CN101839986A - Satellite navigation monitoring method and system based on LAAS (Local Area Augmentation System) and WAAS (Wide Area Augmentation System) - Google Patents

Abstract

The invention provides satellite navigation monitoring method and system based on an LAAS (Local Area Augmentation System) and a WAAS (Wide Area Augmentation System). The method comprises the steps of: receiving navigation satellite signals by an LAAS receiver, and receiving wide area augmentation system signals by a WAAS receiver; respectively acquiring the navigation satellite signals and the wide area augmentation system signals received by each receiver by a satellite navigation monitoring device; respectively acquiring local pseudo-range correction values and wide pseudo-range correction values of each positioning satellite according to the navigation satellite signals and the wide area augmentation system signals; then respectively acquiring estimated wide area network error correction values of each positioning satellite according to the local pseudo-range correction values and the wide pseudo-range correction values of each positioning satellite; and carrying the estimated wide area network error correction values of each positioning satellite in local navigation parameters to be broadcast to an onboard user device so that the onboard user device judges the usability of the satellite navigation device according to the received local navigation parameters.

Description

Satellite navigation monitoring method and system based on LAAS and WAAS

Technical field

The embodiment of the invention relates to the satellite navigation technology, relates in particular to a kind of satellite navigation monitoring method and system based on LAAS and WAAS.

Background technology

Existing satellite navigation system on coverage, can be divided into Wide Area Augmentation System (WideArea Augmentation System; Be called for short: WAAS) and Local Area Augmentation System (Local AreaAugmentation System; Be called for short LAAS).Wherein, WAAS is used for GPS (Global Positioning System; Be called for short: GPS) error source of observed quantity is distinguished, and to each error source in addition " modelling " respectively, the error correction values of each error source that will calculate is broadcast to the user by the data communication chain then, thereby make user's receiver correct observational error according to the error correction values that receives, reaching the influence that weakens error source, and then improve user's locating accuracy.

LAAS mainly comprises terrestrial reference station, airborne differential GPS receiving equipment and data chainning.LASS mainly is arranged on the traffic pattern, is used for precision approach and landing to aircraft.Wherein, LAAS is at ground integrity test (Integrity Monitoring Test; Be called for short: used quality of data monitoring (Data Quality Monitoring IMT); Be called for short: DQM), measure quality monitoring (MeasurementQuality Monitoring; Be called for short: MQM), signal quality monitoring (Signal QualityMonitoring; Be called for short: SQM), and the supervision enforcement of judgment execute a judgement (ExecutiveMonitoring in two stages; Be called for short: a series of measures such as EXM).Thereby make that under normal circumstances, LAAS improves greatly in bearing accuracy, and to make integrity, continuity and availability also arrive C be that the grade of service (GSL C) even E are the standard of the grade of service (GSL E).

But, though the precision of WAAS has satisfied I class precision approach (CAT I), can not satisfy II class precision approach (CAT II) and III class precision approach (CAT III), its integrity also can't satisfy I class precision approach (CAT I); The monitoring range of LAAS is limited simultaneously, and especially when anomalous of the ionosphere took place, the performance of LAAS can reduce greatly.

Summary of the invention

The embodiment of the invention provides a kind of satellite navigation monitoring method and system based on LAAS and WAAS, improving the monitoring range of satellite navigation system, thereby has improved the defensive ability/resistance ability to ionospheric storm.

The embodiment of the invention provides a kind of satellite navigation monitoring method based on LAAS and WAAS, comprising:

The LAAS receiver receives navigation satellite signal, and the WAAS receiver receives the Wide Area Augmentation System signal;

The satellite navigation monitoring device obtains navigation satellite signal and the Wide Area Augmentation System signal that each receiver receives respectively;

Described satellite navigation monitoring device obtains the local pseudo-range corrections value and the wide area pseudo-range corrections value of each position location satellite respectively according to described navigation satellite signal and Wide Area Augmentation System signal;

Described satellite navigation monitoring device obtains the estimation waas correction error amount of each described position location satellite respectively according to the local pseudo-range corrections value and the wide area pseudo-range corrections value of each described position location satellite;

Described satellite navigation monitoring device is carried at the described estimation wide area error correction value of each described position location satellite and broadcasts in the local navigational parameter to airborne user's set, judges the availability of described Satellite Navigation Set according to the described local navigational parameter that receives for described airborne user's set.

The embodiment of the invention provides a kind of satellite navigation monitoring system based on LAAS and WAAS, comprises LAAS receiver, WAAS receiver, satellite navigation monitoring device and airborne user's set, wherein,

Described LAAS receiver is used to receive navigation satellite signal, and described WAAS receiver is used to receive the Wide Area Augmentation System signal;

Described satellite navigation monitoring device comprises:

Signal acquisition module is used for obtaining respectively navigation satellite signal and the Wide Area Augmentation System signal that each receiver receives;

The corrected value acquisition module is used for according to described navigation satellite signal and Wide Area Augmentation System signal,

Obtain the local pseudo-range corrections value and the wide area pseudo-range corrections value of each position location satellite respectively;

Estimate the corrected error value acquisition module, be used for local pseudo-range corrections value and wide area pseudo-range corrections value, obtain the estimation waas correction error amount of each described position location satellite respectively according to each described position location satellite;

Sending module, be used for described estimation wide area error correction value with each described position location satellite and be carried at the local navigational parameter and broadcast, judge the availability of described Satellite Navigation Set for described airborne user's set according to the described local navigational parameter that receives to described airborne user's set.

The satellite navigation monitoring method and the system based on LAAS and WAAS of the embodiment of the invention, receive navigation satellite signal by the LAAS receiver, the WAAS receiver receives the Wide Area Augmentation System signal, the satellite navigation monitoring device obtains the local pseudo-range corrections value and the wide area pseudo-range corrections value of each position location satellite respectively respectively according to the navigation satellite signal and the Wide Area Augmentation System signal of each receiver that obtains; And, obtain the estimation waas correction error amount of each position location satellite respectively according to this local pseudo-range corrections value and wide area pseudo-range corrections value; And the wide area error correction value of each position location satellite is carried in the local navigational parameter, broadcasts to airborne user's set, judge the availability of Satellite Navigation Set according to the local navigational parameter that receives for airborne user's set.Because this Satellite Navigation Set receives navigation satellite signal and Wide Area Augmentation System signal simultaneously, thereby improved the estimated accuracy of estimating the waas correction error amount, and then enlarged the monitoring range of Satellite Navigation Set, and effectively raise defensive ability/resistance ability to ionospheric storm.

