CN106646526A - Independent integrity detection method of receiver capable of simultaneously detecting and identifying multiple faults - Google Patents
Independent integrity detection method of receiver capable of simultaneously detecting and identifying multiple faults Download PDFInfo
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- CN106646526A CN106646526A CN201710071746.5A CN201710071746A CN106646526A CN 106646526 A CN106646526 A CN 106646526A CN 201710071746 A CN201710071746 A CN 201710071746A CN 106646526 A CN106646526 A CN 106646526A
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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 discloses an independent integrity detection method of a receiver capable of simultaneously detecting and identifying multiple faults. The method comprises the steps of firstly determining a satellite position according to a navigation message, eliminating a satellite with a relatively low elevation angle, and determining an observation matrix which only contains a clock correction term; carrying out parity decomposition on the observation matrix to obtain a parity vector p and a multi-epoch cumulative parity vector P, calculating test statistics separately and carrying out weighting to obtain new test statistics sigma, and comparing the new test statistics sigma with a threshold T to obtain a fault detection result; and carrying out fault mode assumption according to the quantity of faults, and detecting the faults in various fault modes to identify multiple faults. The method is simple, the detection and recognition rate is high, abrupt faults and multiple faults can be detected and recognized, and the method also has a very high detection and recognition rate on small soft faults.
Description
Technical field
The present embodiments relate to field of satellite navigation, more particularly to one kind can simultaneously detect and recognize soft fault and prominent
Become the completeness monitoring method and device of failure.
Background technology
Receiver autonomous integrity monitoring (Receiver Autonomous Integrity Monitoring, RAIM) is
An important technology in satellite navigation receiver, is the correct available premise of calculation result for ensureing satellite navigation system.
RAIM must have two functions of fault detect and Fault Identification, be able to detect that satellite failure, and detect failure
Afterwards, Fault Identification is carried out, finds out fault satellites and exclude it from navigator fix solution.Because RAIM technologies are to satellite navigation system
Important function, RAIM Failure detection and identification methods are study hotspots in recent years.
With the extensive application of satellite navigation system, traditional only considers that single satellite occurs the vacation of larger mutation failure
If being no longer suitable for some special occasions, there is small soft fault in satellite or the probability of multi-satellite simultaneous faults can not
It is ignored, at present now, existing many solution partition methods, Dual Failures exclusive method and pseudorange comparison of coherence method can be used for many star failures,
The odd_even adjudgement rule for having accumulation epoch can be used for small soft fault.
Many solution partition methods select to produce minimum level of protection by calculating the complete or collected works of satellite and the level of protection of subset
Combinations of satellites is carrying out navigation calculating；Dual Failures exclusive method rejects the monitoring and statisticses of the combinations of satellites after two satellites by traversal
Amount carries out contrast identification fault satellites with thresholding, only for double star failure；Pseudorange comparison of coherence method is by calculating all four
The subset of satellite is compared to failure judgement satellite with threshold value；The odd_even adjudgement rule of accumulation epoch is by construction many epoch
Parity vector accumulation detection limit, amplifies decentralization parameter multiple, to detect small soft fault, but cannot detect mutation event
Barrier.
The demand of small soft fault, mutation failure and many star failures is excluded simultaneously for high accuracy user couple, is needed
Using a kind of RAIM methods that can simultaneously detect and recognize this several failure such that it is able to ensure which kind of failure occurs regardless of satellite
The availability and reliability of the location navigation of satellite navigation system can be ensured.
The content of the invention
Goal of the invention：In order to overcome the deficiencies in the prior art, the present invention to provide a kind of for high accuracy user couple
The availability of satellite navigation system and the demand of reliability, there is provided one kind can detect and recognize small gradual, mutation and the event of many stars
The RAIM new methods of barrier.The inventive method is simple, and detection discrimination is high, not only can detect identification mutation failure and multiple faults,
Also there is very high detection discrimination to small soft fault.
Technical scheme：For achieving the above object, the technical solution used in the present invention is：
A kind of receiver-autonomous integrity detection method that can simultaneously detect identification various faults, comprises the following steps：
Step 1, according to satellite navigation message satellite momentary position coordinates are obtained, and are being calculated with reference to user's observation file data
The elevation angle of each visible satellite.
Step 2, the elevation angle of the visible satellite obtained according to step 1 and the clock correction conversion factor of navigation system and satellite hide
Cover angle and determine observing matrix.
