CN106483533A - A kind of Inertia information assists RAIM detection method - Google Patents
A kind of Inertia information assists RAIM detection method Download PDFInfo
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- CN106483533A CN106483533A CN201510552726.0A CN201510552726A CN106483533A CN 106483533 A CN106483533 A CN 106483533A CN 201510552726 A CN201510552726 A CN 201510552726A CN 106483533 A CN106483533 A CN 106483533A
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- satellite
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- 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
- G01S19/20—Integrity monitoring, fault detection or fault isolation of space segment
Abstract
The invention belongs to satellite navigation receiver field of information processing is and in particular to a kind of autonomous integrity of inertia auxiliary detects (RAIM) method, to solve DVB position stability and integrity problem.The invention mainly comprises acquiring satellite is followed the tracks of and synchronization；Take the parameter of the satellite after frame synchronization；Satellite position speed calculation；Least square resolves；Calculate least square pseudorange residuals vector and its root-mean-square；Calculate the pseudorange residuals between receiver and satellite；Descending sequence is carried out to the pseudorange residuals of the every satellite obtaining, then the every 4 o'clock root-mean-square as one pseudorange residuals of a combination calculation from front to back；Find out the minimum combination of the root-mean-square of pseudorange residuals；The pseudorange residuals of every satellite and meansigma methodss are compared, the satellite judging threshold value more than Fault Identification is as faulty satellite.The method effective detection can go out channels track or satellite failure in the case of 5 satellites of single system, and identifies fault satellites.
Description
Technical field
The invention belongs to satellite navigation receiver field of information processing and in particular to a kind of inertia auxiliary autonomous
Integrity detects (RAIM) method.
Background technology
With the variation of Satellite Navigation Technique application, standard positioning services (Standard
Positioning Service, SPS) cannot meet the demand to high accuracy, high reliability for the user, this is just
The positioning precision to system, seriality, availability and integrity is needed to have more strict requirements.Integrity
That wherein there is one of index of extremely important meaning, it refer to satellite position error exceed tolerance limit when
Wait, issue the user with the ability of alarm within a certain period of time.From mathematics basically, integrity is exactly right
The confidence level measurement of the provided information correctness of system.
The main method of current integrity monitoring is divided into two kinds：One kind is integrity passage (Integrity
Channel, GIC)；Another kind is exactly receiver autonomous integrity monitoring (Receiver Autonomous
Integrity Monitoring, RAIM).RAIM can be independent of outside strengthening system and independent work due to it
Make, be increasingly becoming one of groundwork method and study hotspot of integrity monitoring.
Receiver autonomous integrity monitoring technology is related to both sides implication, and one is malfunction monitoring, and that is, whether satellite
There is fault；Two is failture evacuation, that is, the satellite that there will be fault is rejected, and its signal is without in leading
Boat resolves.In front monitoring algorithm, effect preferable RAIM algorithm is the Snapshot Method using current pseudorange observation,
Including pseudorange relative method, least-square residualses method and odd_even adjudgement rule, these three methods are for one event of presence
The situation of barrier has preferable effect, and the essence of three is the same.Odd_even adjudgement rule therein calculates
Relatively simple, therefore be generally used, also rudimentary algorithm is recommended as by RTCA.
The RAIM algorithm that current single system carries out integrity monitoring requires that visible star number is just permissible more than 5
Detect the star that is out of order, just can reject the satellite that there is fault for more than 6.But because signal is covered, easily
The impact of various factors such as it is disturbed, usually can not provide enough satellite remaining information during measurement it is impossible to full
The general RAIM algorithm of foot requires, and single RAIM method can not be full for satellite navigation offer well
The integrity monitoring of sufficient demand.
Therefore, the requirement meeting high accuracy, high reliability in order to position, need using other aid systems Lai
Increase remaining information, meet redundancy condition.The satellite of the more increase redundancy of research is led both at home and abroad at present
Boat completeness monitoring method is that such as GPS, GLONASS and BD2 constellation is mutual using many constellation combination
Combination is although increased the means of integrity monitoring to a certain extent, but still is the autonomous of aeronautical satellite
Integrity monitoring, it is to avoid the not deficiency of aeronautical satellite itself.In the section such as Aeronautics and Astronautics and weaponry
Skill field, INS is typically indispensable navigation system, therefore carries out the intact of satellite navigation using inertia auxiliary
Property monitoring will be have potential method.
Content of the invention
The technical problem to be solved in the present invention is to provide a kind of Inertia information to assist RAIM detection method, thinks and defends
Star navigation provides the integrity monitoring meeting demand.
