiver clock correction of each monitoring station, calculates the rough error value that the monitoring station possibly occur.The invention provides a kind of self-examination method of brand-new monitoring station, this method has following advantage:

1, directly utilizes the monitoring station its data, need not increase equipment;

2, utilize rough error check and identification, analyze the mistake that the monitoring station possibly occur, simple and easy to do;

3, this method can be applied on the GNSS enhanced system, makes that the reliability of GNSS enhanced system is stronger, has guaranteed the rigidity of system, and being convenient to the GNSS enhanced system more is the navigation user service.

Description of drawings

Fig. 1 is the process flow diagram of the autonomous completeness monitoring method in monitoring station that provides of present embodiment.

Embodiment

For making the object of the invention, technical scheme and advantage clearer, the present invention is made further detailed description below in conjunction with accompanying drawing.

Fig. 1 is the process flow diagram of the autonomous completeness monitoring method in monitoring station that provides of present embodiment, and this method comprises:

Each monitoring station of step 101, GNSS enhanced system receives satellite ephemeris respectively, receives the satellite original observed data.GNSS enhanced system monitoring station is distributed in the working range of the network coverage, and each monitoring station conduct is the GNSS website independently, receives corresponding GNSS satellite ephemeris and original observed data separately.Satellite ephemeris was broadcast once in per two hours, can be used to calculate the satellite position coordinate.The original observation of satellite generally comprises the pseudorange observed reading, and smart sign indicating number observed reading and carrier phase observation data etc. are the basic datas of carrying out data processing.The raw data that satellite ephemeris and moonscope data are all located as GNSS.Need to prove that the satellite ephemeris of monitoring station reception here is a broadcast ephemeris, precision is relatively poor; In follow-up high accuracy data is handled; The general precise ephemeris that adopts the IGS tissue to provide, the precision of precise ephemeris can reach 5cm, and the precision of broadcast ephemeris is a 2-3 rice.

Step 102, the original observed data of each monitoring station is transferred to master station through communication network.After each monitoring station obtains raw data separately; Requirement is packed all raw data and is real-time transmitted to master station according to 1 second sampling rate; The form of data can adopt the RINEX form (Receiver Independent Exchange Format is with the irrelevant DIF of receiver) or the user-defined format of standard.

Step 103, master station receive the original observed data of each monitoring station transmission.Master station is provided with the receiving end of communication network, and large-scale computing machine and memory device, receives the original observed data that each monitoring station sends over, and receives respectively by website, stores in the different files.

Step 104, make up the error equation of the many monitoring stations of single star according to the original observed data of High Precision Satellite Ephemeris and each monitoring station.The original observed data of each monitoring station that receives according to master station utilizes the observation data of High Precision Satellite Ephemeris that the IGS tissue provides and each monitoring station to make up the error equation of the many monitoring stations of single star.High Precision Satellite Ephemeris comprises accurate satellite position coordinate and satellite clock correction thereof, because the precise ephemeris that the IGS tissue provides is 15 minutes epoch, inserts in need carrying out according to the actual conditions of data and obtains instantaneous co-ordinates of satellite and clock correction thereof.The monitoring station is as known website, and its website coordinate is known, and is high precision, generally is superior to 1cm.

The C/A sign indicating number pseudorange observation equation of general Dan Zhandan star is:

formula (1)

Wherein:

For survey station k in the pseudorange observed reading of moment i to satellite j;

Be co-ordinates of satellite, Be the survey station coordinate; Δ t _k(i) be receiver clock correction; Δ t ^j(i) be satellite clock correction; C is the light velocity; Δ t _w, Δ t _Ion, Δ t _Tro, Δ t _RelBeing respectively earth rotation correction, ionosphere correction, troposphere correction and relativity postpones.

The model that the correction that adds on the pseudorange is adopted mainly comprises: tropospheric refraction is used the Saastamoinen Model Calculation according to the meteorological element of survey station usually, and Ke Laobuxie (Klobuchar) model etc. is adopted in ionospheric refraction correction.

Because co-ordinates of satellite and satellite clock correction and monitoring station coordinate all are known, (1) formula can be confirmed the error equation of receiver clock correction through distortion:

formula (2)

Where:

is the pseudorange measurements

corresponding observation error.