Step 3, to observing matrix Parity-decomposition is carried out, and obtains the parity vector related to fault vector, and several with front
The parity vector at moment is cumulative to obtain cumulative parity vector of many epoch.
Step 4, first calculates the availability of RAIM according to satellite geometry layout, if RAIM algorithms are available, basis
The size of residual error rate of change is weighted to parity vector and cumulative parity vector of many epoch, the new inspection after being weighted
Statistic, and the threshold value related to false alarm rate contrasted, and draws the result of fault detect.
Step 5, if detecting failure, is carried out it is assumed that obtaining possible according to visible satellite number to possible failure number
Fault mode, carries out Fault Identification in each fault mode and excludes fault satellites using maximum likelihood criterion method.
Step 6, using remaining healthy satellite location navigation is carried out.
The method that the elevation angle of each visible satellite is calculated in the step 1：First satellite is calculated according to satellite navigation message
Track operational factor, according to orbit parameter the momentary position coordinates of satellite are calculated, and with reference to user's observation file data user is calculated
Apparent position, then the elevation angle and azimuth of each visible satellite can be calculated by customer location and satellite position.
The method that observing matrix is determined in the step 2：According to given satellite shield angle, the elevation angle is excluded less than masking
The satellite at angle, and the time conversion factor and receiver pseudo-range measurements of each system in navigation message, calculate only bag
Observing matrix containing a receiver clock-offsets item.
The method that parity vector and cumulative parity vector of many epoch are tried to achieve in the step 3 is comprised the following steps；
Step 31, to observing matrix G Parity-decomposition is carried out；
QR=G
G represents observing matrix, and Q represents the orthogonal matrix after observing matrix decomposition, and R represents the upper triangular matrix of decomposition.
Step 32, the orthogonal matrix Q after decomposition takes (n-4-m) row thereafter and makes it be Qp；
Qp=Q (n-4-m:n,:)
N represents G matrix line number, and m represents integrated navigation system number, and dual system is one, and three systems are two.
Step 33, it is considered to pseudorange observation error ε, then parity vector p；
P=Qpε
Step 34, many epoch add up parity vector：
Wherein, N is cumulative epoch number when orthogonal matrix Q does not change.
Cumulative epoch number when orthogonal matrix Q does not change is maximum less than 10.
The method that the result of fault detect is drawn in the step 4, comprises the following steps：
Step 41, the availability of RAIM can be by the variable quantity δ HDOP of plane precision decay factori, decentralization parameter lambda and
Equivalent range error is determined；
HPL represents horizontal level of protection, δ HDOPiThe variable quantity of plane precision decay factor is represented, λ represents decentralization
Parameter, σ0Represent equivalent range error.
Step 42, if HPL<HAL, then it represents that RAIM can use, and can proceed with below step, and otherwise RAIM is unavailable；
HAL represents that level protects limit value, HPL to represent horizontal level of protection.
Step 43, according to parity vector p and cumulative parity vector P of many epoch the test statistics of parity vector is respectively obtained
σpWith the test statistic of accumulation parity vectorN；
The test statistic of parity vectorp；
σp=pTp
The test statistic of accumulation parity vectorN；
σN=PTP
Step 43, the test statistic of parity vectorpWith the test statistic of accumulation parity vectorNIt is identical inspection
Thresholding T is surveyed, it is by false alarm rate PfaIt is determined that：
σ0Equivalent range error is represented, n represents visible satellite number；
And the test statistic of parity vectorpWith the test statistic of accumulation parity vectorNWeighted factor sum be 1,
Its test statistic is represented by formula (11)：
σ=λ1σp+λ2σN
Step 44, weighted factor λ1And λ2Determined by the size of residual error rate of change, inspection of the residual error rate of change according to parity vector
Test statistic σpWith the test statistic of accumulation parity vectorNChange size determine
σpRepresent the test statistics of parity vector, σNRepresent the test statistics of accumulation parity vector.
Fault Identification and the method for excluding fault satellites are carried out in the step 5, is comprised the following steps：
Step 51, if test statistic exceedes threshold T, illustrates there are fault satellites, can be with the failure of parity vector
Test for identification statistic riWith the Fault Identification test statistics R of accumulation parity vectoriWith identification thresholding TrContrast to recognize event
Barrier；
Step 52, excludes ri>TrOr Ri>TrI-th satellite after, if system detectio fault-free, carry out step 6, it is no
Then, the identification of multiple faults is proceeded.
Step 53, according to visible satellite number n to possible failure number nfaultAssumed；
nfault=round ((n-8)/8)
nfaultFailure number is represented, n represents visible satellite number.
