CN106779082A - A kind of integrity risk probability distribution method of support satellite navigation reliability of positioning demand - Google Patents
A kind of integrity risk probability distribution method of support satellite navigation reliability of positioning demand Download PDFInfo
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- CN106779082A CN106779082A CN201611048045.1A CN201611048045A CN106779082A CN 106779082 A CN106779082 A CN 106779082A CN 201611048045 A CN201611048045 A CN 201611048045A CN 106779082 A CN106779082 A CN 106779082A
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- integrity risk
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N7/00—Computing arrangements based on specific mathematical models
- G06N7/01—Probabilistic graphical models, e.g. probabilistic networks
Abstract
The invention belongs to satellite navigation positioning technical field, and in particular to a kind of integrity risk probability distribution method of support satellite navigation reliability of positioning demand.The present invention includes：The navigation performance according to needed for different navigation application, for different application in many integrity risk sources set up fault tree models；According to bayesian criterion, the optimal distributing scheme of integrity risk probability is completed；Single order Markov switching model is set up to each main integrity risk source, and the primary condition and prior information of the model are set according to specific integrity risk source, finally determine Pmd；Statistical property that specific integrity risk source in for different application influences on position error etc..The present invention proposes the modified sigma expansion algorithms based on coefficient of expansion collection, and determines the coefficient of expansion, and the perfect error for needed for integrity monitoring is assumed to provide theoretical foundation.Final design goes out the level of protection of minimum, to meet the requirement that satellite navigation positions high reliability.
Description
Technical field
The invention belongs to satellite navigation positioning technical field, and in particular to one kind support satellite navigation reliability of positioning demand
Integrity risk probability distribution method.
Background technology
With GPS (Global Navigation Satellite System, GNSS) and its enhancing
The all-round construction of system, the precision of navigation system can meet the demand of most users.Comparatively speaking, in civil aviation
And during the association area such as life security (Safety of Life, SoL), the safety to user plays the intact of important decisive action
Sex chromosome mosaicism has turned into people's research focus of attention.
Influence satellite navigation positioning performance integrity risk source it is numerous, and correspondence integrity risk source distributed it is intact
Property risk probability directly determine its availability level, therefore the risk probability distribution of many integrity risk sources turns into system health
Property monitoring first have to solve problem.The method of tradition equalization distribution have ignored different integrity risk sources to position error tribute
The primary and secondary problem offered, causes system overall availability low SI.Improving the method for area monitoring efficiency will also cause the system can
With " wooden pail effect " of property：The integrity risk probability in a certain particular risk source is directed to by adjustment to improve its availability water
It is flat, cause the availability level reduction of other integrity risk sources of system.It is therefore desirable to according to system totality integrity risk
It is required that, for the purpose of optimum utility level, complete integrity risk probability distribution system is set up, realize to many integrity wind
The optimal overall monitoring in dangerous source, to support the demand of satellite navigation reliability of positioning.
The content of the invention
The present invention positions application demand with prior art as theoretical foundation for different satellite navigations, there is provided one kind support
The integrity risk probability distribution method of satellite navigation reliability of positioning demand.
The object of the present invention is achieved like this：
(1) navigation performance according to needed for different navigation application, for different application in many integrity risk sources set up
Fault tree models；
(2) according to bayesian criterion, the optimal distributing scheme of integrity risk probability is completed；
(3) single order Markov switching model is set up to each main integrity risk source, and according to specific integrity
Risk source sets the primary condition and prior information of the model, finally determines Pmd；
(4) for different application in the statistical property that is influenceed on position error of specific integrity risk source, by deeply
The conversion method such as or not research Non-zero Mean Gaussian error average expanding method and non-gaussian error, determines sigma expansions system
Number subset；
(5) optimal level of protection is built according to step (3) and step (4).
The beneficial effects of the present invention are：
For the problem of how intact risk sources during actual navigator fix, tradition equalization distribution or local strong is broken through
Change the limitation for introducing " wooden pail effect ", and for the markov transfer mould of each main integrity risk source design different parameters
Type, and be target to meet overall integrity risk requirement, optimum distribution is carried out to integrity risk using bayesian criterion,
And then determine Pmd；Influence for Non-zero Mean Gaussian error and non-gaussian error to system availability level, proposes based on swollen
The modified sigma expansion algorithms of swollen coefficient set, and determine the coefficient of expansion, the perfect error for needed for integrity monitoring is assumed to carry
For theoretical foundation.Final design goes out the level of protection of minimum, to meet the requirement that satellite navigation positions high reliability.