With receiver clock correction is unknown number, and (2) formula can be abbreviated as:

$v_k^j\left(i\right)=\mathrm{\Δ}{t}_k\left(i\right)-l_k^j\left(i\right)$

formula (3)

When ground m this satellite of monitoring station simultaneous observation, many monitoring stations of then single star error equation is:

$V_k^j\left(i\right)=\mathrm{B\δ\; x}\left(i\right)+l\left(i\right)$ Formula (4)

In the formula: B is the design matrix of monitoring station autonomous monitoring method, is (m * 1) rank matrix; is observational error; δ x (i) is a unknown number, is monitoring station receiver clock correction; L (i) is a constant term.

$\underset{m\×m}{B}=\left[\begin{array}{cccc}1& 0& 0& 0\\ 0& 1& 0& 0\\ \·\·\·& \·\·\·& \·\·\·& \·\·\·\\ 0& 0& 0& 1\end{array}\right]$ $\underset{m,1}{\mathrm{\δ\; x}\left(i\right)}={[\mathrm{\Δ}{t}_1\left(i\right),\mathrm{\Δ}{t}_2\left(i\right),\·\·\·,{\mathrm{\Δ\; t}}_m\left(i\right)]}^T$ $\underset{m,1}{l\left(i\right)}={[l_1\left(i\right),l_2\left(i\right),\·\·\·,l_{,}\left(i\right)]}^T$ Formula (5)

Design matrix B is a unit matrix.

Step 105, the power battle array is calculated at the differing heights angle of satellite according to each monitoring station.In general GNSS single-point location, be the different corresponding same monitoring stations of satellite, according to the position calculation elevation angle and the position angle of monitoring station and satellite.In the autonomous completeness monitoring of monitoring station, be the corresponding different monitoring of same satellite station, also can be according to the position calculation elevation angle and the position angle of monitoring station and satellite.

The power battle array mainly is to weigh surely according to the satellite altitude angle, establishes when elevation angle is 90 ° and weighs maximum, is W ₀, power was minimum when elevation angle was 5 °, was 1.Suppose power with the linear variation of elevation angle, then elevation angle is that the observed reading power of E is:

$W=\frac{(W_0-1)E+90-5W_0}{85}$ Formula (6)

W ₀Value can get 3 or 4.

Then when a ground m monitoring station, during this satellite of simultaneous observation (like No. 1 star), the power battle array of the many monitoring stations of single star is:

$\underset{m\×m}{W}=\left[\begin{array}{cccc}{W}_{11}& 0& 0& 0\\ 0& W_{21}& 0& 0\\ 0& 0& \·\·\·& 0\\ 0& 0& 0& W_{m1}\end{array}\right]$ Formula (7)

Step 106, the error of setting up the many monitoring stations of many stars and power battle array thereof.

In the GNSS of reality enhanced system, be to have multi-satellite to send satellite-signal at the same time in a certain instantaneous epoch, then when m monitoring station, during simultaneous observation n satellite, the error equation of the autonomous completeness monitoring in monitoring station is:

$V_k^j\left(i\right)=\mathrm{B\δ\; x}\left(i\right)+l\left(i\right)$ Formula (8)

B is the design matrix of the autonomous completeness monitoring in a plurality of monitoring stations of multi-satellite in the formula, for (n * m) * m rank matrix; is observational error; δ x (i) is a unknown number, comprises monitoring station receiver clock correction; L (i) is a constant term.

$\underset{(n\×m)\×m}{B}=\left[\begin{array}{c}{E}_1\\ E_2\\ \\ E_n\end{array}\right]$ $\underset{m\×m}{E_i}=\left[\begin{array}{cccc}1& 0& 0& 0\\ 0& 1& 0& 0\\ \·\·\·& \·\·\·& \·\·\·& \·\·\·\\ 0& 0& 0& 1\end{array}\right]$

$\underset{m,1}{\mathrm{\δx}\left(i\right)}={[\mathrm{\Δ}{t}_1\left(i\right),\mathrm{\Δ}{t}_2\left(i\right),\·\·\·,\mathrm{\Δ}{t}_m\left(i\right)]}^T$

$\underset{n\×m,1}{l\left(i\right)}={[l_1\left(i\right),l_2\left(i\right),\·\·\·,l_{n\×m}\left(i\right)]}^T$

Formula (9)

A ground m monitoring station, the power battle array of the many monitoring stations of many stars of a simultaneous observation n satellite is:

$\underset{(n\×m)\×(n\×m)}{W}=\left[\begin{array}{cccc}{W}_1& 0& 0& 0\\ 0& W_2& 0& 0\\ 0& 0& \·\·\·& 0\\ 0& 0& 0& W_n\end{array}\right]$ Formula (10)

Wherein

$\underset{m\×m}{W_i}=\left[\begin{array}{cccc}{W}_{1i}& 0& 0& 0\\ 0& W_{2i}& 0& 0\\ 0& 0& \·\·\·& 0\\ 0& 0& 0& W_{\mathrm{Mi}}\end{array}\right]$ Formula (11)

Step 107, make up a normal equation, and find the solution according to least square method according to error equation, satellite power battle array.

