CN102346255B - Satellite navigation data reasonableness test method - Google Patents
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Abstract
The invention aims at providing a satellite navigation data reasonableness test method which is simple and convenient to operate. The method comprises the three contents of: (1) self reasonableness discrimination of satellite navigation data; (2) reasonableness discrimination of two continuous seconds of satellite navigation data; and (3) divergence factor detection of the satellite navigation data. Th method disclosed by the invention is suitable for satellite navigation data screening of an inertia/satellite combined navigation system; meanwhile, the content (1) and the content (2) in the method are also suitable for independent screening of the satellite navigation data.
Description
Technical field
The invention belongs to field of navigation technology, relate to a kind of for inertia/combinations of satellites navigation satellite navigation data reasonableness test method used.
Background technology
At present, rationality for the satellite navigation data of Airborne Inertial/satellite navigation integrated navigation system is differentiated, be generally in satellite navigation receiver, satellite navigation data to be done integrity to detect, these class methods arrange satellite receiver is inner specially, calculate comparatively complicated, realize that difficulty is larger.Document [1] RTCA/DO-208 MINIMUM OPERATIONAL PERFORMANCE STANDARDS FOR AIRBORNE SUPPLEMENTAL NAVIGATION EQUIPMENT USING GLOBAL POSITIONING SYSTEM (GPS) .RTCA.Inc.1993.CHANGE NO.1TO RTCA/DO-208, (RTCA/DO-208 uses the Minimum Operational Performance Standards of the airborne assisting navigation equipment of GPS (GPS) to September 21,1993.RTCA.Inc.1993.1993 changed for the first time September 21.RTCA is that the aeronautics of U.S. government and industrial sector is organized association, be devoted to solve the problem that electronics in aviation services and radio communication occur in using, its target is to reach an agreement by its organizational member to solve these problems, and the decision of RTCA has the character of recommendation for its all linked groups.Document [1] describes the content of RAIM method in detail in " appendix F least square residual error RAIM (Receiver Autonomous Integrity Monitoring; receiver-autonomous integrity monitoring) method ", its main thought is the pseudo-range measurements that continuous detecting has remaining, will have at least the pseudo-range measurements of 5 Navsats just can quote fault.Due to calculation procedure comparatively complexity do not list one by one here.Document [2] [U.S.] Elliott D.Kaplan and Christopher J.Hegarty chief editor, bandit's bright red is translated, GPS principle and application (second edition), the Electronic Industry Press, in January, 2007, Beijing, describe RAIM and FDE (fault detection and exclusion) method in detail in " 7.5GPS integrity ", except the content relevant to document [1], also described with the pseudo-range measurements of at least 6 Navsats and determined fault satellites and the method for the satellite of fixing a breakdown from navigational solution, due to the method method comparatively complexity do not list one by one here.
The present invention directly does detection to satellite navigation data, compares with aforesaid integrity detection method, has reduced the difficulty that realizes, can make more effectively saltus step, fluctuation and the exceptional value of satellite navigation data and detecting.