Brief description of the drawings
Fig. 1 integrity risk probability distribution systems and level of protection build flow chart.
Specific embodiment
The present invention is described further below in conjunction with the accompanying drawings.
Propagation characteristic and satellite geometry of various error sources under constructed model point in present invention analysis navigator fix
Leverage of the cloth to availability level, there is provided one kind is based on Markov switching model, and has been realized according to bayesian criterion
The scheme of good property risk probability distribution, while according to Deviation covering requirement and its requirement of integrity risk, being using based on expansion
The sigma distention protocols compensation non-ideal error of polymorphic type of manifold, to meet system availability level requirement.
To achieve the above object, the present invention uses following technical proposals：
Step 1：For the demand of navigation performance needed for different satellite navigations positioning application, it is determined that main integrity risk
Propagation characteristic of the source under constructed model, and the integrity risk probability priori corresponding with main integrity risk source is general
Rate.
Step 2：By setting up the fault tree models of each integrity risk source, according to bayesian criterion, integrity wind is completed
The optimal distributing scheme of dangerous probability.
Step 3：According to the theory of integrity monitoring, in a failure situation, according to integrity risk probability and false alarm
The relation of rate, completes the foundation of single order Markov switching model.
Step 4：In order to meet the stability of whole process model, single order Ma Er is determined for each main integrity risk source
Initiation parameter in section's husband's metastasis model.
Step 5：In the case where integrity risk determines, the smaller availability performance for meaning navigation information of level of protection
It is higher.Therefore, this method is chosen and optimizes integrity risk allocation criterion, builds Minimal Protective level, and then determine loss
(Missed Detection Probability, Pmd)。
Step 6：By furtheing investigate not turning not etc. for Non-zero Mean Gaussian error average expanding method and non-gaussian error
Method is changed, it is determined that the coefficient of expansion of main integrity risk source.
Embodiment：
Step 1：Navigation performance according to needed for specific satellite navigation application determines the overall integrity risk probability of system
(Integrity Risk Probability, PIR), N number of main integrity risk source and its prior probability Pf。
Step 2：Based on N number of main integrity risk source in step 1, failure tree graph is set up, according to bayesian criterion, completed
The overall integrity risk allocation of navigator fix is as follows：
Wherein, Pr () represents the probability of correspondence event, and IR represents the integrity risk probability of distribution, and subscript k represents kth
Integrity risk source is planted, H is represented0The probability of generation.
Step 3：According to integrity risk probability and the relation of false alarm rate, building for single order Markov switching model is completed
It is vertical.And for i-th integrity risk source, design suitable initiation parameter.
Step 4：Repeat step 3, the Markov Equation until completing N number of integrity risk source, and step 2 is combined, it is full
The restriction relation formula of the following integrity risk demand of foot：
Wherein IRreqIt is the integrity risk demand that navigation application is overall, IRiIt is i-th integrity of integrity risk source
Risk, k is expressed as k-th moment.
Step 5：According to step 2,3 and 4, it is determined that being adapted to the P of the navigator fix applicationmd。
Step 6：The improvement sigma distention protocols of Non-zero Mean Gaussian error and non-gaussian error
According to the transformational relation such as or not Non-zero Mean Gaussian error and non-gaussian error, i-th integrity error source is analyzed
Influence to position error, on the basis of Deviation covering is met, chooses appropriate coefficient of expansion collection.
Step 7：Finally by PmdWith the linear relationship of each integrity risk source, priori failure error and sigma expansions collect, structure
Build the level of protection of minimum.
Integrity risk probability distribution system method is based on the invention discloses one kind, it is reliable to support satellite navigation to position
Property demand.
