CN106918827A - Gps data Effective judgement method and apparatus - Google Patents
Gps data Effective judgement method and apparatus Download PDFInfo
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- CN106918827A CN106918827A CN201710206135.7A CN201710206135A CN106918827A CN 106918827 A CN106918827 A CN 106918827A CN 201710206135 A CN201710206135 A CN 201710206135A CN 106918827 A CN106918827 A CN 106918827A
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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
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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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
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Signal Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of gps data Effective judgement method and apparatus, it is related to technical field of satellite navigation.The method includes：Course angle measurement, position measurements, horizontal level dilution of precision and the horizontal arrangement for obtaining target by GPS are drifted about；According to course angle measurement, data fusion positioning is carried out to target, so as to obtain the positioning covariance of target and the estimate of target location；The difference of position measurements and position estimation value is calculated as measurement error；If any one of positioning covariance, measurement error, horizontal level dilution of precision or horizontal arrangement drift are more than its corresponding threshold value, the data invalid that GPS current times obtain is judged.The method and device can improve the reliability of gps data Effective judgement.
Description
Technical field
The present invention relates to technical field of satellite navigation, a kind of more particularly to GPS (Global Positioning System,
Global positioning system) data validity determination methods and device.
Background technology
Existing flight control system obtains the horizontal position information and rate information of aircraft often through GPS, so GPS
Whether effectively the data of acquisition, determine whether aircraft possesses autonomous flight ability.In a practical situation, due to cloudy day, mist
The weather such as haze and building such as block at the influence, the data failure of GPS acquisitions are frequently can lead to, so as to influence flight control system
Precision.
Whether existing flight control system is mostly only effective to judge gps data by judging the current positioning star numbers of GPS.But
It is in actual applications, often to occur that positioning star number is normal and GPS parses wrong problem.Therefore, it is this insecure
Determination methods can cause to fly Effective judgement mistake of the control to gps data, so as to influence the precision of flight control system.
The content of the invention
The inventors found that above-mentioned problems of the prior art, and therefore in described problem at least
One problem proposes a kind of new technical scheme.
It is an object of the present invention to provide a kind of reliable gps data Effective judgement technical scheme.
According to one embodiment of present invention, there is provided a kind of gps data Effective judgement method, including：Obtained by GPS
Obtain course angle measurement, position measurements, horizontal level dilution of precision and the horizontal arrangement drift of target；According to the course angle
Measured value, data fusion positioning is carried out to the target, so as to the positioning covariance for obtaining the target and the target location
Estimate；The difference of the position measurements and the position estimation value is calculated as measurement error；If the positioning association
Any one of variance, the measurement error, the horizontal level dilution of precision or the horizontal arrangement drift is more than its correspondence
Threshold value, then judge the data invalid that the GPS current times obtain.
Alternatively, the method also includes：If the star number that the GPS current times are used to position is less than effective star number threshold
Value, then judge the data invalid that the GPS current times obtain.
Alternatively, the method also includes：If the judged result is the data invalid, the judged result is passed
Pass earth station；Forbid the target to take off if the target is not yet taken off, controlled if the target has been taken off
The target keeps constant position.
Alternatively, the scope of the corresponding threshold value of the positioning covariance is less than 1 meter2。
Alternatively, the scope of the corresponding threshold value of the measurement error is less than 1 meter.
Alternatively, the scope of the corresponding threshold value of the horizontal level dilution of precision is less than 2.5.
Alternatively, the scope of effective star number threshold value is more than or equal to 6.
Alternatively, the water of the target that the horizontal arrangement drift is measured by the GPS calculated in a period of time
The variance of flat data is obtained, and the drift about scope of corresponding threshold value of the horizontal arrangement is less than 0.3 meter per second.