Description of drawings

In order to be illustrated more clearly in the embodiment of the invention or technical scheme of the prior art, to do one to the accompanying drawing of required use in embodiment or the description of the Prior Art below introduces simply, apparently, accompanying drawing in describing below is some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.

Fig. 1 is the process flow diagram that the present invention is based on the embodiment of satellite navigation monitoring method of LAAS and WAAS;

Fig. 2 is the process flow diagram that the present invention is based on another embodiment of satellite navigation monitoring method of LAAS and WAAS;

Fig. 3 is the structural representation that the present invention is based on the embodiment of satellite navigation monitoring system of LAAS and WAAS;

Fig. 4 is the structural representation that the present invention is based on another embodiment of satellite navigation monitoring system of LAAS and WAAS.

Embodiment

For the purpose, technical scheme and the advantage that make the embodiment of the invention clearer, below in conjunction with the accompanying drawing in the embodiment of the invention, technical scheme in the embodiment of the invention is clearly and completely described, obviously, described embodiment is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills belong to the scope of protection of the invention not making the every other embodiment that is obtained under the creative work prerequisite.

Fig. 1 is the process flow diagram that the present invention is based on the embodiment of satellite navigation monitoring method of LAAS and WAAS, and as shown in Figure 1, the method for present embodiment comprises:

Step 101, LAAS receiver receive navigation satellite signal, and the WAAS receiver receives the Wide Area Augmentation System signal.

In the present embodiment, the receiver at terrestrial reference station receives navigation satellite signal and Wide Area Augmentation System signal.Wherein, navigation satellite signal specifically can comprise the signal and global navigation satellite device (the Global Navigation Satellite System of the satellites transmits in the GPS constellation; Abbreviation GLONASS) signal of the satellites transmits in the constellation; The Wide Area Augmentation System signal is specifically as follows geosynchronous satellite (Geostationary Orbit; Hereinafter to be referred as GEO) signal of satellites transmits.Need to prove that the receiver in the various embodiments of the present invention can comprise two kinds of receivers, a kind of is the LAAS receiver, is used to receive navigation satellite signal, and another kind is the WAAS receiver, is used to receive the Wide Area Augmentation System signal.Need to prove that the WAAS receiver can also be used to receive navigation satellite signal.Simultaneously, present embodiment does not limit the number of receiver in the base station of ground, and receiver can be one or more.Receiver number M in the various embodiments of the present invention, M is generally 1-4.

Step 102, satellite navigation monitoring device obtain navigation satellite signal and the Wide Area Augmentation System signal that each receiver receives respectively.

Step 103, satellite navigation monitoring device obtain the local pseudo-range corrections value and the wide area pseudo-range corrections value of each position location satellite respectively according to navigation satellite signal and Wide Area Augmentation System signal.

In the present embodiment, according to navigation satellite signal, the specific implementation of obtaining local pseudo-range corrections value is: the earth's core body-fixed coordinate system (the Earth-Centered Earth-Fixed that at first calculates N position location satellite according to the ephemeris parameter of the navigation message in the navigation satellite signal; Be called for short ECEF) coordinate figure, and obtain the precise position information of each receiver, again the precise position information of this receiver is converted to the ECEF coordinate figure of receiver.According to the ECEF coordinate figure of the ECEF coordinate figure of receiver and corresponding with it position location satellite, calculate the distance between every position location satellite of each receiver and each receiver correspondence respectively.From navigation satellite signal, obtain the pseudorange observed reading and the carrier phase observation data of each position location satellite correspondence more respectively, and, the pseudorange observed reading is carried out smoothing processing, to obtain the pseudorange observed reading behind each position location satellite level and smooth according to carrier phase observation data.According to the pseudorange observed reading behind the position location satellite of the distance between the position location satellite of each receiver and each receiver correspondence and each receiver correspondence level and smooth, obtain the local pseudo-range corrections value of every position location satellite of each receiver correspondence again.

In the present embodiment, according to the Wide Area Augmentation System signal, the specific implementation of obtaining wide area pseudo-range corrections value is: according to the information of WAAS text Class1 0 in the Wide Area Augmentation System signal, calculate the long-term clock correction value of wide area of position location satellite; Standard (Radio Technical Commission for Aeronautics according to RTCA; Abbreviation RTCA) the wide area tropospheric correction value of method that provides and the Model Calculation position location satellite that provides among the DO-229D; According to the information in WAAS text Class1 8 and 26, the wide area ionosphere corrections value of compute location satellite; According to WAAS text type 2-5, information in 7,24, the quick error correction value of compute location satellite wide area, and with the long-term clock correction value of wide area, wide area tropospheric correction value, wide area ionosphere corrections value and the quick error correction value addition of wide area, to obtain wide area pseudo-range corrections value.

Need to prove that the satellite that the terrestrial reference station can be selected can observe from GLONASS (Global Navigation Satellite System) is as position location satellite, present embodiment does not limit a number of position location satellite, and position location satellite can also can be many for one.Position location satellite in the various embodiments of the present invention can be N, and N can be specially 5-8.

Step 104, satellite navigation monitoring device are obtained the estimation waas correction error amount of each position location satellite respectively according to the local pseudo-range corrections value and the wide area pseudo-range corrections value of each position location satellite.

In the present embodiment, because wide area pseudo-range corrections value is by the quick error correction value of position location satellite wide area, and with the long-term clock correction value of wide area, wide area tropospheric correction value, the quick error correction value addition calculation of wide area ionosphere corrections value and wide area draws, therefore according to local pseudo-range corrections value and this wide area pseudo-range corrections value, ionospheric storm is monitored in the estimation waas correction error amount that calculates, thereby make the monitoring range of the relative LAAS of monitoring range of Satellite Navigation Set enlarge, and then effectively improved and estimated the estimated accuracy of waas correction error amount, and improved the defensive ability/resistance ability of ionospheric storm.