Influence satellite navigation positioning performance integrity risk source it is numerous, and correspondence integrity risk source distributed it is intact
Property risk probability directly determine its availability level, therefore the risk probability distribution of many integrity risk sources turns into system health
Property monitoring first have to solve problem.Navigation performance of the present invention according to needed for specific navigator fix application, the multiple wind of analysis
Statistical distribution of the dangerous source under different faults pattern, and set up the fault tree models and the sigma coefficients of expansion of different risk sources
Subset, requirement and bayesian criterion according to overall integrity risk, research is intact based on single order Markov switching model
Property risk probability distribution and its restricted model, obtain Minimal Protective level, to improve the availability level of navigator fix.
Certainly, the present invention can also have other various embodiments, ripe in the case of without departing from spirit of the invention and its essence
Know those skilled in the art and work as and various corresponding adjustment can be made according to the present invention, but these corresponding adjustment should all belong to this
The appended scope of the claims of invention.
Claims (1)
1. it is a kind of support satellite navigation reliability of positioning demand integrity risk probability distribution method, it is characterised in that including
Following steps：
(1) navigation performance according to needed for different navigation application, for different application in many integrity risk sources set up failure
Tree-model；
(2) according to bayesian criterion, the optimal distributing scheme of integrity risk probability is completed；
(3) single order Markov switching model is set up to each main integrity risk source, and according to specific integrity risk
Source sets the primary condition and prior information of the model, finally determines Pmd；
(4) for different application in the statistical property that is influenceed on position error of specific integrity risk source, by further investigation
The conversion method such as or not Non-zero Mean Gaussian error average expanding method and non-gaussian error, determines sigma coefficients of expansion
Collection；
(5) optimal level of protection is built according to step (3) and step (4).
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| CN201611048045.1A CN106779082A (en) | 2016-11-11 | 2016-11-11 | A kind of integrity risk probability distribution method of support satellite navigation reliability of positioning demand |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107907890A (en) * | 2017-10-27 | 2018-04-13 | 中国航天标准化研究所 | A kind of mlssion success of aeronautical satellite precise orbit determination determines method |
| CN108375971A (en) * | 2018-03-18 | 2018-08-07 | 哈尔滨工程大学 | Integrated Electronic System health control module and health control method for moonlet |
| CN109871563A (en) * | 2018-08-23 | 2019-06-11 | 深圳市欣顿智能科技有限公司 | A kind of polymorphic satellite system analysis method for reliability of complexity and system |
| CN112686532A (en) * | 2020-12-29 | 2021-04-20 | 中国航天标准化研究所 | Passive operation risk analysis and evaluation method and device based on Bayesian network model |
| CN112731460A (en) * | 2019-10-28 | 2021-04-30 | 千寻位置网络有限公司 | Method and system for testing integrity risk of satellite navigation system calibration data |
-
2016
- 2016-11-11 CN CN201611048045.1A patent/CN106779082A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107907890A (en) * | 2017-10-27 | 2018-04-13 | 中国航天标准化研究所 | A kind of mlssion success of aeronautical satellite precise orbit determination determines method |
| CN107907890B (en) * | 2017-10-27 | 2021-11-16 | 中国航天标准化研究所 | Method for determining task success of precise orbit determination of navigation satellite |
| CN108375971A (en) * | 2018-03-18 | 2018-08-07 | 哈尔滨工程大学 | Integrated Electronic System health control module and health control method for moonlet |
| CN109871563A (en) * | 2018-08-23 | 2019-06-11 | 深圳市欣顿智能科技有限公司 | A kind of polymorphic satellite system analysis method for reliability of complexity and system |
| CN109871563B (en) * | 2018-08-23 | 2023-02-03 | 深圳市欣顿智能科技有限公司 | Method and system for analyzing reliability of complex polymorphic satellite system |
| CN112731460A (en) * | 2019-10-28 | 2021-04-30 | 千寻位置网络有限公司 | Method and system for testing integrity risk of satellite navigation system calibration data |
| CN112731460B (en) * | 2019-10-28 | 2022-10-28 | 千寻位置网络有限公司 | Method and system for testing integrity risk of satellite navigation system calibration data |
| CN112686532A (en) * | 2020-12-29 | 2021-04-20 | 中国航天标准化研究所 | Passive operation risk analysis and evaluation method and device based on Bayesian network model |
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