In order to realize this purpose, the present invention adopts the technical scheme that：
A kind of Inertia information assists RAIM detection method, comprises the steps：
(1) acquiring satellite is followed the tracks of and synchronization；Capture at least one in following satellite：GPS, BD2, GLONASS,
Tracking satellite carries out bit synchronization and frame synchronization；
(2) extract the following parameter of the satellite after frame synchronization：Code NCO, chip count, 1ms count, position
Counting, word count and frame count, obtain x time and satellite pseudorange；
(3) satellite position speed calculation；The satellite position calculation providing according to satellite navigation ICD
Method, the input satellite launch moment is calculated satellite position and satellite velocities；
(4) least square resolves；By to the satellite pseudorange obtaining in step (2) and step (3), defend
Championship is put and is carried out least-squares calculation with satellite velocities, obtains carrier positions and bearer rate；
(5) utilize r=z-H (HTH)-1HTZ=[In-H(HTH)-1HT] z calculating least square pseudorange residuals
Vector, wherein z are n × 1 vectors, and its element is the difference between satellite pseudorange and carrier positions；Numerical value n
It is the satellite number participating in positioning, n >=5；H is n × 4 direction cosine matrix between x and z, InIt is n × n
Unit matrix；
(6) calculate the root-mean-square of least square pseudorange residuals vectorWhen least square pseudorange residuals
When the root-mean-square of vector exceedes residual error thresholding during normal work, provide the alarm mark that there is fault, go forward side by side
Row subsequent step, otherwise judges there are not faulty satellite, method ends；Residual error during normal work
Thresholding is according to default；
(7) pseudorange between receiver and satellite, the pseudorange between receiver and satellite=inertia auxiliary are calculated
The distance between satellite position obtaining in this location coordinates obtaining and step (3), by receiver and satellite
Between pseudorange and step (2) in the satellite pseudorange that obtains make the difference, obtain pseudorange residuals；
(8) descending sequence is carried out to the pseudorange residuals of the every satellite obtaining, then from front to back every 4
The individual o'clock root-mean-square as one pseudorange residuals of a combination calculation；
(9) find out the minimum combination of the root-mean-square of pseudorange residuals in step (8), try to achieve the pseudorange of this combination
Residual error meansigma methodss, using this meansigma methods as Fault Identification threshold value；
(10) meansigma methodss tried to achieve in the pseudorange residuals of every satellite and step (9) are compared, judge big
In Fault Identification threshold value satellite be faulty satellite.
Further, a kind of inertia assists RAIM detection method as above, and FPGA satellite-signal processes soft
Part completes the computing in step (1) and step (2)；DSP positioning calculation software completes step (3)～(10)
In computing.
Further, a kind of inertia assists RAIM detection method, residual error door during normal work as above
Limit value is 18.
The beneficial effects of the present invention is：Based on autonomous integrity detection algorithm principle, using the inventive method,
It is capable of, in the case that single system has Inertia information auxiliary, participating in energy during position location satellite more than or equal to 5
Enough detect whether there are fault satellites, and fault satellites are rejected.Compared to traditional algorithm only in single system 6
Satellite could reject the situation of fault star, effectively increases stability and the reliability of DVB positioning.
Specific embodiment
With reference to specific embodiment, technical solution of the present invention is specifically described.
A kind of Inertia information of the present invention assists RAIM detection method, comprises the steps：
(1) acquiring satellite is followed the tracks of and synchronization；Capture at least one in following satellite：GPS, BD2, GLONASS,
Tracking satellite carries out bit synchronization and frame synchronization；
(2) extract the following parameter of the satellite after frame synchronization：Code NCO, chip count, 1ms count, position
Counting, word count and frame count, obtain x time and satellite pseudorange；
(3) satellite position speed calculation；The satellite position calculation providing according to satellite navigation ICD
Method, the input satellite launch moment is calculated satellite position and satellite velocities；
(4) least square resolves；By to the satellite pseudorange obtaining in step (2) and step (3), defend
Championship is put and is carried out least-squares calculation with satellite velocities, obtains carrier positions and bearer rate；
(5) utilize r=z-H (HTH)-1HTZ=[In-H(HTH)-1HT] z calculating least square pseudorange residuals
Vector, wherein z are n × 1 vectors, and its element is the difference between satellite pseudorange and carrier positions；Numerical value n
It is the satellite number participating in positioning, n >=5；H is n × 4 direction cosine matrix between x and z, InIt is n × n
Unit matrix；
(6) calculate the root-mean-square of least square pseudorange residuals vectorWhen least square pseudorange residuals
When the root-mean-square of vector exceedes residual error thresholding during normal work, provide the alarm mark that there is fault, go forward side by side
Row subsequent step, otherwise judges there are not faulty satellite, method ends；Residual error during normal work
Thresholding is according to default；In the present embodiment, residual error threshold value during normal work is 18.
(7) pseudorange between receiver and satellite, the pseudorange between receiver and satellite=inertia auxiliary are calculated
The distance between satellite position obtaining in this location coordinates obtaining and step (3), by receiver and satellite
Between pseudorange and step (2) in the satellite pseudorange that obtains make the difference, obtain pseudorange residuals；
(8) descending sequence is carried out to the pseudorange residuals of the every satellite obtaining, then from front to back every 4
The individual o'clock root-mean-square as one pseudorange residuals of a combination calculation；
(9) find out the minimum combination of the root-mean-square of pseudorange residuals in step (8), try to achieve the pseudorange of this combination
Residual error meansigma methodss, using this meansigma methods as Fault Identification threshold value；
(10) meansigma methodss tried to achieve in the pseudorange residuals of every satellite and step (9) are compared, judge big
In Fault Identification threshold value satellite be faulty satellite.