According to another embodiment of the invention, there is provided a kind of gps data Effective judgement device, including：Data acquisition
Unit, course angle measurement, position measurements, horizontal level dilution of precision and horizontal arrangement for obtaining target by GPS
Drift；Data fusion unit, for according to the course angle measurement, data fusion positioning being carried out to the target, so that
To the positioning covariance and the estimate of the target location of the target, and calculate the position measurements and the position is estimated
The difference of evaluation is used as measurement error；Data validity judging unit, for by it is described positioning covariance, the measurement error,
The horizontal level dilution of precision and horizontal arrangement drift are compared with each self-corresponding threshold value, if any of which
Threshold value corresponding more than its, then judge the data invalid that the GPS current times obtain.
Alternatively, the data validity judging unit be additionally operable to GPS current times described in comparing for position star number
With effective star number threshold value, the number that the GPS current times obtain is judged if the star number is less than effective star number threshold value
According to invalid.
Alternatively, the device also includes：Data transmission unit, if being the data invalid for the judged result,
The judged result is then passed into earth station；Target control unit, if not yet taken off for the target, forbids described
Target is taken off, if the target has been taken off, controls the target to keep constant position.
Alternatively, the target of the data capture unit in the GPS measurements for being additionally operable to calculate in a period of time
Horizontal data variance so as to obtain horizontal arrangement drift, the drift about scope of corresponding threshold value of the horizontal arrangement is small
In 0.3 meter per second.
Alternatively, the scope of the corresponding threshold value of the positioning covariance is less than 1 meter 2；The corresponding threshold of the measurement error
The scope of value is less than 1 meter；The scope of the corresponding threshold value of the horizontal level dilution of precision is less than 2.5；Effective star number
The scope of threshold value is more than or equal to 6.
According to still another embodiment of the invention, there is provided a kind of gps data Effective judgement device, including：Memory；With
And the processor of the memory is coupled to, the processor is configured as the finger in the memory devices based on storage
Order, performs the gps data Effective judgement method described in any of the above-described embodiment.
According to still a further embodiment, there is provided a kind of computer-readable recording medium, it is stored thereon with computer
Program, the program is when executed by realizing the gps data Effective judgement method described in any of the above-described embodiment.
An advantage of the invention that, according to gps measurement data, by data fusion positioning, to position covariance, survey
Amount error, horizontal level dilution of precision, the comparative result conduct of horizontal arrangement drift and positioning star number threshold value corresponding thereto
Multi-angle Rule of judgment, more fully can be analyzed and detect, so as to improve gps data to the validity of gps data
The reliability of Effective judgement.
Brief description of the drawings
The Description of Drawings embodiments of the invention of a part for specification are constituted, and is used to solve together with the description
Release principle of the invention.
Referring to the drawings, according to following detailed description, the present invention can be more clearly understood from, wherein：
Fig. 1 shows the flow chart of one embodiment of gps data Effective judgement method of the invention.
Fig. 2 shows the flow chart of another embodiment of gps data Effective judgement method of the invention.
Fig. 3 shows the structure chart of one embodiment of gps data Effective judgement device of the invention.
Fig. 4 shows the structure chart of another embodiment of gps data Effective judgement device of the invention.
Fig. 5 shows the structure chart of the further embodiment of gps data Effective judgement device of the invention.
Specific embodiment
Describe various exemplary embodiments of the invention in detail now with reference to accompanying drawing.It should be noted that：Unless had in addition
Body illustrates that the part and the positioned opposite of step, numerical expression and numerical value for otherwise illustrating in these embodiments do not limit this
The scope of invention.
Simultaneously, it should be appreciated that for the ease of description, the size of the various pieces shown in accompanying drawing is not according to reality
Proportionate relationship draw.
The description only actually at least one exemplary embodiment is illustrative below, never as to the present invention
And its any limitation applied or use.
May be not discussed in detail for technology, method and apparatus known to person of ordinary skill in the relevant, but suitable
In the case of, the technology, method and apparatus should be considered as authorizing a part for specification.
In all examples shown here and discussion, any occurrence should be construed as merely exemplary, without
It is as limitation.Therefore, the other examples of exemplary embodiment can have different values.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined in individual accompanying drawing, then it need not be further discussed in subsequent accompanying drawing.
Fig. 1 shows the flow chart of one embodiment of gps data Effective judgement method of the invention.
