CN107479069A - A kind of slow change slope failure completeness monitoring method - Google Patents

A kind of slow change slope failure completeness monitoring method Download PDF

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Publication number
CN107479069A
CN107479069A CN201710644290.7A CN201710644290A CN107479069A CN 107479069 A CN107479069 A CN 107479069A CN 201710644290 A CN201710644290 A CN 201710644290A CN 107479069 A CN107479069 A CN 107479069A
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mrow
msubsup
msub
ins
slope failure
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丁子涵
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Tianjin Bo Chuang Jin Cheng Technology Development Co Ltd
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Tianjin Bo Chuang Jin Cheng Technology Development Co Ltd
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13Receivers
    • G01S19/20Integrity monitoring, fault detection or fault isolation of space segment
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/07Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections

Abstract

The invention discloses a kind of slow change slope failure completeness monitoring method, GNSS signal is carried out down coversion by this method, filter and amplification, automatic growth control, acquisition and tracking, synchronizing sub-frame processing, simultaneously according to INS gyroscopes and accelerometer measuring value real-time update INS postures, speed and positional information, pass through GNSS/INS integrated navigation system error in measurement matrixes, observing matrix, prior estimation state matrix, prior estimate covariance matrix, measure noise matrix, by means of integrated navigation Kalman filtering multistep extrapolation estimate amount, the outer push type detection statistic of structure, and compared with theoretical detection threshold value, it can effectively carry out becoming slope failure integrity monitoring and identification slowly, avoid slow change slope failure error " transmission " phenomenon.The detection statistic of this method structure can efficient identification have it is slow become slope failure, can effectively detect combined navigation receiver thermal noise etc. and become error source slowly.

