CN104977591A - GPS (Global Positioning System) and BeiDou regional system combined constellation fault detection and elimination method and device - Google Patents

Abstract

The invention provides a GPS (Global Positioning System) and BeiDou regional system combined constellation fault detection and elimination method and a device. The method comprises steps: the number of visible BDS (BeiDou Navigation Satellite System) satellites and the number of visible GPS satellites at present are determined; when the number of visible BDS satellites is no smaller than 4 but no larger than 6, RAIM (Receiver Autonomous Integrity Monitor) algorithm is used for carrying out fault detection and elimination on the visible GPS satellite set, and a GPS satellite set after fault elimination is obtained, wherein the visible GPS satellite set is a set formed by the visible GPS satellites; the number of satellites in the visible BDS satellite set is expanded to be M according to the GPS satellite set after fault elimination to obtain a BDS satellite set after expansion, wherein M is larger than 6, and the visible BDS satellite set is a set formed by the visible BDS satellites; and fault detection and elimination under the double-satellite assumption are carried out on the BDS satellite set after expansion. Thus, fault detection and elimination under the GPS and BeiDou regional system combined constellation are realized, integrity is improved, and satellite navigation availability in a high safety requirement condition can be effectively ensured.

Description

GPS and Big Dipper district system combine constellation fault detect and method for removing and device

Technical field

The present invention relates to technical field of satellite navigation, particularly relate to a kind of GPS and Big Dipper district system and combine constellation fault detect and method for removing and device.

Background technology

Flourish along with satellite navigation cause, China has built Beidou satellite navigation system (BeiDou Navigation Satellite System in recent years, hereinafter referred to as: BDS), for the Asian-Pacific area provides area navigation service, and plan to realize global service in the year two thousand twenty.The future development of the many constellation combination of GPS (Global Position System) forward, combinationally use Global Positioning System (GPS) (Global Positioning System, hereinafter referred to as: GPS) and BDS, the precision of aerial navigation service, integrity, continuity and availability can be improved.In order to ensure that crucial occasion uses the degree of reliability of navigation Service, need the integrity assessing navigational system, wherein integrity refers to and utilizes navigational system to carry out in the process of corresponding operating user, when the information that navigational system provides cannot meet the performance requirement needed for corresponding operating, system provides the ability of alarm in time, is the critical index being related to life security.

By receiver-autonomous execution receiver autonomous integrity monitoring (the Receiver Autonomous Integrity Monitor on aircraft in traditional gps system, hereinafter referred to as: RAIM) algorithm is to carry out fault detect and eliminating, it is one of important means ensureing integrity, and be used widely, but RAIM algorithm can not be directly used in GPS and Big Dipper district system combines constellation, reason is as follows: first, because the BDS establishment time is shorter, every index of correlation also needs through more checking, be difficult to ensure to obtain the stability with the navigation Service of GPS respective horizontal, therefore the probability of malfunction of GPS and BDS satellite is different, can not directly combine the calculating carrying out RAIM.Secondly, current BDS has 14 satellites, only provides area navigation ability, and BDS can't ensure that full area all the period of time visible satellite number reaches 6, if more there will be the deficiency of number of satellite in high cutoff angle situation in the Asian-Pacific area.And existing satellite navigation location at least needs 4 satellites, fault detect at least needs 5 satellites, and failture evacuation at least needs 6 satellites.

Therefore, how under GPS and Big Dipper district system combine constellation, carrying out fault detect and eliminating, is a problem needing solution badly.

Summary of the invention

The invention provides a kind of GPS and Big Dipper district system and combine constellation fault detect and method for removing and device, to solve the problem of how to carry out fault detect and eliminating under GPS and Big Dipper district system combine constellation.

First aspect, the invention provides a kind of GPS and Big Dipper district system combines constellation fault detect and method for removing, comprising:

Determine the current number of visible BDS satellite and the number of visible gps satellite;

When visible BDS number of satellite is more than or equal to 4 and is less than or equal to 6, use RAIM algorithm to carry out fault detect and eliminating to visible gps satellite collection, obtain the gps satellite collection after fixing a breakdown, visible gps satellite collection is the set of visible gps satellite composition;

According to the gps satellite collection after fixing a breakdown, the number of satellite that visible BDS satellite is concentrated is extended to M to obtain the BDS satellite collection after expanding, M is greater than 6, and visible BDS satellite collection is the set of visible BDS satellite composition;

To expand after BDS satellite collection carry out double star fault hypothesis under fault detect and eliminating.

Further, also comprise:

When the number of visible BDS satellite is less than 4, BDS is not used to carry out satellite navigation location;

When the number of visible BDS satellite is greater than 6, using visible BDS satellite collection as the BDS satellite collection after described expansion.