Summary of the invention
The objective of the invention is to propose a kind of satellite navigation data reasonableness test method easy and simple to handle.Technical solution of the present invention is:
(1) satellite navigation data self rationality is differentiated
1. according to the inertial navigation request for utilization, determine the unreasonable value region of carrier longitude, latitude;
2. according to the inertial navigation request for utilization, determine the unreasonable value region of carrier sea level elevation;
3. according to the inertial navigation request for utilization, determine that carrier level and sky are to the unreasonable value region of speed;
4. to the satellite navigation data that receives respectively according to 1. differentiating to the 3. order of criterion;
5. only have all to satisfy and differentiate requirements, be defined as differentiating by self rationality, send this second information that can use of satellite navigation data, get back to and 4. wait for judgement next second satellite navigation data;
If 6. wherein any one numerical value does not satisfy and differentiates requirement, be defined as sending the disabled information of this second satellite navigation data not by self rationality differentiation, get back to and 4. wait for judgement next second satellite navigation data;
(2) rationality of the continuous two number of seconds certificates of satellite navigation is differentiated
Select respectively the poor absolute value criterion of setting position, velocity contrast absolute value criterion and mistiming criterion.Detect according to the following step:
I) judge whether this second satellite data status word is effective, if status word is invalid, do not store this number of seconds certificate, again wait for and judge whether next second satellite data status word is effective; If status word is effective, select and store the data of appointment from the Position, Velocity and Time data of satellite navigation in internal storage location;
II) if the status word of second second navigation data is invalid, do not store data, and with the data dump of storing upper one second; Again wait for and judge whether next second satellite data status word is effective;
III) if continuous 2 number of seconds according to effectively, with the 2nd second respective data storage in internal storage location;
IV) with the continuous 2 number of seconds certificates that deposit in internal memory, homogeneous data subtracts each other and asks absolute value;
Several absolute values that V) will obtain are made comparisons with the criterion of the every class data that set in advance respectively;
VI) if there is any 1 absolute value to surpass criterion, send the disabled information of this second satellite navigation data, fall clearly the satellite navigation data of continuous two seconds of having stored in internal storage location, get back to I), again wait for and judge whether next second satellite data status word is effective;
VII) if all absolute value is by criterion, current satellite navigation data is differentiated by continuous two seconds rationality, sends this second information that can use of satellite navigation data;
VIII) if the satellite navigation data of front two seconds is by judging, satellite navigation data was effective in lower 1 second, deposited internal storage location in, pushed away the satellite navigation data of the 1st second that deposits at first, then forwarded IV to);
IX) if the satellite navigation data of front two seconds by judgement, satellite navigation data was invalid in lower 1 second, the data full scale clearance of will continuous two seconds storing, then forward I to), again wait for and judge whether next second satellite data status word effective.
(3) satellite navigation data " dispersion " detects
Select respectively the dispersion criterion of setting position and speed, and arrange effective satellite navigation data in each cycle correction time total number of seconds criterion.Detect according to the following step:
＜1〉within the time cycle of Closed-cycle correction or open loop correction, synchrodata corresponding to Selective storage inertial navigation and satellite navigation from the data of position and speed respectively in internal storage location;
＜2〉the effective satellite navigation data in this cycle correction time total number of seconds whether reach criterion.No, send the interior underproof information of satellite navigation data of time cycle of this correction, fall clearly whole inertial navigations and the synchrodata corresponding to satellite navigation of storing in the time cycle of this correction of having stored, get back to＜1, wait for and the data in next cycle correction time of judgement; To do following processing:
(a) calculate respectively the inertial navigation of storage and the difference of the corresponding synchrodata of satellite navigation, the difference of same data will by comparing in twos, be determined a maximal value and a minimum value;
(b) maximal value of same data and minimum value take absolute value after subtracting each other again, just obtain the dispersion of this data;
(c) each data is all pressed above-mentioned steps calculating, obtains respectively corresponding dispersion;
(d) dispersion with each data makes a decision with predefined dispersion criterion respectively, if have at least a kind of dispersion of data not reach requirement, the dispersion of determining satellite navigation data in this Closed-cycle correction or open loop correction time cycle exceeds standard, can not be used for integrated navigation, send the interior disabled information of satellite navigation data of time cycle of this correction; If all reach requirement, determine that in this Closed-cycle correction or open loop correction time cycle, satellite navigation data satisfies the dispersion requirement, send the information that in time cycle of this correction, satellite navigation data can be used;
＜3〉fall clearly whole inertial navigations and the synchrodata corresponding to satellite navigation of storing in the time cycle of this correction of having stored, get back to＜1, wait for and the data in next cycle correction time of judgement.
The advantage that the present invention has and beneficial effect, satellite navigation data rationality differentiation measure of the present invention proposes according to actual needs, and is simple and easy to do, and effect is preferably arranged.Simple and practical for self rationality method of discrimination that the satellite navigation data abnormal problem proposes, more efficiently find and got rid of obviously abnormal problem of satellite navigation data; And for continuous two seconds satellite navigation data detection methods of satellite navigation data saltus step and fluctuation problem proposition, for the dispersion method of discrimination that satellite navigation data saltus step and fluctuation problem in cycle correction time propose, all have stronger practical value.Because the residing dynamic environment of satellite navigation receiver is very complicated, even if the methods such as RAIM and FDE have been adopted in satellite navigation receiver inside, detection threshold is more difficult many-sided reason such as arranges owing to relating to, can't detect all problems of satellite navigation data, adopt method of the present invention, be that satellite navigation receiver inside detection method is more effectively replenished, actual application has proved its validity.