Because the least square method computing formula is simple, the unknown parameter accuracy assessment is objective, so least square method is generally adopted in the calculating of unknown parameter.According to corresponding error equation, satellite power battle array makes up normal equation, then:

(B ^TWB) δ x=B ^TWl formula (12)

According to the normal equation that makes up, least square solution and precision thereof are:

δx＝(B ^TWB) ^-1B ^TWl

$D_x={\widehat{\mathrm{\σ}}}_0^2{\left(B^T\mathrm{WB}\right)}^{-1}$ Formula (13)

${\widehat{\mathrm{\σ}}}_0^2=\frac{l^T\mathrm{Wl}+l^T\mathrm{WB\δx}}{(n\×m)-m}$

Step 108, the corresponding residual error of basis are carried out rough error check and rough error identification, realize the completeness autonomous monitoring of monitoring station.

Based on monitoring station number and satellite number with abandon true probability α accordingly and receive pseudo-probability β and carry out rough error check;

Let the null hypothesis

alternative hypothesis

Cause

$P\{\frac{V^T\mathrm{PV}}{{\mathrm{\σ}}_0^2}>{\mathrm{\χ}}_{\mathrm{\α}}^2(n-4)\}=\mathrm{\δ}(\mathrm{\α},\mathrm{\β}),$

Or

P{σ ²＜k}＝δ(α，β)，

In the formula:

$k=\frac{{\mathrm{\χ}}_{\mathrm{\α},\mathrm{\β}}^2(n-4){\mathrm{\σ}}_0^2}{n-4},$

Work as σ ²During＞k, then refuse H ₀, accept H ₁Otherwise, accept H ₀

According to the rough error check,, just need and handle rough error identification if there is rough error in judgement.The separation of monitoring station autonomous monitoring rough error can be handled according to a plurality of rough errors, can use the method for one dimension elimination of rough difference repeatedly.

Participate in adjustment from whole n * m observed readings, carry out the data snooping of one dimension, and remove that maximum observed reading of standardized residual.Use n * m-1 observed reading to participate in adjustment then, carry out data snooping again, go down successively, up to | W _i|＜K _αTill, can draw minimum no rough error observed reading group like this.The rough error back substitution error equation that possibly exist then carries out adjustment again, confirms last rough error observed reading, confirms that promptly there is rough error in which monitoring station.

In a word, the above is merely preferred embodiment of the present invention, is not to be used to limit protection scope of the present invention.

Claims (6)

1. the autonomous completeness monitoring method of a global navigation satellite system GNSS enhanced system monitoring station is characterized in that, comprising:

Each monitoring station of GNSS enhanced system receives satellite ephemeris respectively, receives the satellite original observed data;

Through communication network the original observed data of each monitoring station is transferred to master station;

Master station makes up the error equation of the many monitoring stations of single star according to the original observed data of High Precision Satellite Ephemeris and each monitoring station;

According to each monitoring station the power battle array is calculated at the differing heights angle of satellite;

Set up the error and the power battle array thereof of the many monitoring stations of many stars;

Make up normal equation, and find the solution according to error equation, satellite power battle array according to least square method;

Carry out rough error check and rough error identification based on corresponding residual error, realize the completeness autonomous monitoring of monitoring station.

2. method according to claim 1 is characterized in that, said original observed data with each monitoring station is transferred to master station and specifically comprises:

After each monitoring station obtains original observed data separately, all original observed data are real-time transmitted to master station according to the packing of 1 second sampling rate, the form of data adopts standard format or user-defined format.

3. method according to claim 1 and 2 is characterized in that, the error equation of the many monitoring stations of single star of said structure is specially:

$V_k^j\left(i\right)=\mathrm{B\δx}\left(i\right)+l\left(i\right)$

Wherein, B is the design matrix of monitoring station autonomous monitoring method; Be m * m rank matrix,

is observational error, and δ x (i) is a unknown number; Be monitoring station receiver clock correction, l (i) is a constant term;

$\underset{n\×m}{B}=\left[\begin{array}{cccc}1& 0& 0& 0\\ 0& 1& 0& 0\\ ...& ...& ...& ...\\ 0& 0& 0& 1\end{array}\right]$ $\underset{m,1}{\mathrm{\δx}\left(i\right)}={[{\mathrm{\Δt}}_1\left(i\right),{\mathrm{\Δt}}_2\left(i\right),\·\·\·,{\mathrm{\Δt}}_m\left(i\right)]}^T$ $\underset{m,1}{l\left(i\right)}={[l_1\left(i\right),l_2\left(i\right),\·\·\·,l_m\left(i\right)]}^T$

Design matrix B is a unit matrix, and m representes the number of monitoring station.