Further, described basis fix a breakdown after gps satellite collection the number of satellite that visible BDS satellite is concentrated is extended to M with obtain expand after BDS satellite collection, comprising:

Concentrate from the gps satellite after fixing a breakdown and select arbitrarily N number of gps satellite to be incorporated to visible BDS satellite to concentrate the satellite collection that composition is new, the number of satellite that new satellite integrates is as M;

Calculate the geometric dilution of precision GDOP of all new satellite collection, using satellite collection minimum for GDOP as the BDS satellite collection after described expansion.

Further, described to expand after BDS satellite collection carry out double star fault hypothesis under fault detect and eliminating, comprising:

RAIM algorithm is used to carry out fault detect to the BDS satellite collection after expansion;

Detect there is fault satellites time, carry out the eliminating of fault satellites according to the test statistics of BDS satellite collection after expanding;

When fixing a breakdown satellite failure, perform following operation:

The number of satellite M that BDS satellite after S1, record expand is concentrated, gets rid of arbitrary the satellite that the BDS satellite after expanding is concentrated, obtains the BDS satellite subset comprising M-1 satellite;

S2, the BDS satellite subset of use RAIM algorithm to the described M-1 of a comprising satellite carry out fault detect;

S3, when there is not fault satellites in the BDS satellite subset comprising M-1 satellite described in detecting, using the satellite that is excluded as fault satellites, operation terminates;

S4, when there is fault satellites in the BDS satellite subset comprising M-1 satellite described in detecting, the eliminating of fault satellites is carried out according to the test statistics of the BDS satellite subset of the described M-1 of a comprising satellite, the satellite success if fix a breakdown, obtain the BDS satellite subset comprising M-2 satellite, and two satellites be excluded that the BDS satellite subset comprising M-2 satellite described in record is corresponding;

The satellite failure if fix a breakdown, continues to perform above-mentioned S1 ~ S4 operation, until each satellite that the BDS satellite after expanding is concentrated has been excluded, obtains multiple BDS satellite subset comprising M-2 satellite;

Calculate each test statistics comprising the BDS satellite subset of M-2 satellite obtained, two corresponding for the BDS satellite subset comprising M-2 satellite minimum for test statistics satellites be excluded are got rid of as final fault satellites.

Further, before the test statistics of each BDS satellite subset comprising M-2 satellite of described calculating, also comprise:

Detect and whether obtain at least one BDS satellite subset comprising M-2 satellite;

When detecting the BDS satellite subset not obtaining and comprise M-2 satellite, the operation getting rid of any two satellites being carried out to the BDS satellite collection after expanding, obtains the individual BDS satellite subset comprising (M-2) satellite.

Second aspect, the invention provides a kind of GPS and Big Dipper district system combines constellation fault detect and remover, comprising:

Determination module, for determining the current number of visible BDS satellite and the number of visible gps satellite;

Processing module, described processing module comprises:

First processing unit, for when visible BDS number of satellite is more than or equal to 4 and is less than or equal to 6, use RAIM algorithm to carry out fault detect and eliminating to visible gps satellite collection, obtain the gps satellite collection after fixing a breakdown, visible gps satellite collection is the set of visible gps satellite composition;

Second processing unit, the number of satellite that visible BDS satellite is concentrated is extended to M to obtain the BDS satellite collection after expanding by the gps satellite collection after fixing a breakdown for basis, and M is greater than 6, and visible BDS satellite collection is the set of visible BDS satellite composition;

3rd processing unit, for expand after BDS satellite collection carry out double star fault hypothesis under fault detect and eliminating.

Further, described processing module also for:

When the number of visible BDS satellite is less than 4, BDS is not used to carry out satellite navigation location;

When the number of visible BDS satellite is greater than 6, using visible BDS satellite collection as the BDS satellite collection after described expansion.

Further, described second processing unit specifically for:

Concentrate from the gps satellite after fixing a breakdown and select arbitrarily N number of gps satellite to be incorporated to visible BDS satellite to concentrate the satellite collection that composition is new, the number of satellite that new satellite integrates is as M;

Calculate the geometric dilution of precision GDOP of all new satellite collection, using satellite collection minimum for GDOP as the BDS satellite collection after described expansion.

Further, described 3rd processing unit specifically for:

RAIM algorithm is used to carry out fault detect to the BDS satellite collection after expansion;

Detect there is fault satellites time, carry out the eliminating of fault satellites according to the test statistics of BDS satellite collection after expanding;

When fixing a breakdown satellite failure, perform following operation:

The number of satellite M that BDS satellite after S1, record expand is concentrated, gets rid of arbitrary the satellite that the BDS satellite after expanding is concentrated, obtains the BDS satellite subset comprising M-1 satellite;

S2, the BDS satellite subset of use RAIM algorithm to the described M-1 of a comprising satellite carry out fault detect;

S3, when there is not fault satellites in the BDS satellite subset comprising M-1 satellite described in detecting, using the satellite that is excluded as fault satellites, operation terminates;

S4, when there is fault satellites in the BDS satellite subset comprising M-1 satellite described in detecting, the eliminating of fault satellites is carried out according to the test statistics of the BDS satellite subset of the described M-1 of a comprising satellite, the satellite success if fix a breakdown, obtain the BDS satellite subset comprising M-2 satellite, and two satellites be excluded that the BDS satellite subset comprising M-2 satellite described in record is corresponding;

The satellite failure if fix a breakdown, continues to perform above-mentioned S1 ~ S4 operation, until each satellite that the BDS satellite after expanding is concentrated has been excluded, obtains multiple BDS satellite subset comprising M-2 satellite;

Calculate each test statistics comprising the BDS satellite subset of M-2 satellite obtained, two corresponding for the BDS satellite subset comprising M-2 satellite minimum for test statistics satellites be excluded are got rid of as final fault satellites.