Description of drawings
Fig. 1 is process flow diagram of the present invention;
Fig. 2 is that the present invention self rationality is differentiated process flow diagram;
Fig. 3 is that continuous two seconds rationality of the present invention are differentiated process flow diagram;
Fig. 4 is satellite navigation data dispersion overhaul flow chart of the present invention.
Embodiment
(1) satellite navigation data self rationality is differentiated
1. according to the inertial navigation request for utilization, determine the unreasonable value region of carrier longitude, latitude;
2. according to the inertial navigation request for utilization, determine the unreasonable value region of carrier sea level elevation;
3. according to the inertial navigation request for utilization, determine that carrier level and sky are to the unreasonable value region of speed;
Illustrate: above three kinds of criterions are set in program in advance, and concrete numerical value is both curable in program, also can be arranged in nonvolatile memory.
4. to the satellite navigation data that receives respectively according to 1. differentiating to the 3. order of criterion;
5. only have all to satisfy and differentiate requirements, be defined as differentiating by self rationality, send this second information that can use of satellite navigation data, get back to and 4. wait for judgement next second satellite navigation data;
Illustrate: all by 1. to 3. criterion, can not change the self-defining banner word that the satellite navigation data of original acquiescence can be used, such as A=1 is that satellite navigation data can be with (A=0 be unavailable).
If 6. wherein any one numerical value does not satisfy and differentiates requirement, be defined as sending the disabled information of this second satellite navigation data not by self rationality differentiation, get back to and 4. wait for judgement next second satellite navigation data;
Illustrate: as long as 1. have at least one not satisfy to 3. criterion, will with this second satellite navigation data self-defining banner word be set to unavailable, such as putting A=0.
(2) rationality of the continuous two number of seconds certificates of satellite navigation is differentiated
Select respectively the poor absolute value criterion of setting position, velocity contrast absolute value criterion and mistiming criterion.(illustrate: these criterions can be selected severally to set in program in advance, and concrete numerical value is both curable in program, also can be arranged in nonvolatile memory.) detect according to the following step:
I) judge whether this second satellite data status word is effective, if status word is invalid, do not store this number of seconds certificate, again wait for and judge whether next second satellite data status word is effective; If status word is effective, select and store the data of appointment from the Position, Velocity and Time data of satellite navigation in internal storage location;
Illustrate: the internal storage location of two seconds satellite navigation datas of special storage is set in program in advance, carry out specific sign, the data of first second and second second deposit respectively different internal storage locations in.
II) if the status word of second second navigation data is invalid, do not store data, and with the data dump of storing upper one second; Get back to I), again wait for and judge whether next second satellite data status word is effective;
Illustrate: the data of storage in a second will be thoroughly removed in attention.
III) if continuous 2 number of seconds according to effectively, with second second respective data storage in internal storage location;
Illustrate: the second number of seconds is according to the internal storage location that will deposit appointment in.
IV) with the continuous 2 number of seconds certificates that deposit in internal memory, homogeneous data subtracts each other and asks absolute value;
Illustrate: such as the latitude of the latitude of first second and second second subtracts each other, the east orientation speed of first second and the east orientation speed of second second are subtracted each other.
Several absolute values that V) will obtain are made comparisons with the criterion of the every class data that set in advance respectively;
Illustrate: such as first second and the alternate position spike absolute value of second second of the 3 corresponding satellite navigations of dimension alternate position spike criterion.
VI) if there is any 1 absolute value to surpass criterion, send the disabled information of this second satellite navigation data, fall clearly the satellite navigation data of continuous two seconds of having stored in internal storage location, get back to I), again wait for and judge whether next second satellite data status word is effective;
Illustrate: if this second, satellite navigation data was unavailable, even if the satellite data status word of next second effectively can not provide available information, the satellite data of only having again next second may be useful.
VII) if all absolute value is by criterion, current satellite navigation data is differentiated by continuous two seconds rationality, sends this second information that can use of satellite navigation data;
Illustrate: just satellite navigation data can be used this second.