Step 105, satellite navigation monitoring device are carried at the estimation wide area error correction value of each position location satellite and broadcast in the local navigational parameter to airborne user's set, judge the availability of Satellite Navigation Set according to the local navigational parameter that receives for airborne user's set.

In the present embodiment, the local navigational parameter can comprise the EFFECTIVE RANGE etc. of standard deviation, ionosphere spatial gradient, troposphere coefficient of divergence and the navigational system of local pseudo-range corrections value.Concrete, the ground monitoring protected level comprises vertical ground monitoring and protecting level and side direction ground monitoring and protecting level.Alarming threshold comprises vertical alarming threshold and side direction alarming threshold.With the vertical direction is example, and vertical ground monitoring and protecting level compares with vertical alarming threshold, when the comparative result that obtains when being vertical ground monitoring and protecting level less than vertical alarming threshold, then judges Satellite Navigation Set and is in normal operating condition.When the comparative result that obtains when being vertical ground monitoring and protecting level greater than vertical alarming threshold, then Satellite Navigation Set can send warning, so that airborne user enables other Satellite Navigation Sets.

In the present embodiment, receive navigation satellite signal by the LAAS receiver, the WAAS receiver receives the Wide Area Augmentation System signal, the satellite navigation monitoring device is respectively according to the navigation satellite signal and the Wide Area Augmentation System signal of each receiver of obtaining, obtain the local pseudo-range corrections value and the wide area pseudo-range corrections value of every position location satellite respectively, and, obtain the estimation waas correction error amount of every position location satellite respectively according to this local pseudo-range corrections value and wide area pseudo-range corrections value; And the wide area error correction value of each position location satellite is carried in the local navigational parameter, broadcasts to airborne user's set, judge the availability of Satellite Navigation Set according to the local navigational parameter that receives for airborne user's set.Because this Satellite Navigation Set receives navigation satellite signal and Wide Area Augmentation System signal simultaneously, thereby improved the estimated accuracy of estimating the waas correction error amount, and then enlarged the monitoring range of Satellite Navigation Set, and effectively raise defensive ability/resistance ability to ionospheric storm.

Further, Fig. 2 is the process flow diagram that the present invention is based on another embodiment of satellite navigation monitoring method of LAAS and WAAS, and as shown in Figure 2, a kind of specific implementation of satellite navigation monitoring method of the present invention is:

Step 201, LAAS receiver receive navigation satellite signal, and the WAAS receiver receives the Wide Area Augmentation System signal.

Step 202, satellite navigation monitoring device obtain navigation satellite signal and the Wide Area Augmentation System signal that each receiver receives respectively.

Step 203, satellite navigation monitoring device are according to the distance of obtaining the position location satellite of receiver correspondence

Concrete, calculate the ECEF coordinate figure of N position location satellite according to the ephemeris parameter of the navigation message in the navigation satellite signal, and obtain the precise position information of each receiver, again the precise position information of this receiver is converted to the ECEF coordinate figure of receiver.According to the ECEF coordinate figure of every position location satellite of the ECEF coordinate figure of each receiver and each receiver correspondence, calculate the distance of every position location satellite of each receiver and each receiver correspondence respectively

Need to prove, there is error in the ECEF coordinate figure that calculates N position location satellite according to the ephemeris parameter of the navigation message in the navigation satellite signal, also can there be small measuring error in the exact position of the receiver that obtains simultaneously, therefore, and the distance between position location satellite and the receiver

It is not the actual distance of every position location satellite of each receiver and each receiver correspondence.

Step 204, according to navigation satellite signal, obtain the local pseudorange observed reading and the local carrier wave observed reading of each position location satellite respectively, and application of formula (1):

$R_{\mathrm{si}}^j\left(k\right)=\frac{1}{N_S}{R}_i^j\left(k\right)+\frac{N_s-1}{N_s}(R_{\mathrm{si}}^j(k-1)+{\mathrm{\φ}}_i^j\left(k\right)-{\mathrm{\φ}}_i^j(k-1))---\left(1\right)$

Obtain the local pseudorange observed reading behind each position location satellite level and smooth respectively

Wherein, k represents epoch,

τ _sThe expression time constant filter, T _sThe measurement of expression local pseudorange observed reading at interval;

Expression local pseudorange observed reading,

Expression local carrier wave observed reading; M represents the receiver number, 1≤i≤M; N represents a position location satellite number, 1≤j≤N;

Step 205, according to distance

With the local pseudorange observed reading behind position location satellite level and smooth

Application of formula (2):

${\mathrm{PR}}_{\mathrm{Li}}^j=R_{\mathrm{turei}}^j-R_{\mathrm{Si}}^j---\left(2\right)$

Obtain the local pseudo-range corrections value of each position location satellite respectively

Step 206, according to the long-term clock correction value of wide area, wide area tropospheric correction value, wide area ionosphere corrections value and the quick error correction value of wide area from the Wide Area Augmentation System signal, obtained, obtain the wide area pseudo-range corrections value of each position location satellite respectively

Step 207, according to the local pseudo-range corrections value of position location satellite

With wide area pseudo-range corrections value Adopt formula (3):

${\widehat{\mathrm{\δ}}}_i^j={\mathrm{PR}}_{\mathrm{wi}}^j-{\mathrm{PR}}_{\mathrm{Li}}^j---\left(3\right)$

Obtain the estimation waas correction error amount of each position location satellite respectively

In the present embodiment, suppose that real pseudo-range corrections value is

The measurement noise of local monitor is

And receiver clock correction valuation

Local pseudo-range corrections value then

Can also be as shown in Equation (4):

${\mathrm{PR}}_{\mathrm{Li}}^j=T_i^j+b_i^j+{\mathrm{\ϵ}}_i^j---\left(4\right)$

For a certain receiver, the LAAS receiver clock correction valuation of the N that this receiver a receives position location satellite Be identical, therefore can establish

Again because this receiver clock correction valuation

Obtain for the user can be averaged by the pseudorange difference to N position location satellite, therefore, can also establish the valuation of LAAS receiver clock correction

Be 0, thereby make formula (4) become formula (5):