Further, described 3rd processing unit also for:

Before the test statistics calculating each BDS satellite subset comprising M-2 satellite, detect whether obtain at least one BDS satellite subset comprising M-2 satellite;

When detecting the BDS satellite subset not obtaining and comprise M-2 satellite, the operation getting rid of any two satellites being carried out to the BDS satellite collection after expanding, obtains the individual BDS satellite subset comprising (M-2) satellite.

GPS provided by the invention and Big Dipper district system combine constellation fault detect and method for removing and device, by determining current visible BDS number of satellite and gps satellite number, when determining that the number of visible BDS satellite is more than or equal to 4 and is less than or equal to 6, first RAIM algorithm is used to carry out fault detect and eliminating to visible gps satellite collection, obtain the gps satellite collection after fixing a breakdown, then BDS number of satellite is extended to M to obtain the BDS satellite collection after expanding according to the gps satellite collection after fixing a breakdown, M is greater than 6, finally to expand after BDS satellite collection carry out double star fault hypothesis under fault detect and eliminating.Whole processing procedure take gps system as relative reference standard, detect and fix a breakdown satellite one by one, achieve and carry out fault detect and eliminating under GPS and Big Dipper district system combine constellation, to improve integrity, the satellite navigation availability in effective guarantee height demand for security situation.

Accompanying drawing explanation

In order to be illustrated more clearly in the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.

Fig. 1 is the process flow diagram that GPS of the present invention and Big Dipper district system combine constellation fault detect and method for removing embodiment one;

Fig. 2 is the process flow diagram that GPS of the present invention and Big Dipper district system combine constellation fault detect and method for removing embodiment two;

Fig. 3 is the structural representation that GPS of the present invention and Big Dipper district system combine constellation fault detect and remover embodiment one.

Embodiment

For making the object, technical solutions and advantages of the present invention clearly, below in conjunction with the accompanying drawing in the present invention, the technical scheme in the present invention is clearly and completely described, obviously, described embodiment is the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.

For existing GPS navigation location, the probability that gps satellite breaks down is that whole constellation is no more than three times every year, is less than 10 to the probability user being exactly a generation per hour satellite failure ^-4/ h, and air route is to non-precision approach, and (Non-Precision Approach is called for short: NPA) requirement of the integrity risk in stage is 10-7/h.Therefore, RAIM algorithm only supposes that the same time only has at most a satellite failure, is ignored by the probability that two satellites break down simultaneously.In real time, RAIM algorithm only needs to monitor single star fault can meet the requirement of civil aviaton's secondary navigation system to GPS.For BDS, owing to still there is no the regulation about satellite failure characteristic in existing BDS official standard file, BDS satellite navigation system is current only has 14 usable satellites, if based on present satellites, according to the definition of GPS standard setting performance, then the probability that every BDS satellite breaks down every year is 2.45 × 10 ^-5/ h/sv.And the performance of defined in service performance specification is disclosed according to BDS, BDS spacing wave continuity is all less than gps satellite, not perfect in conjunction with BDS system-satellite, satellite huge number, therefore can suppose that BDS satellite list star probability of malfunction is 10 ^-4/ h.Analyzed from above-mentioned likelihood of failure, the probability of malfunction of GPS and BDS satellite is different, can not directly combine the calculating carrying out RAIM, the invention provides a kind of GPS and Big Dipper district system combines constellation fault detect and method for removing, to solve how to carry out fault detect and eliminating under GPS and Big Dipper district system combine constellation, to improve integrity, the satellite navigation availability in effective guarantee height demand for security situation.

Fig. 1 is the process flow diagram that GPS of the present invention and Big Dipper district system combine constellation fault detect and method for removing embodiment one, and as shown in Figure 1, the method for the present embodiment can comprise:

S101, determine the number of current visible BDS satellite and the number of visible gps satellite.

When the number of S102, visible BDS satellite is more than or equal to 4 and is less than or equal to 6, use RAIM algorithm to carry out fault detect and eliminating to visible gps satellite collection, obtain the gps satellite collection after fixing a breakdown, visible gps satellite collection is the set of visible gps satellite composition.

Particularly, a kind of RAIM algorithm computation process of non-weighting " snapshot " algorithm is introduced below.

First, the linearization measurement equation of satnav is: y=Hx+ ε.

