CN107479069A - A kind of slow change slope failure completeness monitoring method - Google Patents
A kind of slow change slope failure completeness monitoring method Download PDFInfo
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- 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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- 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
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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
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/07—Cooperating 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
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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
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'>
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</math>(1)
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</math>(2)
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</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>
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</math>Represent k-1
Moment prior estimate covariance matrix, avg represent operation of averaging,<math display = 'block'>
</math>Represent sum operation,<math display = 'block'>
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</math>Represent k moment matrix
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</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.
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Cited By (7)
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| CN108088470A (en) * | 2018-01-30 | 2018-05-29 | 北京大学 | A kind of integrated navigation becomes slope failure completeness monitoring method slowly |
| CN109490916A (en) * | 2019-01-21 | 2019-03-19 | 南京航空航天大学 | A kind of GNSS receiver autonomous integrity monitoring method |
| CN110011722A (en) * | 2019-04-02 | 2019-07-12 | 中国电子科技集团公司第二十九研究所 | It is a kind of to cross tunnel quickly to star method and system for vehicle satellite communication in motion |
| CN112558112A (en) * | 2020-11-17 | 2021-03-26 | 中国矿业大学 | GNSS state domain slow-change slope fault integrity monitoring method |
| CN113670337A (en) * | 2021-09-03 | 2021-11-19 | 东南大学 | Method for detecting slow-changing fault of GNSS/INS combined navigation satellite |
| CN115235463A (en) * | 2022-08-30 | 2022-10-25 | 交信北斗(北京)信息科技有限公司 | Integrity risk demand distribution method for GNSS/INS integrated navigation system |
| US11595782B2 (en) | 2020-07-28 | 2023-02-28 | Honeywell International Inc. | Integrity of range measurements |
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| CN108088470A (en) * | 2018-01-30 | 2018-05-29 | 北京大学 | A kind of integrated navigation becomes slope failure completeness monitoring method slowly |
| CN109490916A (en) * | 2019-01-21 | 2019-03-19 | 南京航空航天大学 | A kind of GNSS receiver autonomous integrity monitoring method |
| CN110011722A (en) * | 2019-04-02 | 2019-07-12 | 中国电子科技集团公司第二十九研究所 | It is a kind of to cross tunnel quickly to star method and system for vehicle satellite communication in motion |
| US11595782B2 (en) | 2020-07-28 | 2023-02-28 | Honeywell International Inc. | Integrity of range measurements |
| CN112558112A (en) * | 2020-11-17 | 2021-03-26 | 中国矿业大学 | GNSS state domain slow-change slope fault integrity monitoring method |
| CN112558112B (en) * | 2020-11-17 | 2022-09-16 | 中国矿业大学 | GNSS state domain slow-change slope fault integrity monitoring method |
| CN113670337A (en) * | 2021-09-03 | 2021-11-19 | 东南大学 | Method for detecting slow-changing fault of GNSS/INS combined navigation satellite |
| CN115235463A (en) * | 2022-08-30 | 2022-10-25 | 交信北斗(北京)信息科技有限公司 | Integrity risk demand distribution method for GNSS/INS integrated navigation system |
| CN115235463B (en) * | 2022-08-30 | 2024-04-30 | 交信北斗(北京)信息科技有限公司 | GNSS/INS integrated navigation system integrity risk demand distribution method |
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