CN104596544B - A kind of method of aerial navigation performance prediction under ionospheric scintillation - Google Patents

A kind of method of aerial navigation performance prediction under ionospheric scintillation Download PDF

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CN104596544B
CN104596544B CN201510033744.8A CN201510033744A CN104596544B CN 104596544 B CN104596544 B CN 104596544B CN 201510033744 A CN201510033744 A CN 201510033744A CN 104596544 B CN104596544 B CN 104596544B
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ionospheric scintillation
scintillation
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CN104596544A (en
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刘杨
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Tianyu Aviation Data Technology Hefei Co ltd
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Beihang University
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    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
    • G01S19/235—Calibration of receiver components

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Abstract

The invention discloses a kind of method of aerial navigation performance prediction under ionospheric scintillation, methods described is applied under ionospheric scintillation, during aviation flight, navigation performance is described by the parameter such as navigation error, navigation integrity and availability, and navigation performance predicts the outcome and calculated by aerial navigation terminal.The navigational range error and average time of losing lock under flicker environment are analyzed by setting up the mapping relations between ionospheric scintillation parameter and the track loop of navigation neceiver, navigation losing lock frequency is calculated.According to aviation users track and flight operation demand, navigation accuracy, autonomous integrity and availability are estimated.The advantage of this method is can be in ionospheric scintillation under any scene and setup parameter, accurate aerial navigation performance parameter is provided to calculate and predict the outcome, to ensure the validity and security of aerial navigation, the method is equally applicable to assess influence degree of the various aerial navigation terminals by ionospheric scintillation, for the development of high performance turbine navigation terminal provides theoretical and real example foundation.

Description

A kind of method of aerial navigation performance prediction under ionospheric scintillation
Technical field
The present invention relates to aerial navigation Performance Evaluation field, and in particular to aerial navigation performance is pre- under a kind of ionospheric scintillation The method of survey.
Background technology
Ionospheric scintillation refer to when electric wave signal passes through ionosphere due to the uneven of ionospheric plasma structure and when Empty non-stationary and the fluctuation of electric wave amplitude, phase and time delay that causes.The flicker of forceful electric power absciss layer can then cause large-scale navigation logical Letter is interrupted.Historical data shows that the ionospheric storm and strong scintillation that in late October, 2003 to early November occurs once were led The WAAS (WAAS, Wide Area Argumentation System) in the U.S. is caused to close up to 30 hours, seriously Influence its inland air transportation.To solve the above problems, influence of the research ionospheric scintillation to aerial navigation performance turns into recent years Carry out the focus and difficult point of association area.Presently, carry out ionospheric scintillation to depend on the research that navigation performance influences Experimental technique, because ionospheric scintillation event has stronger sudden and no regularity, its experiment data acquisition difficulty is big, leads Causing it to study cannot generalization.And high security operation will to the performance of its navigation terminal under the intensive flow of aviation, complex environment Constantly lifting is asked, in the case, how Accurate Prediction is carried out to the aerial navigation performance under ionospheric scintillation, as urgently dashing forward Broken technical barrier.
The regulation of performance navigation (Performance Based Navigation), aviation according to needed for international civil aviation Navigation performance mainly includes precision, integrity, continuity and availability.For theory, navigation error is assessment navigation performance Important parameter.Traditional navigation performance Forecasting Methodology is often based upon basic navigation error feature, independently goes to assess and pre- Survey various navigation performances.In fact, navigational environment and navigation signal receive model not only influences navigation error in itself, also cause each There is stronger correlation between kind navigation performance.Under ionospheric scintillation, the electromagnetic environment that navigation signal is propagated is subject to larger Change, this causes that traditional navigation signal receives model and there is limitation, equally also changes some statistics of navigation error Characteristic, in the case, traditional navigation performance Forecasting Methodology will fail.Although some investigators are directed to specific scene, The statistics empirical parameter of navigation error under ionospheric scintillation, but the method are obtained by methods such as flight experiments without strong general Adaptive, causes other researchers that more obstacle is still faced in the research process is engaged in.Therefore, design and Implement it is pervasive, from Under main, flexible ionospheric scintillation the method for aerial navigation performance prediction be this area researcher endeavour solve problem it One.