As shown in figure 1, step 101, course angle measurement, position measurements, the horizontal level essence of target are obtained by GPS
The degree factor and horizontal arrangement drift.Wherein, after target velocity reaches certain value, GPS is obtained in that target at current time
Course angle.
In one embodiment, obtained by calculating the variance of the horizontal data of the target that GPS is measured in a period of time
Horizontal arrangement is drifted about.
Step 102, according to course angle measurement, data fusion positioning is carried out to target, so as to the positioning for obtaining target is assisted
Variance and the estimate of target location.
In one embodiment, it is possible to use GPS, accelerometer and gyroscope are positioned to same target, are obtained with GPS
The target course for obtaining, the target angular acceleration that the aimed acceleration and gyroscope that accelerometer is obtained are obtained is measured value,
Position with target carries out data fusion as state value by extended Kalman filter, so as to obtain the positioning association side of target
Difference and the estimate of target location.
Step 103, calculates the difference of position measurements and position estimation value as measurement error.Wherein, due to weather, screening
The extraneous factors such as gear influence, GPS may generate in the variation tendency of the measured value substantial deviation target location at current time
Outlier, measurement error can be used for judging whether the currently available target location measured values of GPS are outlier.
Step 104, judges to position appointing during covariance, measurement error, horizontal level dilution of precision or horizontal arrangement are drifted about
Whether one be more than its corresponding threshold value.If it is, being judged as the data invalid (step 105) that GPS current times obtain；Such as
It is really no, then it is judged as data that GPS current times obtain effectively (step 106).
In one embodiment, may range from less than 1 meter for the corresponding threshold value of covariance is positioned2, such as 0.8 meter2.Measurement
The corresponding threshold value of error may range from less than 1 meter, such as 0.6 meter.The scope of the corresponding threshold value of horizontal level dilution of precision can
Think less than 2.5, such as 2.Horizontal arrangement is drifted about may range from less than 0.3 meter per second, such as 0.2 meter per second of corresponding threshold value.
In above-described embodiment, the present invention floats from positioning covariance, measurement error, horizontal level dilution of precision and horizontal arrangement
Move many aspects to be analyzed the validity of gps data, be capable of detecting when due to weather, block etc. what extraneous factor was caused
GPS resolves mistake, so as to improve the reliability of valid data judgement.
Fig. 2 shows the flow chart of another embodiment of gps data Effective judgement method of the invention.
As shown in Fig. 2 step 201, positioning covariance, measurement error, horizontal position are obtained by GPS and data fusion positioning
Put dilution of precision, horizontal arrangement drift and positioning star number.
Step 202, judges positioning covariance, measurement error, horizontal level dilution of precision, horizontal arrangement drift or positioning star
Whether any one of number is more than its corresponding threshold value.If it is, being judged as the data invalid (step that GPS current times obtain
It is rapid 203), and proceed step 205；If it is not, then being judged as data that GPS current times obtain effectively (step 204).Its
In, the corresponding threshold value of positioning star number can be set as 6 or more than 6.
Step 205, will determine that result passes to earth station.
In one embodiment, flight control system judges GPS current times resolve mistake, obtain number according to above-mentioned steps
According to being invalid data, then by the Data-Link between flight control system and earth station, the judged result is sent to earth station, ground
Is stood and the situation is shown.
Step 206, judges whether target not yet takes off.If it is, forbidding target to take off (step 207)；If it is not, then
Control targe keeps constant position (step 208).
In above-described embodiment, the present invention not only carries out Effective judgement when prelocalization star number by judging GPS to its data,
And simultaneously to positioning covariance, measurement error, horizontal level dilution of precision and horizontal arrangement drift be analyzed, more comprehensively
Validity to gps data judges, so as to improve the reliability of judged result；After data invalid is found, for mesh
The current state of mark takes different control modes, ensures that the safety of target.
Fig. 3 shows the structure chart of one embodiment of gps data Effective judgement device of the invention.
As shown in figure 3, the device includes：Data capture unit 31, data fusion unit 32 and data Effective judgement list
Unit 33.
Data capture unit 31 by GPS obtain the course angle measurement of target, position measurements, horizontal level precision because
Son and horizontal arrangement drift.