VIII) if the satellite navigation data of front two seconds by judgement, next second satellite navigation data effective, deposit internal storage location in, push away the first second satellite navigation data that deposits at first, then forward IV to);
Illustrate: attention is to fall clearly the first second satellite navigation data that deposits at first, the second second satellite navigation data that has deposited in moved in internal storage location corresponding to first second satellite data, the satellite data of current second deposits in internal storage location corresponding to second second satellite data again.
IX) if the satellite navigation data of front two seconds by judgement, satellite navigation data was invalid in lower 1 second, the data full scale clearance of will continuous two seconds storing, then forward I to), again wait for and judge whether next second satellite data status word effective.
(3) satellite navigation data " dispersion " detects
Select respectively the dispersion criterion of setting position and speed, (illustrate: such as selecting to arrange longitude, latitude, east orientation speed, north orientation speed criterion, concrete numerical value is both curable in program, also can be arranged in nonvolatile memory.), and arrange effective satellite navigation data in each cycle correction time total number of seconds criterion.Detect according to the following step:
＜1〉within the time cycle of Closed-cycle correction or open loop correction, synchrodata corresponding to Selective storage inertial navigation and satellite navigation from the data of position and speed respectively in internal storage location;
Illustrate: preferably by synchronous inertial navigation and data corresponding to satellite navigation of satellite receiver pulse per second (PPS), such as longitude, latitude, east orientation speed, north orientation speed.
＜2〉the effective satellite navigation data in this cycle correction time total number of seconds whether reach criterion.No, send the interior underproof information of satellite navigation data of time cycle of this correction, fall clearly whole inertial navigations and the synchrodata corresponding to satellite navigation of storing in the time cycle of this correction of having stored, get back to＜1, wait for and the data in next cycle correction time of judgement; To do following processing:
Illustrate: judge effective satellite navigation data in this cycle correction time total number of seconds, be the satellite data that provides according to the satellite receiver per second whether effectively status word judge and accumulate and count number of seconds.
(a) calculate respectively the inertial navigation of storage and the difference of the corresponding synchrodata of satellite navigation, the difference of same data will by comparing in twos, be determined a maximal value and a minimum value;
Illustrate: such as the synchronous latitude data of inertial navigation and satellite navigation are subtracted each other, the order of subtracting each other will be fixed, and as inertial navigation latitude-satellite navigation latitude, more relatively each organizes the difference of synchrodata, consider sign.
(b) maximal value of same data and minimum value take absolute value after subtracting each other again, obtain the dispersion of this data;
Illustrate: the absolute value that is actually the peak-to-peak value of asking data fluctuations.
(c) each data is all pressed above-mentioned steps calculating, obtains respectively corresponding dispersion;
(d) dispersion with each data makes a decision with predefined dispersion criterion respectively, if have at least a kind of dispersion of data not reach requirement, the dispersion of determining satellite navigation data in this Closed-cycle correction or open loop correction time cycle exceeds standard, can not be used for integrated navigation, send the interior disabled information of satellite navigation data of time cycle of this correction; If all reach requirement, determine that in this Closed-cycle correction or open loop correction time cycle, satellite navigation data satisfies the dispersion requirement, send the information that in time cycle of this correction, satellite navigation data can be used;
＜3〉fall clearly whole inertial navigations and the synchrodata corresponding to satellite navigation of storing in the time cycle of this correction of having stored, get back to＜1, wait for and the data in next cycle correction time of judgement.
Embodiment:
(1) satellite navigation data self rationality is differentiated
Three class criterions first are set:
1. latitude-20 '～+ 20 ' (+be north latitude ,-be south latitude) as unreasonable data field;
2. outside sea level elevation-200m～20000m as unreasonable data field;
3. three-dimensional aggregate velocity absolute value＞600m/s is as unreasonable data field, and the sky is unreasonable data field to speed absolute value＞300m/s.
The satellite navigation data of known second is latitude N30 °, longitude E109 °, and east orientation speed Ve=430m/s, north orientation speed Vn=-370m/s, the sky is to speed Vu=280m/s, and sea level elevation is h=9000m.