Description

A kind of slow change slope failure completeness monitoring method
Technical field
The present invention relates to satellite navigation integrity monitoring technology, belong to technical field of satellite navigation, and in particular to a kind of slow Become slope failure completeness monitoring method.
Background technology
GPS(Global Navigation Satellite System, GNSS)Can be to receive Machine provides all weather navigation, positioning and time service service, and extremely important status is play in military and civilian field.Inertial navigation System(Inertial Navigation System, INS), be one kind independent of external information, also not to outside radiation energy Amount(As radionavigation)Autonomic navigation system.Its working environment not only includes aerial, ground, can also be in water Under.The basic functional principle of inertial navigation is based on Newton mechanics law, by measuring carrier adding in inertial reference system Speed, it is integrated to the time, and it is transformed in navigational coordinate system, it becomes possible to obtain the speed in navigational coordinate system The information such as degree, yaw angle and position.Inertial navigation system, which belongs to, calculates navigation mode, i.e., from the position of a known point according to continuous The heading of moving vehicle angle measured and speed calculation go out the position of its subsequent point, thus can continuously measure the current location of movable body. Gyroscope in inertial navigation system is used for forming a navigational coordinate system, makes the measurement axle of accelerometer stable in the coordinate system In, and provide course and attitude angle;Accelerometer is used for measuring the acceleration of movable body, by being obtained to the once integration of time Speed, speed can obtain displacement by the once integration to the time again.
GNSS/INS deep integrated navigation systems are the focuses studied at present, are a kind of profound built-up patterns, are related to GNSS receiver internal trace loop, the degree of data message fusion are more deep.Its essence is shown as:Utilize INS navigational solutions Information and satellite ephemeris are calculated, carrier is calculated to the Doppler frequency shift of satellite direction of visual lines, and Real-time Feedback is received to GNSS Machine track loop, make GNSS receiver insensitive to dynamic stress;Utilize integrated navigation wave filter output information amendment simultaneously INS, only keep track GNSS receiver track loop more as caused by INS resolution errors, GNSS receiver crystal oscillator, external noise etc. General Le shift error, effectively improves GNSS signal tracking performance.When GNSS signal is disturbed or is blocked, INS navigation calculations letter Breath can realize seamless navigation, while can predict the multidate information of carrier, inclined to the Doppler frequency shift and phase of GNSS signal The continuous estimation of shift-in row, improves GNSS signal recapture ability.
But in GNSS/INS integrated navigation systems, due to gyroscope random walk error, accelerometer in inertial navigation device Random Drift Error, cause the slow change slope of inertial navigation device to offset, be usually expressed as 0.5m/s error in measurement fluctuation, this is also The failure error source monitored is most difficult in conventional combination navigation system integrity monitoring technology.
Documents 1(A kind of satellite completeness monitoring method based on kinetic model auxiliary, CN201610107491.9)A kind of satellite completeness monitoring method based on kinetic model auxiliary is disclosed, belongs to combination and leads Boat, fault diagnosis technology field.This method utilizes the kinetic model of motion carrier, is mutually tied with other navigation sensors of carrying Close, realize the user terminal Autonomous Integrity Monitoring of satellite navigation system, and inertia/dynamics is realized using multiple model filtering framework The fusion of model/satellite navigation system information and state estimation, using more solution separation methods realize the detection of satellite failure with every From.
Documents 2(A kind of method that real-time online assesses navigation system accuracy and integrity, CN201410307317.X)Disclose a kind of method that real-time online assesses navigation system accuracy and integrity, this method pin The characteristics of being merged to navigation system information, multidimensional gaussian probability distribution character and containing radius threshold based on covariance matrix Rayleigh probability density characteristicses, are changed by probability, can be realized to the real-time of the actual navigation precision of navigation system and integrity On-line Estimation.This method makes full use of the filtering information of integrated navigation, greatly improves arithmetic speed, meets navigation system performance The real-time demand of monitoring, and ensure enough confidence levels.
Using more solution separation methods in above-mentioned documents 1, i.e., traditional MSS algorithms carry out fault satellites detection with isolating, But MSS algorithms have preferably detection recognition performance for both phase step fault, but for the slow change slope failure that the present invention is carried, inspection It is poor to survey effect;Documents 2 carry out integrity monitoring using integrated navigation filtering information and navigation system information fusion, equally Poor for slow change slope fault detect effect, the mutation that can only be directed to pseudo range measurement value be that both phase step fault is preferably examined Survey, and the slow change slope failure in integrated navigation system can not be detected in time.Therefore, design one kind can efficient detection with The slow change slope failure integrity monitoring technology in integrated navigation system is identified, becoming the new technology of field of satellite navigation needs Ask.
The content of the invention
(One)Technical problems to be solved