Wherein, the four-dimensional site error vector (east, north, sky and clock) when x is linearization, y is pseudo-range measurements and the difference of the distance expectation value obtained by satellite position and customer location, it is a n n dimensional vector n, ε is that n ties up error vector, and H is pseudorange observation matrix, for:

$H=\left[\begin{array}{cccc}\cos E_1\cos A_1& \cos E_1\sin A_1& \sin E_1& 1\\ .& .& .& .\\ .& .& .& .\\ .& .& .& .\\ \cos E_N\cos A_N& \cos E_N\sin A_N& \sin E_N& 1\end{array}\right]$

Wherein, E is the elevation angle of each satellite, and A is the position angle of each satellite.

Definition: A=(H ^twH) ^-1h ^tw.

The least-squares estimation of x is:

Least-square residuals vector is w:

$w=y-H\·\hat{x}=\[I-H{\left(H^{T}H\right)}^{-1}{H}^T\]\·y=\[I-H{\left(H^{T}H\right)}^{-1}{H}^T\]\·\mathrm{\ϵ}.$

Make P=I-A, then r=P ε.

SSE is the quadratic sum of each component of vector w: SSE=w ^tw=ε ^tp ε.

Test statistics is stat, $stat\stackrel{\mathrm{\Δ}}{=}\sqrt{SSE/(n-4)}.$

If stat≤Thre _gPSsatnum× σ, then think by syndrome check, otherwise, then think to there is fault satellites, need to carry out failture evacuation.Thre _satnumfor the test statistics threshold value that visible satellite number is corresponding, value is as following table one.

The process of carrying out failture evacuation is as follows:

One, corresponding every satellite, calculates one by one wherein, S=I-H (H ^th) ^-1h ^t.

Two, then, get obtaining satellite corresponding to this maximal value is fault satellites.

Three, calculate ${\mathrm{SSE}}_n=SSE-max\frac{{\left(w_i\right)}^2}{S_{ii}}$

Four, test statistics is upgraded: ${\mathrm{stat}}_n\stackrel{\mathrm{\Δ}}{=}\sqrt{{\mathrm{SSE}}_n/(n-5)}$

If stat _n≤ Thre _gPSsatnum-1× σ, then think that GPS single fault is got rid of successfully, got rid of by fault star, obtain the gps satellite collection after fixing a breakdown.

Table one (the alert rate of the mistake wherein used is 6.67e-5)

S103, the number of satellite that visible BDS satellite is concentrated is extended to M to obtain the BDS satellite collection after expanding according to the gps satellite collection after fixing a breakdown, M is greater than 6, and visible BDS satellite collection is the set of visible BDS satellite composition.

Wherein, S103 is specially: concentrate from the gps satellite after fixing a breakdown and select arbitrarily N number of gps satellite to be incorporated to visible BDS satellite to concentrate the satellite collection that composition is new, the number of satellite that new satellite integrates is as M.Then calculate all new satellite collection geometric dilution of precision (Geometric Dilution Precision, hereinafter referred to as: GDOP), using satellite collection minimum for GDOP as expand after BDS satellite collection.GDOP weighs the very important coefficient of positioning precision, and it represents the distance vector amplification factor between receiver and Aerospace Satellite that satellite ranging error causes.GDOP calculates according to the following formula:

<math><math display = 'block'> <mrow> <mi>G</mi> <mi>D</mi> <mi>O</mi> <mi>P</mi> <mo>=</mo> <msqrt> <mrow> <msub> <mi>D</mi> <mn>11</mn> </msub> <mo>&amp;plus;</mo> <msub> <mi>D</mi> <mn>22</mn> </msub> <mo>&amp;plus;</mo> <msub> <mi>D</mi> <mn>33</mn> </msub> <mo>&amp;plus;</mo> <msub> <mi>D</mi> <mn>44</mn> </msub> </mrow> </msqrt> <mtext>&amp;nbsp; &amp;nbsp;</mtext> </mrow></math>

Wherein, D=(H ^th) ^-1.

S104, to expand after BDS satellite collection carry out double star fault hypothesis under fault detect and eliminating.

Particularly, the quantity of the BDS satellite collection after expansion is necessarily greater than 6, can carry out the fault detect under double star fault hypothesis and eliminating, carry out in accordance with the following steps the BDS satellite collection after expansion:

S1041, use RAIM algorithm carry out fault detect to the BDS satellite collection after expansion.

Calculate test statistics if stat≤Thre _gPSsatnum× σ, then think by syndrome check, BDS satellite collection non-fault after supplementing, otherwise then think to there is fault satellites, wherein, the alert rate of mistake of GPS and BDS can be provided separately.

S1042, detect there is fault satellites time, carry out the eliminating of fault satellites according to the test statistics SSE of BDS satellite collection after expanding.

Get rid of successfully, then what occur is single star fault.