In the present embodiment, FPGA satellite-signal processes software and completes the computing in step (1) and step (2)；
DSP positioning calculation software completes the computing in step (3)～(10).
In the case of can be implemented in single system positioning, have inertial navigation information auxiliary using this set method, realize 5
By rejecting stable for fault satellites therein during usable satellite, it is held in position stability.
Claims (3)
1. a kind of Inertia information auxiliary RAIM detection method is it is characterised in that comprise the steps：
(1) acquiring satellite is followed the tracks of and synchronization；Capture at least one in following satellite：GPS, BD2, GLONASS,
Tracking satellite carries out bit synchronization and frame synchronization；
(2) extract the following parameter of the satellite after frame synchronization：Code NCO, chip count, 1ms count, position
Counting, word count and frame count, obtain x time and satellite pseudorange；
(3) satellite position speed calculation；The satellite position calculation providing according to satellite navigation ICD
Method, the input satellite launch moment is calculated satellite position and satellite velocities；
(4) least square resolves；By to the satellite pseudorange obtaining in step (2) and step (3), defend
Championship is put and is carried out least-squares calculation with satellite velocities, obtains carrier positions and bearer rate；
(5) utilize r=z-H (HTH)-1HTZ=[In-H(HTH)-1HT] z calculating least square pseudorange residuals
Vector, wherein z are n × 1 vectors, and its element is the difference between satellite pseudorange and carrier positions；Numerical value n
It is the satellite number participating in positioning, n >=5；H is n × 4 direction cosine matrix between x and z, InIt is n × n
Unit matrix；
(6) calculate the root-mean-square of least square pseudorange residuals vectorWhen least square pseudorange residuals
When the root-mean-square of vector exceedes residual error thresholding during normal work, provide the alarm mark that there is fault, go forward side by side
Row subsequent step, otherwise judges there are not faulty satellite, method ends；Residual error during normal work
Thresholding is according to default；
(7) pseudorange between receiver and satellite, the pseudorange between receiver and satellite=inertia auxiliary are calculated
The distance between satellite position obtaining in this location coordinates obtaining and step (3), by receiver and satellite
Between pseudorange and step (2) in the satellite pseudorange that obtains make the difference, obtain pseudorange residuals；
(8) descending sequence is carried out to the pseudorange residuals of the every satellite obtaining, then from front to back every 4
The individual o'clock root-mean-square as one pseudorange residuals of a combination calculation；
(9) find out the minimum combination of the root-mean-square of pseudorange residuals in step (8), try to achieve the pseudorange of this combination
Residual error meansigma methodss, using this meansigma methods as Fault Identification threshold value；
(10) meansigma methodss tried to achieve in the pseudorange residuals of every satellite and step (9) are compared, judge big
In Fault Identification threshold value satellite be faulty satellite.
2. as claimed in claim 1 a kind of inertia auxiliary RAIM detection method it is characterised in that：FPGA
Satellite-signal processes software and completes the computing in step (1) and step (2)；DSP positioning calculation software completes
Computing in step (3)～(10).
3. as claimed in claim 1 a kind of inertia auxiliary RAIM detection method it is characterised in that：Normally
Residual error threshold value during work is 18.
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Cited By (3)
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| CN111060133A (en) * | 2019-12-04 | 2020-04-24 | 南京航空航天大学 | Integrated navigation integrity monitoring method for urban complex environment |
| CN112505728A (en) * | 2020-12-10 | 2021-03-16 | 中电科西北集团有限公司 | Time integrity monitoring method |
| CN113253321A (en) * | 2021-04-14 | 2021-08-13 | 长沙学院 | AGPS positioning method suitable for receiver with time error of second level |
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| 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 |
| EP1729145B1 (en) * | 2005-06-02 | 2013-08-07 | GMV Aerospace and Defence S.A. | Method and system for providing GNSS navigation position solution with guaranteed integrity in non-controlled environments |
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| US6204806B1 (en) * | 1999-02-26 | 2001-03-20 | Rockwell Collins, Inc. | Method of enhancing receiver autonomous GPS navigation integrity monitoring and GPS receiver implementing the same |
| EP1729145B1 (en) * | 2005-06-02 | 2013-08-07 | GMV Aerospace and Defence S.A. | Method and system for providing GNSS navigation position solution with guaranteed integrity in non-controlled environments |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111060133A (en) * | 2019-12-04 | 2020-04-24 | 南京航空航天大学 | Integrated navigation integrity monitoring method for urban complex environment |
| CN112505728A (en) * | 2020-12-10 | 2021-03-16 | 中电科西北集团有限公司 | Time integrity monitoring method |
| CN112505728B (en) * | 2020-12-10 | 2024-03-22 | 中电科西北集团有限公司 | Time integrity monitoring method |
| CN113253321A (en) * | 2021-04-14 | 2021-08-13 | 长沙学院 | AGPS positioning method suitable for receiver with time error of second level |
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Application publication date: 20170308 |