In order to solve above mentioned problem existing for prior art, the present invention proposes a kind of slow change slope failure integrity monitoring side Method.This method builds outer push type detection statistic, and and false-alarm by means of integrated navigation Kalman filtering multistep extrapolation estimate amount Theoretical detection threshold value under rate compares, and can effectively carry out becoming slope failure integrity detection slowly, it is complete that performance is much better than tradition Good property monitoring algorithm.
(Two)Technical scheme
The present invention proposes a kind of slow change slope failure completeness monitoring method, and this method comprises the following steps:
Step S1:Combined navigation receiver by GNSS signal carry out down coversion, filter and amplification, automatic growth control, acquisition and tracking, Synchronizing sub-frame processing;
Step S2:GNSS navigation messages are extracted, and calculate satellite spatial position and velocity information;
Step S3:Extract INS gyroscopes and accelerometer measuring value, and real-time update INS postures, speed and positional information;
Step S4:GNSS and INS are combined navigation information fusion, and utilize fusion results real time correction INS deviations;
Step S5:Extract GNSS/INS integrated navigation system errors in measurement matrix, observing matrix, prior estimation state matrix, elder generation Test estimate covariance matrix, measure noise matrix;
Step S6:The outer push type detection statistic of GNSS/INS integrated navigations is built, it is as follows:
(1)
(2)
(3)
Wherein,mRepresent recurrence time interval;K represents current epoch positioning time, and T represents matrix transposition,,H k Represent observing matrix,R k Represent and measure noise matrix,Priori is represented to estimate Count covariance matrix,avgRepresentative is averaged operation,Represent sum operation,K moment matrix inversion operations are represented,The average value inversion operation of matrix A is represented,Represent outer push type detection statistic;
Step S7:By outer push type detection statistic compared with detection threshold value, slow change slope failure integrity monitoring is carried out With alarm.
Preferably, GNSS signal includes one or more kinds of combinations in BDS, GPS, Galileo in the step S1.
Preferably, capture includes frequency mixer, multiplier, integrator, comparator in the step S1;In the step S1 with Track is using the auxiliary third order pll tracking of second order FLL.
Preferably, in the step S2, BDS satellite spatials position and velocity information are calculated using CGCS2000 coordinate systems; Gps satellite locus and velocity information are calculated using WGS-84 coordinate systems;It is empty that Galileo satellite is calculated using ECEF coordinate systems Between position and velocity information.
Preferably, INS gyroscopes measuring value is specific force in the step S3, and accelerometer measuring value is acceleration.
Further, using Quaternion Method renewal INS attitude informations in the step S3.
Preferably, GNSS and INS is combined navigation information fusion using deep combination mode in the step S4.
Optionally, GNSS and INS is combined navigation information fusion using pine combination mode in the step S4.
Optionally, GNSS and INS is combined navigation information fusion using tight integration mode in the step S4.
Preferably, in the step S6 recurrence time at intervals of 30 seconds ~ 1500 seconds.
Preferably, detection threshold value determines detection threshold value according to visible satellite quantity and false alarm rate in the step S7.
(Three)Beneficial effect
A kind of it can be seen from the above technical proposal that slow change slope failure completeness monitoring method beneficial effect proposed by the present invention Significantly, this method is by means of integrated navigation Kalman filtering multistep extrapolation estimate amount, builds outer push type detection statistic, and with reason Compare by detection threshold value, can effectively carry out becoming slope failure integrity monitoring and identification slowly, avoid failure error and " pass Pass " phenomenon.The detection statistic of this method structure can efficient identification have it is slow become slope failure, can effectively detect combination and lead The receiver thermal noise etc. that navigates is slow to become error source.
Brief description of the drawings
Fig. 1 shows the method flow diagram of the preferred embodiment of the present invention;
Fig. 2 shows the slow integrated navigation and location residual error schematic diagram after becoming slope failure of present invention addition;
Fig. 3 shows that the present invention implements slow integrated navigation and location result schematic diagram after becoming slope failure integrity monitoring algorithm.
Embodiment
Below in conjunction with the accompanying drawings, the embodiment done to the present invention elaborates:The present embodiment is with technical solution of the present invention Under the premise of implemented, give detailed embodiment and specific operating process, but protection scope of the present invention is not limited to Following embodiments.
Fig. 1 shows the method flow diagram of the preferred embodiment of the present invention.
As shown in figure 1, a kind of slow slope failure completeness monitoring method that becomes proposed by the present invention comprises the following steps:
Step S1:Combined navigation receiver by GNSS signal carry out down coversion, filter and amplification, automatic growth control, acquisition and tracking, Synchronizing sub-frame processing;Wherein described capture includes frequency mixer, multiplier, integrator, comparator;The tracking uses second order frequency locking Ring auxiliary third order pll tracking.The GNSS signal includes one or more kinds of combinations in BDS, GPS, Galileo, this hair In bright specific embodiment, GNSS signal uses GPS satellite navigation system.
Step S2:GNSS navigation messages are extracted, and calculate satellite spatial position and velocity information;Sat using WGS-84 Mark system calculates gps satellite locus and velocity information, especially by 16 Keplerian orbit parameters and GPS ICD official documents Gps navigation message extraction is carried out, gps satellite locus calculates and velocity calculated.