S1043, fix a breakdown satellite failure time, perform following operation:

The number of satellite M that BDS satellite after S1, record expand is concentrated, gets rid of arbitrary the satellite that the BDS satellite after expanding is concentrated, obtains the BDS satellite subset comprising M-1 satellite.

S2, use RAIM algorithm carry out fault detect to the BDS satellite subset comprising M-1 satellite.

S3, detect there is not fault satellites in the BDS satellite subset comprising M-1 satellite time, using the satellite that is excluded as fault satellites, operation terminates.

S4, detect there is fault satellites in the BDS satellite subset comprising M-1 satellite time, according to comprise M-1 satellite BDS satellite subset test statistics carry out the eliminating of fault satellites, the satellite success if fix a breakdown, the BDS satellite subset of acquisition comprises (M-2) satellite, and two satellites be excluded that the BDS satellite subset recording M-2 satellite is corresponding.

The satellite failure if fix a breakdown, continues to perform above-mentioned S1 ~ S4 operation, until each satellite that the BDS satellite after expanding is concentrated has been excluded, obtains multiple BDS satellite subset comprising M-2 satellite.

S1044, calculate each test statistics comprising the BDS satellite subset of M-2 satellite obtained, two corresponding for the BDS satellite subset comprising M-2 satellite minimum for test statistics satellites be excluded are got rid of as final fault satellites.

Further, before S1044, detect whether obtain at least one BDS satellite subset comprising M-2 satellite, when detecting the BDS satellite subset not obtaining and comprise M-2 satellite, the operation getting rid of any two satellites is carried out to the BDS satellite collection after expanding, obtains the individual BDS satellite subset comprising (M-2) satellite.Although the calculated amount of this method is very large, can avoid in S1043 because the error of algorithm is not recorded to the situation of BDS satellite subset.

In the above-described embodiments, further, when the number of visible BDS satellite is less than 4, BDS is not used to carry out satellite navigation location.Due to and existing satellite navigation location at least need 4 satellites, therefore when the number of visible BDS satellite is less than 4, do not use BDS to carry out satellite navigation location.Direct use GPS carries out satellite navigation location, uses RAIM algorithm to carry out fault detect and eliminating to visible gps satellite collection.When the number of visible BDS satellite is greater than 6, first using visible BDS satellite collection as expand after BDS satellite collection.Then direct to expand after BDS satellite collection carry out fault detect and eliminating according to the processing procedure of above-mentioned S104.

The GPS that the present embodiment provides and Big Dipper district system combine constellation fault detect and method for removing, by determining current visible BDS number of satellite and gps satellite number, when determining that the number of visible BDS satellite is more than or equal to 4 and is less than or equal to 6, first RAIM algorithm is used to carry out fault detect and eliminating to visible gps satellite collection, obtain the gps satellite collection after fixing a breakdown, then BDS number of satellite is extended to M to obtain the BDS satellite collection after expanding according to the gps satellite collection after fixing a breakdown, M is greater than 6, finally to expand after BDS satellite collection carry out double star fault hypothesis under fault detect and eliminating.Whole processing procedure take gps system as relative reference standard, detect and fix a breakdown satellite one by one, achieve and carry out fault detect and eliminating under GPS and Big Dipper district system combine constellation, to improve integrity, the satellite navigation availability in effective guarantee height demand for security situation.

Adopt a specific embodiment below, the technical scheme of embodiment of the method shown in Fig. 1 is described in detail.

Fig. 2 is the process flow diagram that GPS of the present invention and Big Dipper district system combine constellation fault detect and method for removing embodiment two, and as shown in Figure 2, the method for the present embodiment can comprise:

S201, determine the number of current visible BDS satellite and the number of visible gps satellite.

When the number of S202, visible BDS satellite is less than 4, BDS is not used to carry out satellite navigation location.

When the number of S203, visible BDS satellite is more than or equal to 4 and is less than or equal to 6, use RAIM algorithm to carry out fault detect and eliminating to visible gps satellite collection, obtain the gps satellite collection after fixing a breakdown.

S204, the number of satellite that visible BDS satellite is concentrated is extended to M to obtain the BDS satellite collection after expanding according to the gps satellite collection after fixing a breakdown, M is greater than 6.

S205, to expand after BDS satellite collection carry out double star fault hypothesis under fault detect and eliminating.

Particularly, the quantity of the BDS satellite collection after expansion is necessarily greater than 6, can carry out the fault detect under double star fault hypothesis and eliminating, carry out in accordance with the following steps the BDS satellite collection after expansion:

S2051, use RAIM algorithm carry out fault detect to the BDS satellite collection after expansion.

Calculate test statistics if stat≤Thre _gPSsatnum× σ, then think by syndrome check, and the BDS satellite collection non-fault after expansion, S205 terminates.Otherwise then think to there is fault satellites, wherein, the alert rate of mistake of GPS and BDS can be provided separately.

S2052, detect there is fault satellites time, carry out the eliminating of fault satellites according to the test statistics SSE of BDS satellite collection after expanding.