${\mathrm{PR}}_{\mathrm{Li}}^j=T_i^j+{\mathrm{\ϵ}}_i^j---\left(5\right)$

In addition, for wide area pseudo-range corrections value Can also be as shown in Equation (6):

${\mathrm{PR}}_{\mathrm{wi}}^j=T_i^j+B_i^j+{\mathrm{\δ}}_i^j---\left(6\right)$

Wherein,

Be true waas correction error amount;

Be the valuation of WAAS receiver clock correction.For a certain receiver, the WAAS receiver clock correction valuation of the N that this receiver a receives position location satellite Be identical, therefore can establish

Again because this WAAS receiver clock correction valuation

Obtain for the user can be averaged by the pseudorange difference to N position location satellite, therefore, can also establish the valuation of receiver clock correction

Be 0, thereby make formula (6) become formula (7):

${\mathrm{PR}}_{\mathrm{wi}}^j=T_i^j+{\mathrm{\δ}}_i^j---\left(7\right)$

According to formula (3), (5) and (7), calculate formula (8):

${\mathrm{\δ}}_i^j={\widehat{\mathrm{\δ}}}_i^j+{\mathrm{\ϵ}}_i^j---\left(8\right)$

Based on above-mentioned analysis as can be known, true waas correction error amount is by measuring noise

With estimation waas correction error amount

Form.Simultaneously, suppose to measure noise

Obey average and be 0, the standard deviation of local pseudo-range corrections value

The Gaussian distribution prerequisite under, then true waas correction error amount

With estimation waas correction error amount

Satisfy:

$P\left({\mathrm{\δ}}_i^j\right|{\widehat{\mathrm{\δ}}}_i^j)=N({\widehat{\mathrm{\δ}}}_i^j,{\mathrm{\σ}}_{\mathrm{Li}}^j)---\left(9\right)$

Wherein, As shown in Equation (10):

${\mathrm{\σ}}_{\mathrm{Li}}^j=\sqrt{\frac{{(a_0+a_1{e}^{-{\mathrm{\θ}}_i^j/{\mathrm{\θ}}_0})}^2}{M}}+a_2^2+{\left(\frac{a_3}{\sin \left({\mathrm{\θ}}_i^j\right)}\right)}^2---\left(10\right)$

Wherein, a ₀, a ₁, a ₂, a ₃And θ ₀Represent the parameter relevant with receiver performance.

Step 208, with the estimation wide area error correction value of each position location satellite

Be carried at and broadcast in the local navigational parameter, judge the availability of Satellite Navigation Set for airborne user's set according to the local navigational parameter that receives to airborne user's set.

Further, step 208 comprises:

Step 2081, according to the local navigational parameter, obtain the ground monitoring protected level.

Concrete, the ground monitoring protected level comprises vertical ground monitoring and protecting level and side direction ground monitoring and protecting level.Wherein, a kind of specific implementation of vertical ground monitoring and protecting level and side direction ground monitoring and protecting level is:

According to the local navigational parameter, and adopt formula (11):

${\mathrm{VPL}}_{\mathrm{WLS}}=K\sqrt{\underset{j=1}{\overset{N}{\mathrm{\Σ}}}{S}_v^2\left(j\right){\mathrm{\σ}}_{\mathrm{tot}}^2\left(j\right)}+\left|\underset{j=1}{\overset{N}{\mathrm{\Σ}}}{S}_v\left(\text{j}\right){\mathrm{\δ}}_j^{\$}\right|---\left(11\right)$

Obtain the vertical protected level VPL of Satellite Navigation Set _WLS

Wherein, K is a dilution of precision; N is a number of position location satellite; S _v(j) transition matrix of expression from pseudo-local to locator field; σ _Tot(j) be total standard deviation that the user calculates at j position location satellite;

Mean value for the waas correction error estimator of M receiver.

Concrete, the concrete computing method of dilution of precision K are:

Application of formula (12) and formula (13):

K＝Q ^-1(P _HMI-ff/2) (12)

$Q\left(x\right)=\frac{1}{\sqrt{2\mathrm{\π}}}{\∫}_x^{\∞}{e}^{-\frac{t^2}{2}}\mathrm{dt}---\left(13\right)$

Obtain dilution of precision K.Wherein, P _HMI-ffBe the integrity value-at-risk of terrestrial reference station when not having the receiver fault.This value can adopt minimum air line performance standard (the Minimum AviationSystem Performance Standards of LAAS; Abbreviation MASPS) value that provides among the DO-245A.

Pseudo-local is to the transition matrix S of locator field _v(j) computing method are:

Application of formula (14):

S _v(j)＝S _z(j)+S _x(j)*tanθ _GS (14)

Obtain the transition matrix S of pseudo-local to locator field _v(j).Wherein, S _z(j) and S _x(j) represent in the s-matrix j column element with z direction and x directional correlation respectively, θ _GSIt is near angle of glide.

σ _Tot(j) expression formula can be as shown in Equation (15):

${\mathrm{\σ}}_{\mathrm{tot}}^2\left(j\right)={\left({\mathrm{\σ}}_{\mathrm{Lj}}\right)}^2+{\left({\mathrm{\σ}}_{\mathrm{air},j}\right)}^2+{\left({\mathrm{\σ}}_{\mathrm{iono},j}\right)}^2+{\left({\mathrm{\σ}}_{\mathrm{trop},j}\right)}^2---\left(15\right)$

Wherein, σ _{Air, j}The standard deviation that refers to multipath and thermal noise error; σ _{Iono, j}The standard deviation that refers to ionospheric error; σ _{Trop, j}Refer to the standard deviation of tropospheric error, their concrete computing formula can be with reference to the MASPS DO-245A of LAAS.σ _LjFor M receiver Mean value, as shown in Equation (16):

${\mathrm{\σ}}_{\mathrm{Lj}}=\frac{\underset{i=1}{\overset{M}{\mathrm{\Σ}}}{\mathrm{\σ}}_{\mathrm{Li}}^j}{M}---\left(16\right)$

As shown in Equation (10):

${\mathrm{\σ}}_{\mathrm{Li}}^j=\sqrt{\frac{{(a_0+a_1{e}^{-{\mathrm{\θ}}_i^j/{\mathrm{\θ}}_0})}^2}{M}}+a_2^2+{\left(\frac{a_3}{\sin \left({\mathrm{\θ}}_i^j\right)}\right)}^2---\left(10\right)$

Wherein, a ₀, a ₁, a ₂, a ₃And θ ₀Represent the parameter relevant with receiver performance.