Step 54, by failure number nfaultCan show that double star failure and the failure of the above assume pattern, have K failure mould
Formula；
Step 55, each fault mode is and removes the combination of the visible satellite after certain two star, calculates k-th fault detect
Test statistickCalculated, Fault Identification is carried out in each fault mode using maximum likelihood criterion method, and will
The fault satellites for identifying are excluded；If detecting fault-free, i.e.,：
σk<TkWhen, acquisition detects that trouble-free fault mode k is the fault mode for having isolated fault satellites.
The big method of location navigation is carried out in the step 6 using remaining healthy satellite：After satellite of fixing a breakdown
Healthy satellite set, the three-dimensional location coordinates of user and the solution of clock correction are realized using the method for least-squares iteration iteration.
Beneficial effect：A kind of receiver-autonomous integrity detection that can simultaneously detect identification various faults that the present invention is provided
Method, has an advantage in that the following aspects：
1. test statistics is constructed by many epoch accumulation parity vectors, gradual can be detected to small.
2. the weighted-statistical test of the test statistics of single epoch and the accumulation of many epoch is constructed, when overcoming many epoch
The shortcoming insensitive to mutation failure, can detect to gradual and mutation failure simultaneously.
3. in Fault Identification, the shortcoming of maximum likelihood method None- identified multiple faults is overcome, employ fault mode
The method of hypothesis, improves the discrimination to multiple faults
Description of the drawings
Fig. 1 is RAIM method flow diagram of the present invention for satellite navigation system；
Fig. 2 is mutation failure detection process；
Fig. 3 is small soft fault detection process；
Fig. 4 is the fault recognition rate of Dual Failures.
Specific embodiment
Below in conjunction with the accompanying drawings and specific embodiment, the present invention is further elucidated, it should be understood that these examples are merely to illustrate this
Invention rather than restriction the scope of the present invention, after the present invention has been read, those skilled in the art are various to the present invention's
The modification of the equivalent form of value falls within the application claims limited range.
The present invention provides a kind of receiver autonomous integrity monitoring method for satellite navigation system, is a kind of detectable
With the RAIM new methods for recognizing small gradual, mutation and many star failures, accompanying method flow chart is as shown in figure 1, including following step
Suddenly：
Step one：Obtain satellite momentary position coordinates.
In a certain epoch of observation, satellite orbit operational factor is calculated according to satellite navigation message, calculated according to orbit parameter
The momentary position coordinates of satellite, observe the apparent position that file data calculates user, then by customer location and satellite with reference to user
Position can calculate the elevation angle and azimuth of each visible satellite.
Step 2：Obtain observing matrix.
Given satellite shield angle is 10 °, excludes satellite of the elevation angle less than 10 °, each system in navigation message
Time conversion factor and receiver pseudo-range measurements, calculate only comprising the observing matrix G of a receiver clock-offsets item.
Step 3：Parity-decomposition is carried out to observing matrix, parity vector and cumulative parity vector of many epoch is tried to achieve.
Parity-decomposition is carried out to observing matrix G：
QR=G (3)
G represents observing matrix, and Q represents the orthogonal matrix after observing matrix decomposition, and R represents the upper triangular matrix of decomposition.
Orthogonal matrix Q after decomposition takes (n-4-m) thereafter and plays drinking games as Qp：
Qp=Q (n-4-m:n,:) (4)
N represents the line number of G matrix, and m represents integrated navigation system number, and dual system is one, and three systems are two.
Consider pseudorange observation error ε, then parity vector p：
P=Qpε (5)
Many epoch add up parity vector：
Wherein N is cumulative epoch number when Q does not change, and maximum is less than 10.
Step 4：If RAIM can use, test statistics is weighted according to the size of residual error rate of change, obtains weighting tired
Add parity vector simultaneously carries out fault detect to small soft fault and mutation failure.
The HPL of current epoch can be by the variable quantity δ HDOP of plane precision decay factori, decentralization parameter lambda and equivalent survey
Determine away from error.
And the availability of RAIM can be compared and obtained by horizontal level of protection HPL and level protection limit value HAL.
If HPL<HAL, then it represents that RAIM can use, and can proceed with below step, and otherwise RAIM is unavailable.
The test statistic of parity vectorp：
σp=pTp (8)
The test statistic of accumulation parity vectorN：
σN=PTP (9)
The detection threshold T-phase of the two is same, by false alarm rate PfaIt is determined that：
σ0Equivalent range error is represented, n represents visible satellite number.