Get rid of successfully, then what occur is single star fault, and S205 terminates.

S2053, fix a breakdown satellite failure time, perform following operation:

One, the number of satellite M that the BDS satellite after record expansion is concentrated, get rid of first satellite i that the BDS satellite after expanding is concentrated, i is the mark of satellite, obtains the BDS satellite subset that first comprises M-1 satellite.

Two, RAIM algorithm is used to carry out fault detect to first BDS satellite subset.

Three, detect there is not fault satellites time, using i as fault satellites, successfully get rid of after, S205 terminates.

Four, detect there is fault satellites time, the eliminating of fault satellites is carried out according to the test statistics of first BDS satellite collection, the satellite success if fix a breakdown, fault satellites is labeled as j, the BDS satellite subset of acquisition comprises (M-2) star, and record two satellites (i, j) be excluded corresponding to this BDS satellite subset.Make i=i+1, perform S2054.

If fix a breakdown, satellite failure, makes i=i+1, performs S2054.

S2054, first judge the relation of i and M, if i<M, then perform above-mentioned steps one, two, three, four;

If i=M, detect and whether there is m (i, j) (m>0) record, if exist, then according to this (i, j) satellite is got rid of to the BDS satellite collection after expansion, form the BDS satellite subset that m comprises (M-2) star: if do not exist, the operation getting rid of any two satellites is carried out to the BDS satellite collection after expanding, obtains the BDS satellite subset of individual (M-2) star.

Then to perform: calculate the test statistics of each BDS satellite subset obtained, two corresponding for BDS satellite subset minimum for test statistics satellites be excluded are got rid of as final fault satellites.

When S206, visible BDS number of satellite are greater than 6, using visible BDS satellite collection as the BDS satellite collection after expansion.Perform above-mentioned S205.

Fig. 3 is the structural representation that GPS of the present invention and Big Dipper district system combine constellation fault detect and remover embodiment one, as shown in Figure 3, the device of the present embodiment can comprise: determination module 11 and processing module 12, processing module 12 comprises the first processing unit 121, second processing unit 122 and the 3rd processing unit 123, wherein, determination module 11 is for determining the current number of visible BDS satellite and the number of visible gps satellite, first processing unit 121 is for when visible BDS number of satellite is more than or equal to 4 and is less than or equal to 6, RAIM algorithm is used to carry out fault detect and eliminating to visible gps satellite collection, obtain the gps satellite collection after fixing a breakdown, visible gps satellite collection is the set of visible gps satellite composition.Second processing unit 122 is for extending to M to obtain the BDS satellite collection after expanding according to the gps satellite collection after fixing a breakdown by the number of satellite that visible BDS satellite is concentrated, and M is greater than 6, and visible BDS satellite collection is the set of visible BDS satellite composition.3rd processing unit 123 for expand after BDS satellite collection carry out double star fault hypothesis under fault detect and eliminating.

Further, processing module 12 also for: when the number of visible BDS satellite is less than 4, do not use BDS to carry out satellite navigation location.When the number of visible BDS satellite is greater than 6, using visible BDS satellite collection as the BDS satellite collection after expansion.

Further, second processing unit 122 specifically for: concentrate from the gps satellite after fixing a breakdown and select arbitrarily N number of gps satellite to be incorporated to visible BDS satellite to concentrate the satellite collection that composition is new, the number of satellite that new satellite integrates is as M, calculate the geometric dilution of precision GDOP of all new satellite collection, using satellite collection minimum for GDOP as the BDS satellite collection after expansion.

Further, the 3rd processing unit 123 specifically for:

RAIM algorithm is used to carry out fault detect to the BDS satellite collection after expansion.

Detect there is fault satellites time, carry out the eliminating of fault satellites according to the test statistics of BDS satellite collection after expanding.

When fixing a breakdown satellite failure, perform following operation:

The number of satellite M that BDS satellite after S1, record expand is concentrated, gets rid of arbitrary the satellite that the BDS satellite after expanding is concentrated, obtains the BDS satellite subset comprising M-1 satellite.

S2, use RAIM algorithm carry out fault detect to the BDS satellite subset comprising M-1 satellite.

S3, detect there is not fault satellites in the BDS satellite subset comprising M-1 satellite time, using the satellite that is excluded as fault satellites, operation terminates.

S4, detect there is fault satellites in the BDS satellite subset comprising M-1 satellite time, the eliminating of fault satellites is carried out according to the test statistics of the BDS satellite subset comprising M-1 satellite, the satellite success if fix a breakdown, obtain and comprise the BDS satellite subset of M-2 satellite, and record comprises two satellites be excluded corresponding to the BDS satellite subset of M-2 satellite.

The satellite failure if fix a breakdown, continues to perform above-mentioned S1 ~ S4 operation, until each satellite that the BDS satellite after expanding is concentrated has been excluded, obtains multiple BDS satellite subset comprising M-2 satellite.