:
4. 1. latitude N30 ° and longitude E109 ° passed through criterion;
Sea level elevation is that 2. h=9000m passes through criterion;
2. it pass through criterion to speed Vu=280m/s, but three-dimensional aggregate velocity absolute value is
Be positioned at the unreasonable data field of three-dimensional aggregate velocity absolute value＞600m/s, therefore do not pass through criterion not 3..
Therefore 5. the satellite navigation data of this second is not differentiated by self rationality, this second the self-defining banner word of satellite navigation data be set to unavailable (such as A=1 is available, A=0 is unavailable, A=0).
(2) rationality of the continuous two number of seconds certificates of satellite navigation is differentiated
Space 3D alternate position spike absolute value criterion is set to 600m;
Space 3D velocity contrast absolute value criterion is set to 100m/s.
Satellite navigation data:
First second latitude N30.530 °, longitude E109.251 °, east orientation speed Ve=430m/s, north orientation speed Vn=-370m/s, day to speed Vu=280m/s, sea level elevation is h=9600m, the satellite data status word is effective;
Second second latitude N30.520 °, longitude E109.252 °, east orientation speed Ve=438m/s, north orientation speed Vn=-470m/s, day to speed Vu=260m/s, sea level elevation is h=9680m, the satellite data status word is effective;
The 3rd second latitude N30.524 °, longitude E109.257 °, east orientation speed Ve=368m/s, north orientation speed Vn=-350m/s, day to speed Vu=210m/s, sea level elevation is h=8780m, the satellite data status word is effective;
The 4th second latitude N30.523 °, longitude E109.258 °, east orientation speed Ve=298m/s, north orientation speed Vn=-350m/s, day to speed Vu=240m/s, sea level elevation is h=8890m, the satellite data status word is effective;
The 5th second latitude N30.525 °, longitude E109.259 °, east orientation speed Ve=278m/s, north orientation speed Vn=-340m/s, day to speed Vu=210m/s, sea level elevation is h=8990m, the satellite data status word is effective;
:
I) judgement: the satellite data status word was effective in first second;
First second satellite navigation data of storage in internal storage location;
Judgement: the satellite data status word was effective in second second;
III) second second satellite navigation data of storage in internal storage location;
IV) calculate L=0.01 ° of first second of storing in internal storage location and second second satellite navigation data difference of latitude absolute value delta, difference of longitude absolute value delta lambdai=0.001 °, the poor absolute value delta h=80m of sea level elevation, east orientation velocity contrast absolute value delta Ve=8m/s, north orientation velocity contrast absolute value delta Vn=100m/s, day to velocity contrast absolute value delta Vu=20m/s:
V) space 3D alternate position spike absolute value is (L is the average of the two seconds latitudes in front and back):
The criterion that has surpassed space 3D alternate position spike absolute value 600m;
VI) send at once the disabled information of this second satellite navigation data, such as banner word A (also can define the in addition banner word B) expression of available customization, put A=0.) fall clearly the satellite navigation data of continuous two seconds of having stored, get back to I);
I) judge again whether next second (the 3rd second) satellite data status word is effective, and result is " effectively ";
Stored the 3rd second satellite navigation data at first second in corresponding internal storage location;
Judge whether next second (the 4th second) satellite data status word is effective, and result is " effectively ";
III) stored next second (the 4th second) satellite navigation data at second second in corresponding internal storage location;
IV) calculate L=0.004 ° of first second of storing in internal storage location and second second (namely the 3rd second and the 4th second) difference of latitude absolute value delta, difference of longitude absolute value delta lambdai=0.001 °, the poor absolute value delta h=100m of sea level elevation, east orientation velocity contrast absolute value delta Ve=30m/s, north orientation velocity contrast absolute value delta Vn=0m/s, the sky is to velocity contrast absolute value delta Vu=30m/s;
V) space 3D alternate position spike absolute value is (L is the average of the two seconds latitudes in front and back)
Passed through the criterion of space 3D alternate position spike absolute value 600m;
Space 3D velocity contrast absolute value is:
Also passed through the criterion of space 3D velocity contrast absolute value 100m/s;
VII) send this second information that can use of satellite navigation data.Such as putting A=1.