The content of the invention
The technical problem to be solved in the present invention is：Overcome the deficiencies in the prior art, propose aviation under a kind of ionospheric scintillation Navigation performance Forecasting Methodology, sets up the navigation neceiver track loop model that navigational environment association is characterized, and then calculate amount of navigation The average time of losing lock of error and navigation track loop is surveyed, deducing ionospheric scintillation by average time of losing lock causes navigation signal The frequency of losing lock is tracked, the statistical model of the frequency is set up, the aviation in conjunction with user's flight path, flight time to user is led Boat performance is predicted, with effective guarantee navigation performance.
The purpose of the present invention is achieved through the following technical solutions：Aerial navigation performance prediction under a kind of ionospheric scintillation Method, methods described is applied under ionospheric scintillation, and during aviation flight, navigation performance is by navigation error, navigation integrity Described with the parameter such as availability, navigation performance predicts the outcome and calculated by aerial navigation terminal, it is characterised in that can be in ionosphere During flicker under any scene and setup parameter, there is provided accurate aerial navigation performance parameter is calculated and predicted the outcome, to ensure boat The validity and security of sky navigation, the method are equally applicable to assess various aerial navigation terminals and are influenceed by ionospheric scintillation Degree, for the development of high performance turbine navigation terminal provides theoretical and real example foundation.Methods described comprises the following steps：
Step A, the Amplitude scintillation of setting ionospheric scintillation and phase scintillation parameter, the species of setting navigation signal；
Step B, the track loop model of navigation neceiver is set up, and calculate tracking code pseudo range measurement error and carrier phase Measurement error；
Step C, post-filtering is carried out to measured error, obtain the output measurement error of navigation neceiver；
Step D, the ionospheric scintillation parameter according to set by and the navigation neceiver track loop model set up, calculate The average time of losing lock of track loop；
Step E, set up average time of losing lock under ionospheric scintillation navigation signal interrupt frequency associative expression formula, meter Calculate navigation signal losing lock frequency；
Step F, aeronautical satellite position is calculated according to user's flight path, flight time, obtain the geometric parameter of satellite；
Step G, according to specific flight operation demand, calculate the Autonomous Integrity Monitoring availability prediction of navigation terminal；
Step H, calculate flight course in navigation protected level, by itself and the navigation alarm of defined in operation demand limit into Row compares, and judges whether can use；
Step I, the navigation performance parameter result of calculation according to setting time section, the navigation availability to the time period are carried out Prediction.
Wherein, in the step A：The Amplitude scintillation parameter of ionospheric scintillation is S4, its span is [0.1,2], phase Position scintillation parameter is τ, and its span is [0.1,1], and navigation signal refers to GNSS digital intermediate frequency signals, species include GPS, GALILEO, GLONASS and Beidou navigation signal.
Wherein, in the step B：Navigation neceiver track loop model is made up of single order, second order or three rank track loops, Its tracking code pseudorange is calculated by following formula：
Code tracking error is expressed as：Wherein BndIt is the track band of code tracking loop Width, TsIt is the post detection integration of track loop, C/N0It is the carrier-to-noise ratio of navigation signal, between d is the correlation of code tracking loop Away from；
Carrier tracking error is expressed as：
AndWherein BnpIt is carrier tracking loop The tracking bandwidth on road, k is track loop exponent number, and p is the spectral coefficient of phase power spectrum density, fnIt is carrier tracking loop Free oscillation frequency.
Wherein, in the step C：The post-filtering of code pseudorange and carrier track measurement uses kalman filter method, Its state equation is：
WhereinThe respectively pseudorange estimate at k moment and k-1 moment, φk、φk-1The respectively carrier phase measurement at k moment and k-1 moment, its error in measurement obeys [0, σφ] Gaussian Profile.