The mean value of the waas correction error estimator of M receiver As shown in Equation (17):

${\widehat{\mathrm{\δ}}}_j=\frac{\underset{i=1}{\overset{M}{\mathrm{\Σ}}}{\widehat{\mathrm{\δ}}}_i^j}{M}---\left(17\right)$

According to the local navigational parameter, and adopt formula (18):

${\mathrm{LPL}}_{\mathrm{WLS}}=K\sqrt{\underset{j=1}{\overset{N}{\mathrm{\Σ}}}{S}_L^2\left(j\right){\mathrm{\σ}}_{\mathrm{tot}}^2\left(j\right)}+\left|\underset{j=1}{\overset{N}{\mathrm{\Σ}}}{S}_L\left(j\right){\mathrm{\δ}}_j^{\$}\right|---\left(18\right)$

Obtain the side direction protected level LPL of Satellite Navigation Set _WLS

Wherein, pseudo-local is to the transition matrix S of locator field _L(j) computing method are:

Application of formula (19):

S _L(j)＝S _y(j) (19)

Obtain the transition matrix S of pseudo-local to locator field _L(j).Wherein, S _y(j) represent in the s-matrix j column element with the y directional correlation.

According to the local navigational parameter, and adopt formula (20):

${\mathrm{VEB}}_j=\left|S_v\left(j\right)\right|{\mathrm{\χ}}_{\mathrm{air}}{P}_j+K_{\mathrm{md}\_e}\sqrt{\underset{i=1}{\overset{M}{\mathrm{\Σ}}}{S}_v{\left(j\right)}^2{\mathrm{\σ}}_{\mathrm{tot}}^2\left(j\right)}---\left(20\right)$

Obtain the vertical ephemeris protected level VEB of every position location satellite _j

Wherein, χ _AirBe the distance between airborne user's set and the terrestrial reference station, unit is a rice; P _jBe the ephemeris correlation parameter, be carried in the Navsat parameter and broadcast to airborne user's set by the terrestrial reference station; K _{Md_e}The pairing false dismissal probability coefficient of integrity value-at-risk when single position location satellite breaks down, its computing method are identical with the computing method of K in the step 207.Do not repeat them here.

Need to prove the vertical ephemeris protected level VEB of every position location satellite _jMaximal value be the vertical ephemeris protected level VEB of Navsat enhanced system, shown in formula (21):

VEB＝max(VEB _j) (21)

According to the local navigational parameter, and adopt formula (22):

${\mathrm{LEB}}_j=\left|S_L\left(j\right)\right|{\mathrm{\χ}}_{\mathrm{air}}{P}_j+K_{\mathrm{md}\_e}\sqrt{\underset{i=1}{\overset{M}{\mathrm{\Σ}}}{S}_L{\left(j\right)}^2{\mathrm{\σ}}_{\mathrm{tot}}^2\left(j\right)}---\left(22\right)$

Obtain the side direction ephemeris protected level LEB of every position location satellite _j

Need to prove the side direction ephemeris protected level LEB of every position location satellite _jMaximal value be the side direction ephemeris protected level LEB of Navsat enhanced system, shown in formula (23):

LEB＝max(LEB _j) (23)

Vertical protected level VPL according to Satellite Navigation Set _WLS, Satellite Navigation Set side direction protected level LPL _WLS, the vertical ephemeris protected level VEB of Navsat enhanced system and the side direction ephemeris protected level LEB of Navsat enhanced system, and adopt formula (24) and formula (25):

VPL＝max(VPL _WLS，VEB) (24)

LPL＝max(VPL _WLS，LEB) (25)

Obtain vertical ground monitoring and protecting level VPL and side direction ground monitoring and protecting level LPL.

Step 2082, ground monitoring protected level and preset alarm thresholding are compared, obtain comparative result, and judge the availability of Satellite Navigation Set according to comparative result.

Concrete, the ground monitoring protected level comprises vertical ground monitoring and protecting level and side direction ground monitoring and protecting level.Alarming threshold comprises vertical alarming threshold and side direction alarming threshold.With the vertical direction is example, and vertical ground monitoring and protecting level compares with vertical alarming threshold, when the comparative result that obtains when being vertical ground monitoring and protecting level less than vertical alarming threshold, then judges Satellite Navigation Set and is in normal operating condition.When the comparative result that obtains when being vertical ground monitoring and protecting level greater than vertical alarming threshold, then Satellite Navigation Set can send warning, so that airbornely be used to enable other Satellite Navigation Sets.

Need to prove that it is identical that the method that side direction ground monitoring and protecting level and side direction alarming threshold compare and vertical ground monitoring and protecting level and vertical alarming threshold compare method, do not repeat them here.

In the present embodiment,, obtain the ground monitoring protected level, and ground monitoring and protecting level and preset alarm thresholding are compared, to judge the availability of Satellite Navigation Set according to comparative result by according to the local navigational parameter that receives.Because comprising, this local navigational parameter estimates the waas correction error amount, comprise in this wide area error correction value ionospheric storm is monitored accurately, thereby improved the estimated accuracy of estimating the waas correction error amount, and then enlarged the monitoring range of Satellite Navigation Set, and effectively raise defensive ability/resistance ability to ionospheric storm.

Fig. 3 is the structural representation that the present invention is based on the embodiment of satellite navigation monitoring system of LAAS and WAAS, as shown in Figure 3, the system of present embodiment comprises: LAAS receiver 11, WAAS receiver 12, satellite navigation monitoring device 13 and airborne user's set 14.Wherein, LAAS receiver 11 receives navigation satellite signal; WAAS receiver 12 receives the Wide Area Augmentation System signal.Satellite navigation monitoring device 13 comprises signal acquisition module 131, corrected value acquisition module 132, estimates corrected error value acquisition module 133 and sending module 134.