In one embodiment, data capture unit 31 can in the following way obtain above-mentioned each physical quantity：Course angle
Measured value can be provided after target velocity reaches certain value by GPS；Position measurements and horizontal level dilution of precision can be with
Directly provided by GPS；Horizontal arrangement drift can be by calculating in a period of time, the variance of the target level position that GPS is obtained
To obtain.
Data fusion unit 32 carries out data fusion positioning according to course angle measurement to target, so as to obtain target
Positioning covariance and the estimate of target location, and the difference of position measurements and position estimation value is calculated as measurement error.
In one embodiment, data fusion unit 32 can by including the multiple sensors including GPS, such as gyroscope,
Accelerometer and magnetometer etc., (course of target can be included by extended Kalman filter to the alignment measurement of target
Angle, acceleration, angular acceleration and residing geomagnetic field intensity etc.) carry out data fusion, so as to obtain positioning covariance and
The estimate of target location.
Data validity judging unit 33 will position covariance, measurement error, horizontal level dilution of precision and horizontal arrangement
Drift is compared with each self-corresponding threshold value, if any of which is more than its corresponding threshold value, judges GPS current times
The data invalid of acquisition.
In one embodiment, the size also including comparison and location star number with effective star number threshold value, if positioning star number is small
Then it is judged as data invalid in effective star number threshold value.
In another embodiment, as shown in figure 4, the device also includes：Data transmission unit 44 and target control unit
45。
If it is judged that being data invalid, then data transmission unit 44 will determine that result passes to earth station, such as pass through
Wireless data sending mode；If target is not yet taken off, target control unit 45 forbids target to take off；If target has been taken off,
Then the control targe of target control unit 45 keeps constant position.Wherein, data transmission unit 44 can be such as wireless by Data-Link
Number biography or 3G module etc., will determine that result passes to earth station.
In above-described embodiment, data validity judging unit is obtained by comparing data capture unit and data integrated unit
Positioning covariance, measurement error, the size of horizontal level dilution of precision and horizontal arrangement drift and respective corresponding threshold value, from many
Whether individual aspect is effective to judge gps data, so as to improve the reliability of valid data judgement.
Fig. 5 shows the structure chart of the further embodiment of gps data Effective judgement device of the invention.
As shown in figure 5, the device 50 of the embodiment includes：Memory 51 and it is coupled to the processor of the memory 51
52, processor 52 is configured as the instruction in memory 51 based on storage, in the execution present invention in any one embodiment
Gps data Effective judgement method.
Wherein, memory 51 for example can be including system storage, fixed non-volatile memory medium etc..System storage
For example be stored with operating system, application program, Boot loader (Boot Loader), database and other programs etc..
Those skilled in the art should be understood that embodiments of the invention can be provided as method, system or computer journey
Sequence product.Therefore, in terms of the present invention can be using complete hardware embodiment, complete software embodiment or combination software and hardware
The form of embodiment.And, the present invention can be used and wherein include the calculating of computer usable program code at one or more
Machine can use the meter implemented on non-transient storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of calculation machine program product.
So far, global position system GPS data validity determination methods of the invention and dress is described in detail
Put.In order to avoid covering design of the invention, without description some details known in the field.Those skilled in the art according to
Above description, completely it can be appreciated how implementing technical scheme disclosed herein.
The method of the present invention and system may be achieved in many ways.For example, can by software, hardware, firmware or
Software, hardware, any combinations of firmware realize the method for the present invention and system.The said sequence of the step of for methods described
Order described in detail above is not limited to merely to illustrate, the step of the method for the present invention, it is special unless otherwise
Do not mentionlet alone bright.Additionally, in certain embodiments, also the present invention can be embodied as recording program in the recording medium, these programs
Including the machine readable instructions for realizing the method according to the invention.Thus, the present invention also covering storage is for performing basis
The recording medium of the program of the method for the present invention.
Although being described in detail to some specific embodiments of the invention by example, the skill of this area
Art personnel it should be understood that above example is merely to illustrate, rather than in order to limit the scope of the present invention.The skill of this area
Art personnel to above example it should be understood that can modify without departing from the scope and spirit of the present invention.This hair
Bright scope is defined by the following claims.