Its observational equation is represented by：
Wherein ρkIt is pseudo range measurement amount, its error in measurement wkObey [0, στ] Gaussian Profile.
Wherein, in the step D：Assuming that the probability density function of the output valve ε of track loop is p every timek(ε), tracking The error of loop is limited to ± θb, then track loop be capable of the number of times of tenacious tracking and be represented by：Averagely Time of losing lock can be calculated asWherein T is the renewal time of loop, is generally equal to post detection integration Ts。
Wherein, in the step E：Average time of losing lock T under normal circumstances is calculated respectively1In the case of ionospheric scintillation Average time of losing lock T2, then the ionospheric scintillation frequency be with the relation of average time of losing lock：Wherein, m is Fixed coefficient, its value is relevant with the degree of ionospheric scintillation.
Wherein, in the step E：Navigation signal losing lock frequency statistically obeys Poisson distribution, the meter of its distributed constant Calculation method is：
λ0=ρ λNscinTspan, wherein NscinFor because ionospheric scintillation causes to track the number of satellite of losing lock, ρ is correlation simultaneously Coefficient, characterizes NscinThe degree of correlation of satellite-signal passage, TspanIt is the flight time.If the signal losing lock weight of navigation terminal New capture time is Treacq, then the N within the flight timescinThe time of losing lock of satellite-signal is Tunlock=λ0Treacq。
Wherein, in the step F：The geometric parameter of satellite can be described with matrix H, and
[ai1 ai2 ai3] it is respectively the list of user and i-th satellite in northeast day direction Bit vector, n is visible satellite sum.
Wherein, in the step G：Navigation terminal Autonomous Integrity Monitoring availability prediction computational methods be：
H is calculated firstw=(H'PH)-1H'P, whereinCalculate
By HPLslope、VPLslopeLimit is alerted with level respectively and vertical alarm limit compares, if being limited more than alarm, navigated Terminal autonomous integrity is unavailable.
Wherein, in the step H：Navigate protected level computational methods be：Calculate △ x=Hw△ z, wherein △ z are pseudorange Residual error, meets Gaussian Profile [0, σ].Order
h11=[a11 a21 … an1], h12=[a12 a22 … an2]h13=[a13 a23 … an3]。
γ=[σ1 σ2 … σn]
Then
Horizontal protected level is：
Vertically protected level is：VPL=| △ x3|+α2·du。
Wherein, in the step I：Navigation availability determination methods be：In certain period of time, in terms of unit interval step-length Navigation alarm limit in the navigation protected level for obtaining and operation demand is compared, if protected level is limited more than alarm, this when Carve navigation unavailable；Within the time period, if comparing total degree for N1, protected level is N more than the number of times of alarm limit2, then can use Property computational methods are：
The beneficial effects are mainly as follows：
(1) compared to conventional method, (as shown in Figure 1) of the invention is advantageous in that consideration ionospheric scintillation environment to navigation The influence of error propagation, to improve the accuracy of estimation of navigation error, as shown in Figure 3.
(2) compared to conventional method, (such as Fig. 1) of the invention calculates average mistake of the ionospheric scintillation environment to track loop of navigating The influence of lock time, its effect is as shown in Figure 4.
(3) by setting the coefficient correlation of different navigation signal receiving channel and the recapture time of navigation neceiver, The present invention can effectively predict the availability of aerial navigation under ionospheric scintillation, as shown in Figure 5.
Brief description of the drawings
Fig. 1 is flow chart of the invention；
Fig. 2 is the schematic diagram of navigation track loop in the present invention；
Fig. 3 is the schematic diagram of navigation error transmittance process in the present invention；
Fig. 4 is average time of losing lock and ionospheric scintillation parameters relationship schematic diagram in the present invention；
Fig. 5 is coefficient correlation, reacquisition time and navigation availability relation schematic diagram in the present invention.