4. method according to claim 1 and 2 is characterized in that, saidly according to each monitoring station the power battle array is calculated at the differing heights angle of satellite and is specifically comprised:

Power was maximum when the setting height angle was 90 °, was W ₀, power was minimum when elevation angle was 5 °, was 1; Suppose power with the linear variation of elevation angle, then elevation angle is that the observed reading power of E is:

$W=\frac{(W_0-1)E+90-{5W}_0}{85}$

Then when a ground m monitoring station, during this satellite of simultaneous observation, the power battle array of the many monitoring stations of single star is:

$\underset{m\×m}{W}=\left[\begin{array}{cccc}{W}_{11}& 0& 0& 0\\ 0& W_{21}& 0& 0\\ 0& 0& ...& 0\\ 0& 0& 0& W_{m1}\end{array}\right].$

5. method according to claim 1 and 2 is characterized in that, said error and the power battle array thereof of setting up the many monitoring stations of many stars specifically comprises:

When m monitoring station, during simultaneous observation n satellite, the error equation of the autonomous completeness monitoring in monitoring station is:

$V_k^j\left(i\right)=\mathrm{B\δx}\left(i\right)+l\left(i\right)$

Wherein B is the design matrix of the autonomous completeness monitoring in a plurality of monitoring stations of multi-satellite; For (n * m) * m rank matrix;

is observational error; δ x (i) is a unknown number, comprises monitoring station receiver clock correction, and l (i) is a constant term;

$\underset{(n\×m)\×m}{B}=\left[\begin{array}{c}{E}_1\\ E_2\\ \\ E_n\end{array}\right]$ $\underset{m\×m}{E_i}=\left[\begin{array}{cccc}1& 0& 0& 0\\ 0& 1& 0& 0\\ ...& ...& ...& ...\\ 0& 0& 0& 1\end{array}\right]$

$\underset{m,1}{\mathrm{\δx}\left(i\right)}={[{\mathrm{\Δt}}_1\left(i\right),{\mathrm{\Δt}}_2\left(i\right),\·\·\·,{\mathrm{\Δt}}_m\left(i\right)]}^T$

$\underset{n\×m,1}{l\left(i\right)}={[l_1\left(i\right),l_2\left(i\right),\·\·\·,l_{n\×m}\left(i\right)]}^T$

A ground m monitoring station, the power battle array of the many monitoring stations of many stars of a simultaneous observation n satellite is:

$\underset{(n\×m)\×(n\×m)}{W}=\left[\begin{array}{cccc}{W}_1& 0& 0& 0\\ 0& W_2& 0& 0\\ 0& 0& ...& 0\\ 0& 0& 0& W_n\end{array}\right]$

Wherein

$\underset{m\×m}{W_i}=\left[\begin{array}{cccc}{W}_{1i}& 0& 0& 0\\ 0& W_{2i}& 0& 0\\ 0& 0& ...& 0\\ 0& 0& 0& W_{\mathrm{mi}}\end{array}\right].$

6. method according to claim 1 and 2 is characterized in that, saidly makes up a normal equation according to error equation, satellite power battle array, and finds the solution specifically according to least square method and to comprise:

Make up normal equation according to error equation, satellite power battle array, then normal equation is:

(B ^TWB)δx＝B ^TWl

According to making up normal equation, least square solution and precision thereof are:

δx＝(B ^TWB) ^-1B ^TWl

$D_x={\widehat{\mathrm{\σ}}}_0^2{\left(B^T\mathrm{WB}\right)}^{-1}$

${\widehat{\mathrm{\σ}}}_0^2=\frac{l^T\mathrm{Wl}+l^T\mathrm{WB\δx}}{(n\×m)-m}$

B is the design matrix of the autonomous completeness monitoring in a plurality of monitoring stations of multi-satellite, for (n * m) * m rank matrix; W is the power battle array of the many monitoring stations of many stars; δ x is a unknown number, comprises monitoring station receiver clock correction; L is a constant term; M is a said monitoring station number; N is the number of satellites of simultaneous observation.

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