Step S3:Extract INS gyroscopes and accelerometer measuring value, and real-time update INS postures, speed and position letter Breath;Wherein described INS gyroscopes measuring value is specific force, and accelerometer measuring value is acceleration, because attitude matrix includes 9 ginsengs Count, need 9 parameters renewal variances of calculating just to calculate attitude information in conventional method, the present invention is using Quaternion Method renewal INS attitude informations, only need to update 4 parametric equations can calculate attitude information.
Step S4:GNSS and INS are combined navigation information fusion, and utilize fusion results real time correction INS deviations; In the specific embodiment of the invention, GNSS and INS are combined navigation information using tight integration mode and merged, and are following 17 dimension State equation:
(4)
WhereinRepresent attitude error under ENU coordinate systems, respectively roll angle, the angle of pitch and boat Declination error,Velocity error under ENU coordinate systems, respectively northeast day deflection error are represented,Latitude under earth coordinates, longitude and altitude are represented,Represent top The constant value drift in tri- directions of spiral shell instrument XYZ,Represent the constant value in tri- directions of accelerometer XYZ Drift,k clk Receiver clock error is represented,f clk Represent receiver clock frequency drift.
Step S6:Build the outer push type detection statistic of GNSS/INS integrated navigations, specific formula implication such as formula(1)~(3) It is shown.
Step S7:By outer push type detection statistic compared with detection threshold value, slow change slope failure integrity is carried out Monitoring and alarm, wherein detection threshold value determines detection threshold value according to visible satellite quantity and false alarm rate.
Fig. 2 shows the slow integrated navigation and location residual error schematic diagram after becoming slope failure of present invention addition.
As shown in Fig. 2 in the specific embodiment of the invention, by taking GPS/INS combined navigation receivers as an example, add 0.5m/s's It is slow to become slope failure error source, weighted average is taken to the three-dimensional position and receiver clock-offsets of satellite navigation receiver system, when When the slow change slope failure error of system is relatively low, system can not detect and identify in time slow change slope failure error source, when by mistake When difference-product is tired out to a certain extent, cause combined navigation receiver position error larger, emulation crest occur, identification afterwards is out of order After error source, slow change slope failure is equally existed, causes occur larger positioning residual error between whole hour, therefore needs to carry out this 7 steps that invention proposes carry out slow change slope failure integrity monitoring.
Fig. 3 shows that the present invention implements slow integrated navigation and location result signal after becoming slope failure integrity monitoring algorithm Figure.
As shown in figure 3, in the specific embodiment of the invention, by taking GPS/INS combined navigation receivers as an example, add 0.5m/s's It is slow to become slope failure error source, and using slow change slope failure completeness monitoring method proposed by the present invention, extract GPS/INS Integrated navigation system error in measurement matrix, observing matrix, prior estimation state matrix, prior estimate covariance matrix and measurement are made an uproar Sound matrix, by means of integrated navigation Kalman filtering multistep extrapolation estimate amount, structure epoch time of 30 seconds outer push type detection system Metering, and compared with theoretical detection threshold value, can effectively carry out becoming slope failure integrity monitoring and identification slowly, avoid event Hinder error " transmission " phenomenon, finally cause combined navigation receiver position error within the scope of normal 1 error of meter, and avoid Fluctuating error phenomenon in traditional positioning residual error.
In summary, the present invention propose it is a kind of slow become slope failure completeness monitoring method, this method is by GNSS signal Down coversion, filter and amplification, automatic growth control, acquisition and tracking, synchronizing sub-frame processing are carried out, obtains satellite navigation message and space Position and speed information, while according to INS gyroscopes and accelerometer measuring value real-time update INS postures, speed and positional information, Pass through GNSS/INS integrated navigation system errors in measurement matrix, observing matrix, prior estimation state matrix, prior estimate covariance Matrix, noise matrix is measured, by means of integrated navigation Kalman filtering multistep extrapolation estimate amount, build outer push type detection statistics Amount, and compared with theoretical detection threshold value, can effectively carry out becoming slope failure integrity monitoring and identification slowly, avoid slow change Slope failure error " transmission " phenomenon.The detection statistic of this method structure can efficient identification have it is slow become slope failure, can Effectively detect combined navigation receiver thermal noise etc. and become error source slowly.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power Profit requires rather than described above limits, it is intended that all in the implication and scope of the equivalency of claim by falling Change is included in the present invention.Any reference in claim should not be considered as to the involved claim of limitation.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each embodiment is only wrapped Containing an independent technical scheme, this narrating mode of specification is only that those skilled in the art should for clarity Using specification as an entirety, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art It is appreciated that other embodiment.