Calculate each test statistics comprising the BDS satellite subset of M-2 satellite obtained, two corresponding for the BDS satellite subset comprising M-2 satellite minimum for test statistics satellites be excluded are got rid of as final fault satellites.

Further, the 3rd processing unit 123 also for: calculate each BDS satellite subset comprising M-2 satellite test statistics before, detect whether obtain at least one BDS satellite subset comprising M-2 satellite.When detecting the BDS satellite subset not obtaining and comprise M-2 satellite, the operation getting rid of any two satellites being carried out to the BDS satellite collection after expanding, obtains the individual BDS satellite subset comprising (M-2) satellite.

The device of the present embodiment, may be used for the technical scheme performing embodiment of the method shown in Fig. 1, it is similar that it realizes principle, repeats no more herein.

GPS provided by the invention and Big Dipper district system combine constellation fault detect and remover, current visible BDS number of satellite and gps satellite number is determined by determination module, when determining that the number of visible BDS satellite is more than or equal to 4 and is less than or equal to 6, first first processing unit uses RAIM algorithm to carry out fault detect and eliminating to visible gps satellite collection, obtain the gps satellite collection after fixing a breakdown, then BDS number of satellite is extended to M to obtain the BDS satellite collection after expanding according to the gps satellite collection after fixing a breakdown by the second processing unit, M is greater than 6, last 3rd processing unit to expand after BDS satellite collection carry out double star fault hypothesis under fault detect and eliminating.Whole processing procedure take gps system as relative reference standard, detect and fix a breakdown satellite one by one, achieve and carry out fault detect and eliminating under GPS and Big Dipper district system combine constellation, to improve integrity, the satellite navigation availability in effective guarantee height demand for security situation.

One of ordinary skill in the art will appreciate that: all or part of step realizing above-mentioned each embodiment of the method can have been come by the hardware that programmed instruction is relevant.Aforesaid program can be stored in a computer read/write memory medium.This program, when performing, performs the step comprising above-mentioned each embodiment of the method; And aforesaid storage medium comprises: ROM, RAM, magnetic disc or CD etc. various can be program code stored medium.

Last it is noted that above each embodiment is only in order to illustrate technical scheme of the present invention, be not intended to limit; Although with reference to foregoing embodiments to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein some or all of technical characteristic; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the scope of various embodiments of the present invention technical scheme.

Claims (10)

1. GPS and Big Dipper district system combine constellation fault detect and a method for removing, it is characterized in that, comprising:

Determine the current number of visible BDS satellite and the number of visible gps satellite;

When visible BDS number of satellite is more than or equal to 4 and is less than or equal to 6, use RAIM algorithm to carry out fault detect and eliminating to visible gps satellite collection, obtain the gps satellite collection after fixing a breakdown, visible gps satellite collection is the set of visible gps satellite composition;

According to the gps satellite collection after fixing a breakdown, the number of satellite that visible BDS satellite is concentrated is extended to M to obtain the BDS satellite collection after expanding, M is greater than 6, and visible BDS satellite collection is the set of visible BDS satellite composition;

To expand after BDS satellite collection carry out double star fault hypothesis under fault detect and eliminating.

2. method according to claim 1, is characterized in that, also comprises:

When the number of visible BDS satellite is less than 4, BDS is not used to carry out satellite navigation location;

When the number of visible BDS satellite is greater than 6, using visible BDS satellite collection as the BDS satellite collection after described expansion.

3. method according to claim 1, is characterized in that, described basis fix a breakdown after gps satellite collection the number of satellite that visible BDS satellite is concentrated is extended to M with obtain expand after BDS satellite collection, comprising:

Concentrate from the gps satellite after fixing a breakdown and select arbitrarily N number of gps satellite to be incorporated to visible BDS satellite to concentrate the satellite collection that composition is new, the number of satellite that new satellite integrates is as M;

Calculate the geometric dilution of precision GDOP of all new satellite collection, using satellite collection minimum for GDOP as the BDS satellite collection after described expansion.

4. the method according to any one of claims 1 to 3, is characterized in that, described to expand after BDS satellite collection carry out double star fault hypothesis under fault detect and eliminating, comprising:

RAIM algorithm is used to carry out fault detect to the BDS satellite collection after expansion;

Detect there is fault satellites time, carry out the eliminating of fault satellites according to the test statistics of BDS satellite collection after expanding;

When fixing a breakdown satellite failure, perform following operation:

The number of satellite M that BDS satellite after S1, record expand is concentrated, gets rid of arbitrary the satellite that the BDS satellite after expanding is concentrated, obtains the BDS satellite subset comprising M-1 satellite;

S2, the BDS satellite subset of use RAIM algorithm to the described M-1 of a comprising satellite carry out fault detect;

S3, when there is not fault satellites in the BDS satellite subset comprising M-1 satellite described in detecting, using the satellite that is excluded as fault satellites, operation terminates;