So, its weighted factor sum is 1, and its test statistic is represented by formula (11)：
σ=λ1σp+λ2σN (11)
Weighted factor λ1And λ2Determined by the size of residual error rate of change, residual error rate of change is according to parity vector and cumulative odd even
The change size of the test statistics of vector determines.
Step 5：If detecting failure, possible failure number is carried out according to visible satellite number it is assumed that obtaining possible
Fault mode, carries out Fault Identification and excludes fault satellites.
1), if test statistic is more than thresholding T, there are fault satellites in expression system, can be known with the failure of parity vector
Other test statistics riWith the Fault Identification test statistics R of accumulation parity vectoriWith identification thresholding TrContrast to recognize failure.
2), r is excludedi>TrI-th satellite after, if system detectio fault-free, carry out step 6, otherwise, proceed
The identification of multiple faults.
3), according to visible satellite number n to possible failure number nfaultAssumed：
nfault=round ((n-8)/8) (15)
4), by nfaultCan show that double star failure and the failure of the above assume pattern, have K fault mode：
5), each fault mode is and removes the combination of the visible satellite after certain two star, to kth in each fault mode
The test statistic of individual fault detectkCalculated, failure is carried out in each fault mode using maximum likelihood criterion method
Identification, and the fault satellites exclusion that will identify that；If detecting fault-free, i.e.,：
σk<TkWhen, acquisition detects that trouble-free fault mode k is the fault mode for having isolated fault satellites.
Step 6：Location navigation is carried out using remaining healthy satellite.
After fault detect with exclusion, user's three-dimensional position and clock can be carried out with least-squares iteration such as formula (17)
Poor resolving.
In order to verify the correctness and validity of the proposed RAIM methods of invention, matlab emulation is carried out using the method
Checking.Fig. 2 is algorithm in artificial Detection results when adding the mutation failure of 10m to any one satellite pseudorange, Fig. 3 behaviours
For Detection results when adding the small soft fault of 4m to any one satellite pseudorange, failure when Fig. 4 is Dual Failures knows
Not other rate.
The above is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (8)
1. it is a kind of can detect simultaneously identification various faults receiver-autonomous integrity detection method, it is characterised in that include with
Lower step：
Step 1, according to satellite navigation message satellite momentary position coordinates are obtained, and with reference to user's observation file data each is being calculated
The elevation angle of visible satellite；
Step 2, the elevation angle of the visible satellite obtained according to step 1 and the clock correction conversion factor of navigation system and satellite shield angle
Determine observing matrix；
Step 3, to observing matrix Parity-decomposition is carried out, and obtains the parity vector related to fault vector, and with front several moment
Parity vector cumulative obtain cumulative parity vector of many epoch；
Step 4, first calculates the availability of RAIM according to satellite geometry layout, if RAIM algorithms are available, according to residual error
The size of rate of change is weighted to parity vector and cumulative parity vector of many epoch, the new inspection statistics after being weighted
Measure, and the threshold value related to false alarm rate is contrasted, and draws the result of fault detect；
Step 5, if detecting failure, is carried out it is assumed that obtaining possible failure according to visible satellite number to possible failure number
Pattern, carries out Fault Identification in each fault mode and excludes fault satellites using maximum likelihood criterion method；
Step 6, using remaining healthy satellite location navigation is carried out.
2. it is according to claim 1 can simultaneously to detect the receiver-autonomous integrity detection method for recognizing various faults, its
It is characterised by：The method that the elevation angle of each visible satellite is calculated in the step 1：First satellite is calculated according to satellite navigation message
Track operational factor, according to orbit parameter the momentary position coordinates of satellite are calculated, and with reference to user's observation file data user is calculated
Apparent position, then the elevation angle and azimuth of each visible satellite can be calculated by customer location and satellite position.
3. it is according to claim 1 can simultaneously to detect the receiver-autonomous integrity detection method for recognizing various faults, its
It is characterised by：The method that observing matrix is determined in the step 2：According to given satellite shield angle, the elevation angle is excluded less than screening
The satellite at angle, and the time conversion factor and receiver pseudo-range measurements of each system in navigation message are covered, is calculated only
Observing matrix comprising a receiver clock-offsets item.