Specific embodiment
Specific embodiment of the invention is described in detail below in conjunction with accompanying drawing, the explanation is defended with GPS under ionospheric scintillation The navigation performance of star is assessed and is predicted as example.
1st, the Amplitude scintillation and phase scintillation parameter of setting ionospheric scintillation, wherein Amplitude scintillation parameter S4It is set to 0.6, phase Position scintillation parameter τ is set to 0.5.
2nd, the track loop model of navigation neceiver is set up, code tracking loop is set to second-order loop, carrier tracking loop herein Road is set to second-order loop, calculates tracking code pseudo range measurement error and carrier phase measurement error；
3rd, rearmounted Kalman filtering is carried out to measured error, the output measurement error of navigation neceiver is obtained；
4th, the ionospheric scintillation parameter and the navigation neceiver track loop model set up according to set by, calculate code with The average time of losing lock of track loop and carrier tracking loop；
5th, the associative expression formula of frequency is interrupted on navigation signal under ionospheric scintillation according to average time of losing lock, calculating is led Boat signal losing lock frequency；
6th, user's flight path is set as cruise mode, flight time are 7200s, is calculated according to GPS almanac parameters and navigated Satellite position, the geometric parameter of satellite is obtained with reference to user's flight current time position；
7th, the flight operation demand according to LPV200, the false-alarm probability of integrity risk is 10-5, false dismissal probability is 10-3, 40 meters of level alarm limit, vertical 35 meters of alarm limit.The Autonomous Integrity Monitoring availability for calculating navigation terminal on this basis is pre- Survey；
8th, the navigation protected level in flight course is calculated, it is compared with the navigation alarm limit of LPV200 defineds, Judge whether can use；
9th, setting time section is 7200s, and the protected level that once navigates is calculated per 1s, and it is compared with alarm limit, is remembered Thus record navigation protected level comes to be predicted the navigation availability of the time period more than the number of times of alarm limit.
The above method is explained further below.
The model of track loop of being navigated described in step 2, for the L1 frequency range BPSK modulation system signals of GPS, intermediate frequency is defended Star signal is closed by after pre-correlation, can be analyzed to tributary signal in the same direction and quadrature branch signal with local code-phase in time, point I is not designated as itkAnd Qk；Intermediate frequency satellite-signal carries out phase with local early code (advanced 0.5 chip) and local evening code (delayed 0.5 chip) Close, obtain correlated results IEk、ILkAnd QEk、QLk.Then code discriminator is output as：Phase-shift discriminator is output as
The amplitude of navigation signal meets nakagami-m distributions under ionospheric scintillation, and phase satisfaction is uniformly distributed.Thus may be used Derive code phase and carrier tracking error is expressed as：
Code tracking error：Wherein BndIt is the tracking bandwidth of code tracking loop, TsFor The post detection integration of track loop, C/N0It is the carrier-to-noise ratio of navigation signal, d is the related spacing of code tracking loop；；
Carrier tracking error：
AndWherein BnpIt is carrier tracking loop The tracking bandwidth on road, k is track loop exponent number, and p is the spectral coefficient of phase power spectrum density, fnIt is carrier tracking loop Free oscillation frequency.
In step 3, because code pseudo range measurement error is generally larger, then carrier smoothing code pseudorange equation is set up, using karr The method of graceful filtering carries out post-filtering, and its filtering input is code pseudo range measurement amount error sequence and carrier wave amount measurement error sequence Row, are output as the code pseudorange error sequence after smoothing, and it meets [0, σo] Gaussian Profile.Generally, code pseudorange after post-filtering Error may decrease to 10% before filtering.