S4, when there is fault satellites in the BDS satellite subset comprising M-1 satellite described in detecting, the eliminating of fault satellites is carried out according to the test statistics of the BDS satellite subset of the described M-1 of a comprising satellite, the satellite success if fix a breakdown, obtain the BDS satellite subset comprising M-2 satellite, and two satellites be excluded that the BDS satellite subset comprising M-2 satellite described in record is corresponding;

The satellite failure if fix a breakdown, continues to perform above-mentioned S1 ~ S4 operation, until each satellite that the BDS satellite after expanding is concentrated has been excluded, obtains multiple BDS satellite subset comprising M-2 satellite;

Calculate each test statistics comprising the BDS satellite subset of M-2 satellite obtained, two corresponding for the BDS satellite subset comprising M-2 satellite minimum for test statistics satellites be excluded are got rid of as final fault satellites.

5. method according to claim 4, is characterized in that, before the test statistics of each BDS satellite subset comprising M-2 satellite of described calculating, also comprises:

Detect and whether obtain at least one BDS satellite subset comprising M-2 satellite;

When detecting the BDS satellite subset not obtaining and comprise M-2 satellite, the operation getting rid of any two satellites being carried out to the BDS satellite collection after expanding, obtains the individual BDS satellite subset comprising (M-2) satellite.

6. GPS and Big Dipper district system combine constellation fault detect and a remover, it is characterized in that, comprising:

Determination module, for determining the current number of visible BDS satellite and the number of visible gps satellite;

Processing module, described processing module comprises:

First processing unit, for when visible BDS number of satellite is more than or equal to 4 and is less than or equal to 6, use RAIM algorithm to carry out fault detect and eliminating to visible gps satellite collection, obtain the gps satellite collection after fixing a breakdown, visible gps satellite collection is the set of visible gps satellite composition;

Second processing unit, the number of satellite that visible BDS satellite is concentrated is extended to M to obtain the BDS satellite collection after expanding by the gps satellite collection after fixing a breakdown for basis, and M is greater than 6, and visible BDS satellite collection is the set of visible BDS satellite composition;

3rd processing unit, for expand after BDS satellite collection carry out double star fault hypothesis under fault detect and eliminating.

7. device according to claim 6, is characterized in that, described processing module also for:

When the number of visible BDS satellite is less than 4, BDS is not used to carry out satellite navigation location;

When the number of visible BDS satellite is greater than 6, using visible BDS satellite collection as the BDS satellite collection after described expansion.

8. device according to claim 6, is characterized in that, described second processing unit specifically for:

Concentrate from the gps satellite after fixing a breakdown and select arbitrarily N number of gps satellite to be incorporated to visible BDS satellite to concentrate the satellite collection that composition is new, the number of satellite that new satellite integrates is as M;

Calculate the geometric dilution of precision GDOP of all new satellite collection, using satellite collection minimum for GDOP as the BDS satellite collection after described expansion.

9. the device according to any one of claim 6 ~ 8, is characterized in that, described 3rd processing unit specifically for:

RAIM algorithm is used to carry out fault detect to the BDS satellite collection after expansion;

Detect there is fault satellites time, carry out the eliminating of fault satellites according to the test statistics of BDS satellite collection after expanding;

When fixing a breakdown satellite failure, perform following operation:

The number of satellite M that BDS satellite after S1, record expand is concentrated, gets rid of arbitrary the satellite that the BDS satellite after expanding is concentrated, obtains the BDS satellite subset comprising M-1 satellite;

S2, the BDS satellite subset of use RAIM algorithm to the described M-1 of a comprising satellite carry out fault detect;

S3, when there is not fault satellites in the BDS satellite subset comprising M-1 satellite described in detecting, using the satellite that is excluded as fault satellites, operation terminates;

S4, when there is fault satellites in the BDS satellite subset comprising M-1 satellite described in detecting, the eliminating of fault satellites is carried out according to the test statistics of the BDS satellite subset of the described M-1 of a comprising satellite, the satellite success if fix a breakdown, obtain the BDS satellite subset comprising M-2 satellite, and two satellites be excluded that the BDS satellite subset comprising M-2 satellite described in record is corresponding;

The satellite failure if fix a breakdown, continues to perform above-mentioned S1 ~ S4 operation, until each satellite that the BDS satellite after expanding is concentrated has been excluded, obtains multiple BDS satellite subset comprising M-2 satellite;

Calculate each test statistics comprising the BDS satellite subset of M-2 satellite obtained, two corresponding for the BDS satellite subset comprising M-2 satellite minimum for test statistics satellites be excluded are got rid of as final fault satellites.

10. device according to claim 9, is characterized in that, described 3rd processing unit also for:

Before the test statistics calculating each BDS satellite subset comprising M-2 satellite, detect whether obtain at least one BDS satellite subset comprising M-2 satellite;

When detecting the BDS satellite subset not obtaining and comprise M-2 satellite, the operation getting rid of any two satellites being carried out to the BDS satellite collection after expanding, obtains the individual BDS satellite subset comprising (M-2) satellite.