Claims (9)

1. a kind of slow change slope failure completeness monitoring method, it is characterised in that methods described comprises the following steps:
Step S1:Combined navigation receiver by GNSS signal carry out down coversion, filter and amplification, automatic growth control, acquisition and tracking, Synchronizing sub-frame processing;
Step S2:GNSS navigation messages are extracted, and calculate satellite spatial position and velocity information;
Step S3:Extract INS gyroscopes and accelerometer measuring value, and real-time update INS postures, speed and positional information;
Step S4:GNSS and INS are combined navigation information fusion, and utilize fusion results real time correction INS deviations;
Step S5:Extract GNSS/INS integrated navigation system errors in measurement matrix, observing matrix, prior estimation state matrix, elder generation Test estimate covariance matrix, measure noise matrix;
Step S6:The outer push type detection statistic of GNSS/INS integrated navigations is built, it is as follows:
<math display = 'block'> <mrow> <msub> <mi>s</mi> <mi>avg</mi> </msub> <mo>=</mo> <msup> <mfenced open = '(' close = ')'> <apply> <csymbol> <msubsup> <mi>r</mi> <mi>avg</mi> <mi>T</mi> </msubsup> <msubsup> <mi>A</mi> <mi>avg</mi> <mrow> <mo>&amp;minus;</mo> <mn>1</mn> </mrow> </msubsup> <msub> <mi>r</mi> <mi>avg</mi> </msub> </csymbol> </apply> </mfenced> <mn>1.8</mn> </msup> </mrow> </math>(1)
<math display = 'block'> <mrow> <msub> <mi>r</mi> <mi>avg</mi> </msub> <mo>=</mo> <msup> <mfenced open = '(' close = ')'> <msubsup> <mi>A</mi> <mi>avg</mi> <mrow> <mo>&amp;minus;</mo> <mn>1</mn> </mrow> </msubsup> </mfenced> <mrow> <mo>&amp;minus;</mo> <mn>1</mn> </mrow> </msup> <mrow> <munderover> <mo>&amp;sum;</mo> <mrow> <mi>k</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>m</mi> </munderover> <mrow> <msubsup> <mi>A</mi> <mi>k</mi> <mrow> <mo>&amp;minus;</mo> <mn>1</mn> </mrow> </msubsup> <msub> <mi>r</mi> <mi>k</mi> </msub> </mrow> </mrow> </mrow> </math>(2)
<math display = 'block'> <mrow> <msubsup> <mi>A</mi> <mi>avg</mi> <mrow> <mo>&amp;minus;</mo> <mn>1</mn> </mrow> </msubsup> <mo>=</mo> <mrow> <munderover> <mo>&amp;sum;</mo> <mrow> <mi>k</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>m</mi> </munderover> <mrow> <msubsup> <mi>A</mi> <mi>k</mi> <mrow> <mo>&amp;minus;</mo> <mn>1</mn> </mrow> </msubsup> </mrow> </mrow> </mrow> </math>(3)
Wherein, m represents recurrence time interval;K represents current epoch positioning time, and T represents matrix transposition,<math display = 'block'> <mrow> <msub> <mi>A</mi> <mi>k</mi> </msub> <mo>=</mo> <msub> <mi>H</mi> <mi>k</mi> </msub> <msub> <mover> <mi>P</mi> <mo stretchy='true'>&amp;circ;</mo> </mover> <mrow> <mi>k</mi> <mo>/</mo> <mrow> <mi>k</mi> <mo>&amp;minus;</mo> <mn>1</mn> </mrow> </mrow> </msub> <msubsup> <mi>H</mi> <mi>k</mi> <mi>T</mi> </msubsup> <mo>+</mo> <msub> <mi>R</mi> <mi>k</mi> </msub> </mrow> </math>, HkRepresent observing matrix, RkRepresent and measure noise matrix,<math display = 'block'> <mrow> <msub> <mover> <mi>P</mi> <mo stretchy='true'>&amp;circ;</mo> </mover> <mrow> <mi>k</mi> <mo>/</mo> <mrow> <mi>k</mi> <mo>&amp;minus;</mo> <mn>1</mn> </mrow> </mrow> </msub> </mrow> </math>Represent k-1 Moment prior estimate covariance matrix, avg represent operation of averaging,<math display = 'block'> </math>Represent sum operation,<math display = 'block'> <mrow> <msubsup> <mi>A</mi> <mi>k</mi> <mrow> <mo>&amp;minus;</mo> <mn>1</mn> </mrow> </msubsup> </mrow> </math>Represent k moment matrix Inversion operation,<math display = 'block'> <mrow> <msubsup> <mi>A</mi> <mi>avg</mi> <mrow> <mo>&amp;minus;</mo> <mn>1</mn> </mrow> </msubsup> </mrow> </math>The average value inversion operation of matrix A is represented, savg represents outer push type detection statistic;
Step S7:By outer push type detection statistic compared with detection threshold value, slow change slope failure integrity monitoring is carried out With alarm.
A kind of 2. slow change slope failure completeness monitoring method according to claim 1, it is characterised in that the step S1 Middle GNSS signal includes one or more kinds of combinations in BDS, GPS, Galileo.
A kind of 3. slow change slope failure completeness monitoring method according to claim 1, it is characterised in that the step S1 Middle capture includes frequency mixer, multiplier, integrator, comparator;Tracking is using the auxiliary third order pll tracking of second order FLL.
A kind of 4. slow change slope failure completeness monitoring method according to claim 1, it is characterised in that the step S2 In, BDS satellite spatials position and velocity information are calculated using CGCS2000 coordinate systems;GPS is calculated using WGS-84 coordinate systems to defend Star locus and velocity information;Galileo satellite locus and velocity information are calculated using ECEF coordinate systems.
A kind of 5. slow change slope failure completeness monitoring method according to claim 1, it is characterised in that the step S3 Middle INS gyroscopes measuring value is specific force, and accelerometer measuring value is acceleration.
A kind of 6. slow change slope failure completeness monitoring method according to claim 1, it is characterised in that the step S3 It is middle that INS attitude informations are updated using Quaternion Method.
A kind of 7. slow change slope failure completeness monitoring method according to claim 1, it is characterised in that the step S4 Middle GNSS and INS are combined navigation information fusion using deep combination mode.
A kind of 8. slow change slope failure completeness monitoring method according to claim 1, it is characterised in that the step S6 Middle recurrence time was at intervals of 30 seconds ~ 1500 seconds.
A kind of 9. slow change slope failure completeness monitoring method according to claim 1, it is characterised in that the step S7 Middle detection threshold value determines detection threshold value according to visible satellite quantity and false alarm rate.
CN201710644290.7A 2017-08-01 2017-08-01 A kind of slow change slope failure completeness monitoring method Pending CN107479069A (en)

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