In step 4, the computational methods of average time of losing lock are：Assuming that the probability density of the output valve ε of each track loop Function is pk(ε), the error of track loop is limited to ± θb, then track loop be capable of the number of times of tenacious tracking and be represented by：Average time of losing lock can be calculated asWherein T is the renewal time of loop, generally It is equal to post detection integration Ts.In actually calculating, an accumulative frequency upper limit is often taken, such as 106, then during average losing lock Between can actually be calculated by following formula：The loop renewal time elects 20ms as.
In step 5, the navigation signal losing lock frequency is with the relation of average time of losing lock：Wherein, T1For Average time of losing lock under normal circumstances, T2Average time of losing lock in the case of for ionospheric scintillation, m is fixed coefficient, and it takes Value is relevant with the degree of ionospheric scintillation, is designated as hereinThe ionospheric scintillation frequency statistically obeys Poisson distribution, its The computational methods of distributed constant are：λ0=ρ λNscinTspan, wherein NscinFor simultaneously because ionospheric scintillation causes to track defending for losing lock Star number mesh, is set to 2 herein, i.e., for the user under GPS constellation, have two in all visible satellites simultaneously because ionosphere is dodged Sparkle and losing lock, ρ is coefficient correlation, value is 0.5, T hereinspanIt is the flight time, is 7200s.If the signal of navigation terminal loses The lock recapture time is Treacq, value is 10s herein, then 2 time of losing lock of satellite-signal are T within the flight timeunlock =λ0Treacq=10 λ0。
In step 6, it is known that the initial time of flight and flight time, if the position of user is Pu=[x, y, z], according to defending The almanac parameters of star can calculate the position P for learning i-th satellite of the moments,i=[xi,yi,zi], and then calculate visible satellite Geometric parameter matrix H.
In step 7, under LPV200 operation demands, its integrity risk allocation probability is 10-7/ app, continuity risk allocation Probability is 10-6/ 15s, is further calculated false dismissal probabilityPfFor the priori that single constellation single satellite breaks down Probability, is set to 10 herein-5Per hour.False-alarm probability isTsampleIt it is the sampling time, i.e., continuity alarm is defeated Go out the cycle, 120s is set to here.
H is calculated firstw=(H'PH)-1H'P, wherein P are weighting matrix, and its diagonal entry is every satellite error in measurement The variance of residual error is reciprocal.For the error in measurement residual error of satellite, the model that this method is used for：
Wherein σureIt is satellite ephemeris and star clock error, 1 meter, σ is set to hereinoBy step Rapid 3 are calculated, σtropIt is troposphere residual error, σmpIt is Multipath Errors, is expressed as：
Wherein θ is satellite elevation angle, and unit is radian；
Wherein θdegIt is satellite elevation angle, unit degree of being.
Then
By HPLslope、VPLslopeLimit is alerted with level respectively and vertical alarm limit compares, if being limited more than alarm, navigated Terminal autonomous integrity is unavailable.
In step 8, when calculating navigation protected level, △ x=H are calculated firstw△ z, wherein △ z are pseudorange residuals, meet high This distribution [0, σ], σ is satellite pseudo range measurement residual error, is calculated by step 7.Under normal circumstances, navigation protected level can be represented For：
Horizontal protected level：
Vertical protected level：VPL=| △ x3|+α2·du
For LPV200 ruuning situations, α1Value is 6, α2Value is 5.33.
In step 9, the navigation protected level that will be calculated every time is compared with alarm limit, if comparing total degree for N1, It is herein 7200, protected level is N more than the number of times of alarm limit2, then availability calculations method be：
According to the operation demand of LPV200, η need to be more than 99.999%.
The above is only concrete application example of the invention, protection scope of the present invention is not limited in any way.All uses Equivalents or equivalence replacement and the technical scheme that is formed, all fall within rights protection scope of the present invention.