Concrete, signal acquisition module 131 is used for obtaining respectively the navigation satellite signal and the Wide Area Augmentation System signal of each receiver; Corrected value acquisition module 132 is used for according to navigation satellite signal and Wide Area Augmentation System signal, obtains the local pseudo-range corrections value and the wide area pseudo-range corrections value of every position location satellite respectively; Estimate local pseudo-range corrections value and wide area pseudo-range corrections value that corrected error value acquisition module 133 is used for according to each position location satellite, obtain the estimation waas correction error amount of each position location satellite respectively; Sending module 134 is used for estimation wide area error correction value with each position location satellite and is carried at the local navigational parameter and broadcasts to airborne user's set, judges the availability of Satellite Navigation Set according to the local navigational parameter that receives for airborne user's set.

Present embodiment can be used to carry out the technical scheme of method embodiment shown in Figure 1 based on the satellite navigation system of LAAS and WAAS, it realizes that principle is similar, repeats no more herein.

In the present embodiment, receive navigation satellite signal by the LAAS receiver, the WAAS receiver receives the Wide Area Augmentation System signal, the satellite navigation monitoring device is respectively according to the navigation satellite signal and the Wide Area Augmentation System signal of each receiver of obtaining, obtain the local pseudo-range corrections value and the wide area pseudo-range corrections value of each position location satellite respectively, and, obtain the estimation waas correction error amount of every position location satellite respectively according to this local pseudo-range corrections value and wide area pseudo-range corrections value; And the wide area error correction value of each position location satellite is carried in the local navigational parameter, broadcasts to airborne user's set, judge the availability of Satellite Navigation Set according to the local navigational parameter that receives for airborne user's set.Because this Satellite Navigation Set receives navigation satellite signal and Wide Area Augmentation System signal simultaneously, thereby improved the estimated accuracy of estimating the waas correction error amount, and then enlarged the monitoring range of Satellite Navigation Set, and effectively raise defensive ability/resistance ability to ionospheric storm.

Fig. 4 is the structural representation that the present invention is based on another embodiment of satellite navigation monitoring system of LAAS and WAAS, as shown in Figure 4, on the basis of the foregoing description, corrected value acquisition module 132 comprises distance acquiring unit 1321, smoothing processing unit 1322, local pseudo-range corrections value acquiring unit 1323 and wide area pseudo-range corrections value acquiring unit 1324.

Concrete, distance acquiring unit 1321 is used for obtaining respectively the distance of the position location satellite of receiver correspondence

Smoothing processing unit 1322 is used for according to navigation satellite signal, obtains the local pseudorange observed reading and the local carrier wave observed reading of each position location satellite correspondence respectively; And application of formula Obtain the local pseudorange observed reading behind every position location satellite level and smooth

Local pseudo-range corrections value acquiring unit 1323 is used for according to distance

With the local pseudorange observed reading behind position location satellite correspondence level and smooth

Application of formula

Obtain the local pseudo-range corrections value of each position location satellite respectively

Wide area pseudo-range corrections value acquiring unit 1324 is used for basis from the long-term clock correction value of wide area, wide area tropospheric correction value, wide area ionosphere corrections value and the quick error correction value of wide area that the Wide Area Augmentation System signal obtains, obtains the wide area pseudo-range corrections value of each position location satellite respectively

Simultaneously, estimate the local pseudo-range corrections value that corrected error value acquisition module 133 is used for according to every position location satellite

With wide area pseudo-range corrections value

Application of formula

Obtain the estimation waas correction error amount of each position location satellite respectively

Further, airborne user's set 14 comprises: ground monitoring protected level acquisition module 141 and comparison module 142.Wherein, ground monitoring protected level acquisition module 141 is used for obtaining the ground monitoring protected level according to the local navigational parameter; Comparison module 142 is used for ground monitoring protected level and preset alarm thresholding are compared, and obtains comparative result, and judges the availability of Satellite Navigation Set according to comparative result.

Further, ground monitoring protected level acquisition module 141 comprises Satellite Navigation Set protected level acquiring unit 1411, Satellite Navigation Set ephemeris protected level acquiring unit 1412 and ground monitoring protected level acquiring unit 1413.Wherein, Satellite Navigation Set protected level acquiring unit 1411 is according to the local navigational parameter, and the employing formula With

Obtain the vertical protected level VPL of Satellite Navigation Set respectively _WLSSide direction protected level LPL with Satellite Navigation Set _WLSSatellite Navigation Set ephemeris protected level acquiring unit 1412 is according to the local navigational parameter, and the employing formula

Obtain the vertical ephemeris protected level VEB of every position location satellite _jWith the side direction ephemeris protected level LEB that obtains every position location satellite _jAnd the side direction ephemeris protected level maximal value of choosing maximal value in the vertical ephemeris protected level of position location satellite and position location satellite is respectively as the vertical ephemeris protected level VEB of Navsat enhanced system and the side direction ephemeris protected level LEB of Navsat enhanced system; Ground monitoring protected level acquiring unit 1413 is used for the vertical protected level VPL according to Satellite Navigation Set _WLS, Satellite Navigation Set side direction protected level LPL _WLS, the vertical ephemeris protected level VEB of Navsat enhanced system and the side direction ephemeris protected level LEB of Navsat enhanced system, and adopt formula VPL=max (VPL _WLS, VEB) and LPL=max (LPL _WLS, LEB), obtain vertical ground monitoring and protecting level VPL and side direction ground monitoring and protecting level LPL.

Present embodiment can be used to carry out the technical scheme of method embodiment shown in Figure 2 based on the Navsat monitoring system of LAAS and WAAS, it realizes that principle is similar, repeats no more herein.

In the present embodiment, receive navigation satellite signal by the LAAS receiver from least one LASS system position location satellite, the WAAS receiver receives the Wide Area Augmentation System signal from least one WASS system position location satellite, the satellite navigation monitoring device is respectively according to the navigation satellite signal and the Wide Area Augmentation System signal of each receiver of obtaining, obtain the local pseudo-range corrections value and the wide area pseudo-range corrections value of every position location satellite respectively, and, obtain the estimation waas correction error amount of every position location satellite respectively according to this local pseudo-range corrections value and wide area pseudo-range corrections value; And the wide area error correction value of each position location satellite is carried in the local navigational parameter, broadcasts to airborne user's set; for airborne user's set according to the local navigational parameter that receives; obtain the ground monitoring protected level; and ground monitoring and protecting level and preset alarm thresholding compared, to judge the availability of Satellite Navigation Set according to comparative result.Because comprising, this local navigational parameter estimates the waas correction error amount, comprise in this wide area error correction value ionospheric storm is monitored accurately, thereby improved the estimated accuracy of estimating the waas correction error amount, and then enlarged the monitoring range of Satellite Navigation Set, and effectively raise defensive ability/resistance ability to ionospheric storm.