4. it is according to claim 1 can simultaneously to detect the receiver-autonomous integrity detection method for recognizing various faults, its
It is characterised by：The method that parity vector and cumulative parity vector of many epoch are tried to achieve in the step 3 is comprised the following steps；
Step 31, to observing matrix G Parity-decomposition is carried out；
QR=G
G represents observing matrix, and Q represents the orthogonal matrix after observing matrix decomposition, and R represents the upper triangular matrix of decomposition；
Step 32, the orthogonal matrix Q after decomposition takes (n-4-m) row thereafter and makes it be Qp；
Qp=Q (n-4-m:n,:)
N represents the line number of G matrix, and m represents integrated navigation system number, and dual system is one, and three systems are two；
Step 33, it is considered to pseudorange observation error ε, then parity vector p；
P=Qpε
Step 34, many epoch add up parity vector：
Wherein, N is cumulative epoch number when orthogonal matrix Q does not change.
5. it is according to claim 4 can simultaneously to detect the receiver-autonomous integrity detection method for recognizing various faults, its
It is characterised by：Cumulative epoch number when orthogonal matrix Q does not change is maximum less than 10.
6. it is according to claim 1 can simultaneously to detect the receiver-autonomous integrity detection method for recognizing various faults, its
It is characterised by：The method that the result of fault detect is drawn in the step 4, comprises the following steps：
Step 41, the availability of RAIM can be by the variable quantity δ HDOP of plane precision decay factori, decentralization parameter lambda and equivalent
Range error is determined；
HPL represents horizontal level of protection, δ HDOPiThe variable quantity of plane precision decay factor is represented, λ represents decentralization parameter,
σ0Represent equivalent range error；
Step 42, if HPL<HAL, then it represents that RAIM can use, and can proceed with below step, and otherwise RAIM is unavailable；HAL tables
Show that level protects limit value, HPL to represent horizontal level of protection；
Step 43, according to parity vector p and cumulative parity vector P of many epoch the test statistic of parity vector is respectively obtainedpWith
The test statistic of accumulation parity vectorN；
The test statistic of parity vectorp；
σp=pTp
The test statistic of accumulation parity vectorN；
σN=PTP
Step 43, the test statistic of parity vectorpWith the test statistic of accumulation parity vectorNIt is identical detection door
Limit T, it is by false alarm rate PfaIt is determined that：
σ0Equivalent range error is represented, n represents visible satellite number；
And the test statistic of parity vectorpWith the test statistic of accumulation parity vectorNWeighted factor sum be 1, its inspection
Test statistic σ and be represented by formula (11)：
σ=λ1σp+λ2σN
Step 44, weighted factor λ1And λ2Determined by the size of residual error rate of change, residual error rate of change is united according to the inspection of parity vector
Metering σpWith the test statistic of accumulation parity vectorNChange size determine；
σpRepresent the test statistics of parity vector, σNRepresent the test statistics of accumulation parity vector.
7. it is according to claim 1 can simultaneously to detect the receiver-autonomous integrity detection method for recognizing various faults, its
It is characterised by：Fault Identification and the method for excluding fault satellites are carried out in the step 5, is comprised the following steps：
Step 51, if test statistic exceedes threshold T, illustrates there are fault satellites, can be with the Fault Identification of parity vector
Test statistics riWith the Fault Identification test statistics R of accumulation parity vectoriWith identification thresholding TrContrast to recognize failure；
Step 52, excludes ri>TrOr Ri>TrI-th satellite after, if system detectio fault-free, carry out step 6, otherwise, after
The continuous identification for carrying out multiple faults；
Step 53, according to visible satellite number n to possible failure number nfaultAssumed；
nfault=round ((n-8)/8)
nfaultFailure number is represented, n represents visible satellite number；
Step 54, by failure number nfaultCan show that double star failure and the failure of the above assume pattern, have K fault mode；
Step 55, each fault mode is and removes the combination of the visible satellite after certain two star, calculates the inspection of k-th fault detect
Test statistic σkCalculated, Fault Identification is carried out in each fault mode using maximum likelihood criterion method, and will identification
The fault satellites for going out are excluded；If detecting fault-free, i.e.,：
σk<TkWhen, acquisition detects that trouble-free fault mode k is the fault mode for having isolated fault satellites.
8. it is according to claim 1 can simultaneously to detect the receiver-autonomous integrity detection method for recognizing various faults, its
It is characterised by：The big method of location navigation is carried out in the step 6 using remaining healthy satellite：After satellite of fixing a breakdown
Healthy satellite set, the three-dimensional location coordinates of user and the solution of clock correction are realized using the method for least-squares iteration iteration.
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