Judge whether next second (the 5th second) satellite data status word is effective, and result is " effectively ";
VIII) directly replace first second of storing in internal storage location (namely by this flow sequence the 4th second) satellite navigation data with second second that stores in internal storage location (namely by this flow sequence the 4th second) satellite navigation data, then the 5th second satellite data is stored in the internal storage location of original storage second second (namely by this flow sequence the 4th second) satellite navigation data.Then get back to IV), continue to calculate and judgement.
(3) satellite navigation data " dispersion " detects
The Closed-cycle correction time cycle is set to 10s
" dispersion " criterion of longitude, latitude all is set to 0.1 ';
" dispersion " of height is set to 200m;
" dispersion " criterion of east orientation speed, north orientation speed all is set to 1m/s;
It " dispersion " criterion to speed is set to 10m/s;
Effective satellite navigation data in each cycle correction time total number of seconds criterion be 6.
Inertial navigation in certain cycle correction time and satellite navigation data be as shown in Table 1 and Table 2:
Inertial navigation data in certain cycle correction time of table 1
Certain inter-sync satellite navigation data of cycle correction time of table 2
:
＜1〉within this cycle correction time, synchrodata corresponding to Selective storage inertial navigation and satellite navigation from the data of position and speed respectively in internal storage location.As shown in Table 1 and Table 2, the inertial navigation and synchrodata corresponding to satellite navigation that coexist and stored up for 7 seconds because the satellite data of second second, the 6th second and the tenth second is invalid, do not re-use by the inertial navigation data of pulse per second (PPS) storage;
＜2〉judge effective satellite navigation data in this cycle correction time total number of seconds whether reach criterion, be 7 seconds according to the result of table 2, reached the criterion of 6 seconds;
＜a〉inertial navigation of calculating storage respectively and the difference of the corresponding synchrodata of satellite navigation.As shown in table 3, calculated respectively the difference of 6 kinds of data;
＜b〉difference of same data will by comparing in twos, determine a maximal value and a minimum value.As shown in table 3, row second from the bottom and the third line are respectively maximal value, the minimum value of every kind of data.
＜c〉maximal value of same data and minimum value take absolute value after subtracting each other again, obtains the dispersion of this data.As shown in table 3, row last is the dispersion of every kind of data.
＜d〉judge whether the dispersion of these data reaches whole dispersion criterions.Judgement successively, the 5th column data is that the dispersion of north orientation velocity contrast is 1.1m/s as a result, has surpassed the criterion of 1.0m/s.Send the disabled information of satellite navigation data in this cycle correction time, such as banner word C (1 is available, and 0 the is unavailable) expression of available customization, put C=0;
＜3〉fall clearly whole inertial navigations and the synchrodata corresponding to satellite navigation of this correction time cycle memory storage of having stored, get back to＜1, the dispersion of satellite navigation data in next cycle correction time is waited for and is judged in continuation.
" dispersion " result of calculation of inertial navigation and satellite navigation data in certain cycle correction time of table 3
Claims (1)
1. a satellite navigation data reasonableness test method, is characterized in that,
(1) satellite navigation data self rationality is differentiated
1. according to the inertial navigation request for utilization, determine the unreasonable value region of carrier longitude, latitude;
2. according to the inertial navigation request for utilization, determine the unreasonable value region of carrier sea level elevation;
3. according to the inertial navigation request for utilization, determine that carrier level and sky are to the unreasonable value region of speed;
4. to the satellite navigation data that receives respectively according to 1. differentiating to the 3. order of criterion;
5. only have all to satisfy and differentiate requirements, be defined as differentiating by self rationality, send this second information that can use of satellite navigation data, get back to and 4. wait for judgement next second satellite navigation data;
If 6. wherein any one numerical value does not satisfy and differentiates requirement, be defined as sending the disabled information of this second satellite navigation data not by self rationality differentiation, get back to and 4. wait for judgement next second satellite navigation data;
(2) rationality of the continuous two number of seconds certificates of satellite navigation is differentiated
Select respectively the poor absolute value criterion of setting position, velocity contrast absolute value criterion and mistiming criterion, detect according to the following step:
I) judge whether this second satellite data status word is effective, if status word is invalid, do not store this number of seconds certificate, again wait for and judge whether next second satellite data status word is effective; If status word is effective, select and store the data of appointment from the Position, Velocity and Time data of satellite navigation in internal storage location;