One of ordinary skill in the art will appreciate that: all or part of step that realizes said method embodiment can be finished by the relevant hardware of programmed instruction, aforesaid program can be stored in the computer read/write memory medium, this program is carried out the step that comprises said method embodiment when carrying out; And aforesaid storage medium comprises: various media that can be program code stored such as ROM, RAM, magnetic disc or CD.

It should be noted that at last: above embodiment only in order to technical scheme of the present invention to be described, is not intended to limit; Although with reference to previous embodiment the present invention is had been described in detail, those of ordinary skill in the art is to be understood that: it still can be made amendment to the technical scheme that aforementioned each embodiment put down in writing, and perhaps part technical characterictic wherein is equal to replacement; And these modifications or replacement do not make the essence of appropriate technical solution break away from the spirit and scope of various embodiments of the present invention technical scheme.

Claims (10)

1. the satellite navigation monitoring method based on LAAS and WAAS is characterized in that, comprising:

The LAAS receiver receives navigation satellite signal, and the WAAS receiver receives the Wide Area Augmentation System signal;

The satellite navigation monitoring device obtains navigation satellite signal and the Wide Area Augmentation System signal that each receiver receives respectively;

Described satellite navigation monitoring device obtains the local pseudo-range corrections value and the wide area pseudo-range corrections value of each position location satellite respectively according to described navigation satellite signal and Wide Area Augmentation System signal;

Described satellite navigation monitoring device obtains the estimation waas correction error amount of each described position location satellite respectively according to the local pseudo-range corrections value and the wide area pseudo-range corrections value of each described position location satellite;

Described satellite navigation monitoring device is carried at the described estimation wide area error correction value of each described position location satellite and broadcasts in the local navigational parameter to airborne user's set, judges the availability of described Satellite Navigation Set according to the described local navigational parameter that receives for described airborne user's set.

2. the satellite navigation monitoring method based on LAAS and WAAS according to claim 1, it is characterized in that, described satellite navigation monitoring device is according to described navigation satellite signal and Wide Area Augmentation System signal, obtain the local pseudo-range corrections value and the wide area pseudo-range corrections value of each position location satellite respectively, comprising:

Obtain the distance of the position location satellite of described receiver and correspondence respectively

According to described navigation satellite signal, obtain the local pseudorange observed reading and the local carrier wave observed reading of each described position location satellite respectively; And application of formula

Obtain the local pseudorange observed reading behind each described position location satellite level and smooth respectively

Wherein, k represents epoch;

N _sExpression sampled point number; τ _sThe expression time constant filter, T _sThe measurement of expression local pseudorange observed reading at interval;

Expression local pseudorange observed reading,

Expression local carrier wave observed reading;

M represents the receiver number, 1≤i≤M;

N represents a position location satellite number, 1≤j≤N;

According to described distance With the local pseudorange observed reading behind described position location satellite correspondence level and smooth

, application of formula Obtain the local pseudo-range corrections value of each described position location satellite respectively

According to the long-term clock correction value of the wide area that from described Wide Area Augmentation System signal, obtains, wide area tropospheric correction value, wide area ionosphere corrections value and the quick error correction value of wide area, obtain the wide area pseudo-range corrections value of each described position location satellite respectively

3. the satellite navigation monitoring method based on LAAS and WAAS according to claim 2, it is characterized in that, described satellite navigation monitoring device is according to the local pseudo-range corrections value and the wide area pseudo-range corrections value of each described position location satellite, obtain the estimation waas correction error amount of each described position location satellite respectively, comprising:

Local pseudo-range corrections value according to described position location satellite

With wide area pseudo-range corrections value

, application of formula

Obtain the estimation waas correction error amount of each described position location satellite respectively

Wherein, M represents the receiver number, 1≤i≤M;

N represents a position location satellite number, 1≤j≤N.

4. the satellite navigation monitoring method based on LAAS and WAAS according to claim 3 is characterized in that, described airborne user's set comprises according to the availability of the local navigational parameter judgement Satellite Navigation Set that receives:

According to described local navigational parameter, obtain the ground monitoring protected level;

Described ground monitoring protected level and preset alarm thresholding are compared, obtain comparative result, and judge the availability of described Satellite Navigation Set according to described comparative result.

5. the satellite navigation monitoring method based on LAAS and WAAS according to claim 4 is characterized in that, according to described local navigational parameter, obtains the ground monitoring protected level, comprising:

According to described local navigational parameter, and adopt formula

With

Obtain the vertical protected level VPL of described Satellite Navigation Set respectively _WLSSide direction protected level LPL with Satellite Navigation Set _WLS

According to described local navigational parameter, and adopt formula

Obtain the vertical ephemeris protected level VEB of each described position location satellite _jSide direction ephemeris protected level LEB with each described position location satellite _jAnd with the maximal value of the side direction ephemeris protected level of maximal value in the vertical ephemeris protected level of the position location satellite chosen and position location satellite respectively as the vertical ephemeris protected level VEB of Navsat enhanced system and the side direction ephemeris protected level LEB of Navsat enhanced system;

Vertical protected level VPL according to described Satellite Navigation Set _WLS, Satellite Navigation Set side direction protected level LPL _WLS, the vertical ephemeris protected level VEB of Navsat enhanced system and the side direction ephemeris protected level LEB of Navsat enhanced system, and adopt formula VPL=max (VPL _WLS, VEB) and LPL=max (LPL _WLS, LEB), obtain vertical ground monitoring and protecting level VPL and side direction ground monitoring and protecting level LPL;

Wherein, K is a dilution of precision;

M represents the receiver number, 1≤i≤M;

N represents a position location satellite number, 1≤j≤N;

S _v(j) transition matrix of expression from pseudo-local to locator field; S _z(j), S _x(j) and S _y(j) represent in the s-matrix j column element with z direction, x direction and y directional correlation respectively;

σ _Tot(j) be total standard deviation that the user calculates at j position location satellite;

Mean value for the waas correction error estimator of M receiver;

χ _AirBe the distance between airborne user's set and the terrestrial reference station, unit is a rice;

P _jBe the ephemeris correlation parameter;

K _{Md_e}The pairing false dismissal probability coefficient of integrity value-at-risk when breaking down for single position location satellite.