Claims (15)
1. a kind of global position system GPS data validity determination methods, including：
Course angle measurement, position measurements, horizontal level dilution of precision and the horizontal arrangement for obtaining target by GPS are drifted about；
According to the course angle measurement, data fusion positioning is carried out to the target, so as to the positioning for obtaining the target is assisted
Variance and the estimate of the target location；
The difference of the position measurements and the position estimation value is calculated as measurement error；
If in the positioning covariance, the measurement error, the horizontal level dilution of precision or horizontal arrangement drift
Any one be more than its corresponding threshold value, then judge the data invalid that the GPS current times obtain.
2. method according to claim 1, also includes：
If the star number that the GPS current times are used to position is less than effective star number threshold value, judge that the GPS current times are obtained
The data invalid for taking.
3. method according to claim 2, also includes：
If the judged result is the data invalid, the judged result is passed into earth station；
Forbid the target to take off if the target is not yet taken off, the target is controlled if the target has been taken off
Keep constant position.
4. method according to claim 1, wherein,
The scope for positioning the corresponding threshold value of covariance is less than 1 meter2。
5. method according to claim 1, wherein,
The scope of the corresponding threshold value of the measurement error is less than 1 meter.
6. method according to claim 1, wherein,
The scope of the corresponding threshold value of the horizontal level dilution of precision is less than 2.5.
7. method according to claim 2, wherein,
The scope of effective star number threshold value is more than or equal to 6.
8. method according to claim 1, wherein,
The variance of the horizontal data of the target that the horizontal arrangement drift is measured by the GPS calculated in a period of time
Obtain；
The drift about scope of corresponding threshold value of the horizontal arrangement is less than 0.3 meter per second.
9. a kind of global position system GPS data validity judgment means, including：
Data capture unit, for by GPS obtain the course angle measurement of target, position measurements, horizontal level precision because
Son and horizontal arrangement drift；
Data fusion unit, for according to the course angle measurement, data fusion positioning being carried out to the target, so as to obtain
The positioning covariance of the target and the estimate of the target location, and calculate the position measurements and the location estimation
The difference of value is used as measurement error；
Data validity judging unit, for positioning covariance, the measurement error, the horizontal level dilution of precision by described
It is compared with each self-corresponding threshold value with horizontal arrangement drift, if any of which is more than its corresponding threshold value,
Judge the data invalid that the GPS current times obtain.
10. device according to claim 9, wherein,
The data validity judging unit be additionally operable to GPS current times described in comparing for position star number and effective star number threshold
Value, judges the data invalid that the GPS current times obtain if the star number is less than effective star number threshold value.
11. devices according to claim 10, also include：
Data transmission unit, if being the data invalid for the judged result, passes to ground by the judged result
Face station；
Target control unit, if not yet taken off for the target, forbids the target to take off, if the target is
Take off, then control the target to keep constant position.
12. devices according to claim 10, wherein,
The data capture unit is additionally operable to calculate the side of the horizontal data of the target of the GPS measurements in a period of time
So as to obtain horizontal arrangement drift, the drift about scope of corresponding threshold value of the horizontal arrangement is less than 0.3 meter per second to difference.
13. device according to claim any one of 10-12, wherein,
The scope for positioning the corresponding threshold value of covariance is less than 1 meter2；
The scope of the corresponding threshold value of the measurement error is less than 1 meter；
The scope of the corresponding threshold value of the horizontal level dilution of precision is less than 2.5；
The scope of effective star number threshold value is more than or equal to 6.
A kind of 14. global position system GPS data validity judgment means, including：
Memory；And
The processor of the memory is coupled to, the processor is configured as the finger in the memory devices based on storage
Order, performs the gps data Effective judgement method as any one of claim 1-8.
A kind of 15. computer-readable recording mediums, are stored thereon with computer program, it is characterised in that the program is by processor
The global position system GPS data validity determination methods as any one of claim 1-8 are realized during execution.
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