II) if the status word of second second navigation data is invalid, do not store data, and with the data dump of storing upper one second; Again wait for and judge whether next second satellite data status word is effective;
III) if continuous 2 number of seconds according to effectively, with the 2nd second respective data storage in internal storage location;
IV) with the continuous 2 number of seconds certificates that deposit in internal memory, homogeneous data subtracts each other and asks absolute value;
Several absolute values that V) will obtain are made comparisons with the criterion of the every class data that set in advance respectively;
VI) if there is any 1 absolute value to surpass criterion, send the disabled information of this second satellite navigation data, fall clearly the satellite navigation data of continuous two seconds of having stored in internal storage location, get back to I), again wait for and judge whether next second satellite data status word is effective;
VII) if all absolute value is by criterion, current satellite navigation data is differentiated by continuous two seconds rationality, sends this second information that can use of satellite navigation data;
VIII) if the satellite navigation data of front two seconds is by judging, satellite navigation data was effective in lower 1 second, deposited internal storage location in, pushed away the satellite navigation data of the 1st second that deposits at first, then forwarded IV to);
IX) if the satellite navigation data of front two seconds by judgement, satellite navigation data was invalid in lower 1 second, the data full scale clearance of will continuous two seconds storing, then forward I to), again wait for and judge whether next second satellite data status word effective;
(3) satellite navigation data " dispersion " detects
Select respectively the dispersion criterion of setting position and speed, and arrange effective satellite navigation data in each cycle correction time total number of seconds criterion, detect according to the following step:
＜1〉within the time cycle of Closed-cycle correction or open loop correction, synchrodata corresponding to Selective storage inertial navigation and satellite navigation from the data of position and speed respectively in internal storage location;
＜2〉whether total number of seconds of the effective satellite navigation data in this cycle correction time reaches criterion; No, send the interior underproof information of satellite navigation data of time cycle of this correction, fall clearly whole inertial navigations and the synchrodata corresponding to satellite navigation of storing in the time cycle of this correction of having stored, get back to＜1, wait for and the data in next cycle correction time of judgement; To do following processing:
(a) calculate respectively the inertial navigation of storage and the difference of the corresponding synchrodata of satellite navigation, the difference of same data will by comparing in twos, be determined a maximal value and a minimum value;
(b) maximal value of same data and minimum value take absolute value after subtracting each other again, just obtain the dispersion of this data;
(c) each data is all pressed above-mentioned steps calculating, obtains respectively corresponding dispersion;
(d) dispersion with each data makes a decision with predefined dispersion criterion respectively, if have at least a kind of dispersion of data not reach requirement, the dispersion of determining satellite navigation data in this Closed-cycle correction or open loop correction time cycle exceeds standard, can not be used for integrated navigation, send the interior disabled information of satellite navigation data of time cycle of this correction; If all reach requirement, determine that in this Closed-cycle correction or open loop correction time cycle, satellite navigation data satisfies the dispersion requirement, send the information that in time cycle of this correction, satellite navigation data can be used;
＜3〉fall clearly whole inertial navigations and the synchrodata corresponding to satellite navigation of storing in the time cycle of this correction of having stored, get back to＜1, wait for and the data in next cycle correction time of judgement.
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| US5923286A (en) * | 1996-10-23 | 1999-07-13 | Honeywell Inc. | GPS/IRS global position determination method and apparatus with integrity loss provisions |
| US7110882B2 (en) * | 2003-07-07 | 2006-09-19 | Robert Bosch Gmbh | Method for improving GPS integrity and detecting multipath interference using inertial navigation sensors and a network of mobile receivers |
| US8600671B2 (en) * | 2008-04-04 | 2013-12-03 | The Boeing Company | Low authority GPS aiding of navigation system for anti-spoofing |
| CN101629997A (en) * | 2009-07-24 | 2010-01-20 | 南京航空航天大学 | Detection device and detection method of navigation integrity of inertia subsatellite |
| CN101866009B (en) * | 2010-06-10 | 2012-07-25 | 北京航空航天大学 | Integrity monitoring method suitable for satellite lacking situation of global navigation satellite system (GNSS) |
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