6. the satellite navigation monitoring system based on LAAS and WAAS is characterized in that, comprises LAAS receiver, WAAS receiver, satellite navigation monitoring device and airborne user's set, wherein,

Described LAAS receiver is used to receive navigation satellite signal, and described WAAS receiver is used to receive the Wide Area Augmentation System signal;

Described satellite navigation monitoring device comprises:

Signal acquisition module is used for obtaining respectively navigation satellite signal and the Wide Area Augmentation System signal that each receiver receives;

The corrected value acquisition module is used for according to described navigation satellite signal and Wide Area Augmentation System signal, obtains the local pseudo-range corrections value and the wide area pseudo-range corrections value of each position location satellite respectively;

Estimate the corrected error value acquisition module, be used for local pseudo-range corrections value and wide area pseudo-range corrections value, obtain the estimation waas correction error amount of each described position location satellite respectively according to each described position location satellite;

Sending module, be used for described estimation wide area error correction value with each described position location satellite and be carried at the local navigational parameter and broadcast, judge the availability of described Satellite Navigation Set for described airborne user's set according to the described local navigational parameter that receives to described airborne user's set.

7. the satellite navigation monitoring system based on LAAS and WAAS according to claim 6 is characterized in that, described corrected value acquisition module comprises:

Distance acquiring unit is used for obtaining respectively the distance of the position location satellite of described receiver correspondence

The smoothing processing unit is used for according to described navigation satellite signal, obtains the local pseudorange observed reading and the local carrier wave observed reading of each position location satellite correspondence respectively; And application of formula

Obtain the local pseudorange observed reading behind each described position location satellite level and smooth respectively

Wherein, k represents epoch;

N _sExpression sampled point number; τ _sThe expression time constant filter, T _sThe measurement of expression local pseudorange observed reading at interval;

Expression local pseudorange observed reading,

Expression local carrier wave observed reading;

M represents the receiver number, 1≤i≤M;

N represents a position location satellite number, 1≤j≤N;

Local pseudo-range corrections value acquiring unit is used for according to described distance

With the local pseudorange observed reading behind described position location satellite correspondence level and smooth , application of formula PR _Li ^j=R _Turei ^j-R _Si ^j, obtain the local pseudo-range corrections value of each described position location satellite respectively

Wide area pseudo-range corrections value acquiring unit, be used for basis from the long-term clock correction value of wide area, wide area tropospheric correction value, wide area ionosphere corrections value and the quick error correction value of wide area that described Wide Area Augmentation System signal obtains, obtain the wide area pseudo-range corrections value of each position location satellite respectively

8. the satellite navigation monitoring system based on LAAS and WAAS according to claim 7 is characterized in that, described estimation corrected error value acquisition module is used for the local pseudo-range corrections value according to each position location satellite

With wide area pseudo-range corrections value

, application of formula

Obtain the estimation waas correction error amount of each described position location satellite respectively

Wherein, M represents the receiver number, 1≤i≤M;

N represents a position location satellite number, 1≤j≤N.

9. the satellite navigation monitoring system based on LAAS and WAAS according to claim 8 is characterized in that, described airborne user's set comprises:

Ground monitoring protected level acquisition module is used for obtaining the ground monitoring protected level according to described local navigational parameter;

Comparison module is used for described ground monitoring protected level and preset alarm thresholding are compared, and obtains comparative result, and judges the availability of described Satellite Navigation Set according to described comparative result.

10. the satellite navigation monitoring system based on LAAS and WAAS according to claim 9 is characterized in that, described ground monitoring protected level acquisition module comprises:

Satellite Navigation Set protected level acquiring unit is used for according to described local navigational parameter, and adopts formula

With

Obtain the vertical protected level VPL of described Satellite Navigation Set respectively _WLSSide direction protected level LPL with Satellite Navigation Set _WLS

Satellite Navigation Set ephemeris protected level acquiring unit is used for according to described local navigational parameter, and adopts formula Obtain the vertical ephemeris protected level VEB of each described position location satellite _jSide direction ephemeris protected level LEB with each described position location satellite _jAnd with the maximal value of the side direction ephemeris protected level of maximal value in the vertical ephemeris protected level of the position location satellite chosen and position location satellite respectively as the vertical ephemeris protected level VEB of Navsat enhanced system and the side direction ephemeris protected level LEB of Navsat enhanced system;

Ground monitoring protected level acquiring unit is used for the vertical protected level VPL according to described Satellite Navigation Set _WLS, Satellite Navigation Set side direction protected level LPL _WLS, the vertical ephemeris protected level VEB of Navsat enhanced system and the side direction ephemeris protected level LEB of Navsat enhanced system, and adopt formula VPL=max (VPL _WLS, VEB) and LPL=max (LPL _WLS, LEB), obtain vertical ground monitoring and protecting level VPL and side direction ground monitoring and protecting level LPL;

Wherein, K is a dilution of precision;

M represents the receiver number, 1≤i≤M;

N represents a position location satellite number, 1≤j≤N;

S _v(j) transition matrix of expression from pseudo-local to locator field; S _z(j), S _x(j) and S _y(j) represent in the s-matrix j column element with z direction, x direction and y directional correlation respectively;

σ _Tot(j) be total standard deviation that the user calculates at j position location satellite;

Mean value for the described estimation waas correction error amount of M receiver;

χ _AirBe the distance between airborne user's set and the terrestrial reference station, unit is a rice;

P _jBe the ephemeris correlation parameter;

K _{Md_e}The pairing false dismissal probability coefficient of integrity value-at-risk when breaking down for single position location satellite.

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