Claims (7)

1. under a kind of ionospheric scintillation aerial navigation performance prediction method, it is characterised in that the method step is as follows：
Step A, the Amplitude scintillation of setting ionospheric scintillation and phase scintillation parameter, the species of setting navigation signal；
Step B, the track loop model of navigation neceiver is set up, and calculate tracking code pseudo range measurement error and carrier phase measurement Error；
Step C, post-filtering is carried out to measured error, obtain the output measurement error of navigation neceiver；
Step D, the ionospheric scintillation parameter according to set by and the navigation neceiver track loop model set up, calculate tracking The average time of losing lock of loop；
Step E, the associative expression formula that average time of losing lock interrupts frequency on navigation signal under ionospheric scintillation is set up, calculating leads Boat signal losing lock frequency；
Step F, aeronautical satellite position is calculated according to user's flight path, flight time, obtain the geometric parameter of satellite；
Step G, according to specific flight operation demand, calculate the Autonomous Integrity Monitoring availability prediction of navigation terminal；
Step H, the navigation protected level calculated in flight course, it is compared with the navigation alarm limit of defined in operation demand Compared with judging whether can use；
Step I, the navigation performance parameter result of calculation according to setting time section, are carried out pre- to the navigation availability of the time period Survey.
2. under ionospheric scintillation according to claim 1 aerial navigation performance prediction method, it is characterised in that：The step In rapid A：The Amplitude scintillation parameter of ionospheric scintillation is S4, its span is [0.1,2], and phase scintillation parameter is τ, its value Scope is [0.1,1], and navigation signal refers to GNSS digital intermediate frequency signals, and species includes that GPS, GALILEO, GLONASS and the Big Dipper are led Boat signal.
3. under ionospheric scintillation according to claim 1 aerial navigation performance prediction method, it is characterised in that：The step In rapid C：The post-filtering of code pseudorange and carrier track measurement uses kalman filter method, and its state equation is：
WhereinRespectively the pseudorange estimate at k moment and k-1 moment, φk、φk-1 The respectively carrier phase measurement at k moment and k-1 moment, its error in measurement obeys [0, σφ] Gaussian Profile；
Its observational equation is represented by：
Wherein ρkIt is pseudo range measurement amount, its error in measurement wkObey [0, στ] Gaussian Profile.
4. under ionospheric scintillation according to claim 1 aerial navigation performance prediction method, it is characterised in that：The step In rapid D：Assuming that the probability density function of the output valve ε of track loop is p every timek(ε), the error of track loop is limited to ± θb, then The number of times that track loop is capable of tenacious tracking is represented by：Average time of losing lock can be calculated asWherein T is the renewal time of loop, is generally equal to post detection integration Ts。
5. under ionospheric scintillation according to claim 1 aerial navigation performance prediction method, it is characterised in that：The step In rapid E：The ionospheric scintillation frequency statistically obeys Poisson distribution, and the computational methods of its distributed constant are：
λ0=ρ λNscinTspan, wherein NscinFor because ionospheric scintillation causes to track the number of satellite of losing lock, ρ is phase relation simultaneously Number, characterizes NscinThe degree of correlation of satellite-signal passage, TspanIt it is the flight time, if the signal losing lock of navigation terminal is again Capture time is Treacq, then the N within the flight timescinThe time of losing lock of satellite-signal is Tunlock=λ0Treacq。
6. under ionospheric scintillation according to claim 1 aerial navigation performance prediction method, it is characterised in that：The step In rapid F：The geometric parameter of satellite can be described with matrix H, and
[ai1 ai2 ai3] be respectively user and i-th satellite northeast day direction unit to Amount, n is visible satellite sum.
7. under ionospheric scintillation according to claim 1 aerial navigation performance prediction method, it is characterised in that：The step In rapid I：Navigation availability determination methods be：
In certain period of time, limited with the navigation alarm in operation demand with the navigation protected level that unit interval step-length is calculated It is compared, if protected level is limited more than alarm, moment navigation is unavailable；Within the time period, if comparing total degree for N1, Protected level is N more than the number of times of alarm limit2, then availability calculations method be：
η = ( 1 - N 2 N 1 ) × 100 % .
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