CN108508461A - Based on GNSS carrier phase high accuracy positioning completeness monitoring methods - Google Patents
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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
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/29—Acquisition or tracking or demodulation of signals transmitted by the system carrier including Doppler, related
Abstract
The present invention provides one kind being based on GNSS carrier phase high accuracy positioning completeness monitoring methods, on the basis of the positioning Kalman filter constructed, including step 1, integer ambiguity solves the integrity monitoring in stage, is verified to the distribution of statistic T, and the distribution of statistic T is double noncentral f distribution, if the verification passes, real solution is replaced using integer solution, 2 is entered step, is otherwise directly entered step 2；Step 2, the integrity monitoring in high accuracy positioning stage extracts residual information from location algorithm, constructs second set of statistic, carry out fault detect, judge whether it is faulty, if so, fault identification and be isolated, Kalman filter is made in reconstruct, solves integer ambiguity, repeats step 1；If not, carrying out level of protection calculating, judge whether level of protection is more than alarm threshold, if so, alarm；If not, output level protection result and integrity mark.The present invention reduces the risk generated in satellite navigation positioning device application.
Description
Technical field
The present invention relates to navigation integrity monitoring technical fields, and in particular to one kind is high-precision fixed based on GNSS carrier phases
Position completeness monitoring method.
Background technology
Integrity is that the degree of belief of result correctness is exported to navigation system.If system cannot be guaranteed provided service
(Time to Alert) cannot provide the probability of warning and should be less than integrity wind before the deadline (exceed alarm threshold)
Dangerous specified value.Satellite navigation system positioning device (receiver) needs a set of mechanism, and for positioning result to provide confidence level (intact
Property), in aviation field, to ensure that flight safety, the receiver autonomous integrity monitoring (RAIM) of generally use determine receiver
As a result whether navigation information can be provided for aircraft.The receiver positioning accuracy of aircraft utilization cannot be known as high-precision in meter level
Positioning.
High-precision satellite navigation positioning device receives the radionavigation information that satellite is sent out, and extracts and defends from navigation signal
The position temporal information and the distance between positioning device and satellite of star.Distance can by navigation signal ranging code or
Signal carrier carries out processing acquisition.Obtain range accuracy relative mistake but simple by ranging code, thus be used widely including
Aviation field, completeness monitoring method relative maturity.It is obtained apart from more complicated by carrier wave, needs to obtain satellite to positioning dress
The complete cycle number (fuzziness) of phase between setting, but range accuracy is high, the integrity monitoring of high-precision satellite navigation and positioning there is also
Many challenges.
Carrier wave is the electromagnetic wave that can be modulated to transmission navigation signal, and carrier phase is to describe the degree of signal waveform variation
Amount is usually used as unit using degree, when signal waveform changes in a periodic manner, as 360 ° of waveform cycle one week.In high precision
GNSS (Global Navigation Satellite System) is positioned, it is necessary to use carrier phase observed quantity.The phase observations amount that receiver provides is
Phase after signal is captured, and initial complete cycle part, that is, initial observation epoch satellite and observation distance between sites are relative to carrier wave wave
Long integer is unknown.It could implement high accuracy positioning after only obtaining fuzziness initial value.
Since unknown quantity position is real number, and integer ambiguity is integer (phase difference between carrier phase and reference phase
First observation corresponding to integral cycle unknown), the two is coupled.Method for solving is to use MIXED INTEGER and real number
Least square method, i.e. following expression：
Wherein, x ∈ R are real number unknown vectors, and z ∈ Z are integer unknown vectors, and A, B, y are real number known quantities, | | | |2Table
Demonstration number.
Mixing least square can be transformed to：
Wherein, To be orthogonal, RAIt is nonsingular upper triangular matrix, subscript T
It is operated for transposition, formula (1) can be rewritten as：
Therefore, in above formulaBecome an integer least square problem.
For integer least square problem, typically first presses real number least square problem and handle, then near real solution
The most suitable integer of search in a certain range.To reduce search space generally use Least-squares AMBiguity
Decorrelation Adjustment (LAMBDA) method.
Location algorithm can not also use least square, and use Kalman filtering, to which LAMBDA methods and Kalman are filtered
Wave is merged.Although LAMBDA methods can reduce search space, it is to exist significantly to select which integer in decision
Problem.Currently used method is to use fuzziness residual error
Wherein, It is fuzziness real number estimated value,It is fuzziness integer candidate value (search value), i is mould
Paste degree serial number,Fuzziness covariance.
The method of generally use is by IRiIt sorts from small to large, is exactly IRi＜ IRi+1I ∈ [1, m) m be fuzziness sum,
Then judged by following statistic：
Wherein TdIt is threshold value.If T ＞ TdThen receive IR1For correct integer ambiguity.It is mainly asked existing for this method
Topic is can not to describe the statistic (T) to making with a rational distribution, therefore can not determine the threshold value linked up with confidence level
For decision, at present using use experience value TdIt is 1.5,2.0 or 3.0.Another method passes through Monte Carlo large sample
Threshold value and confidence level are linked up in emulation.The problem is that former approach is inaccurate, later approach takes these methods.
To sum up, disadvantage of the existing technology is as follows：
1) traditional receivers autonomous integrity monitoring (RAIM) is for based on the positioning that code ranging (pseudorange) is observed quantity
Device cannot support the integrity monitoring based on carrier phase high accuracy positioning.
2) integrity monitoring (number of patent application 201210286105.9) of existing high accuracy positioning is directly by conventional receiver
Machine autonomous integrity monitoring (RAIM) has been transplanted to using the last stage in carrier phase high accuracy positioning, and load is had ignored
Some critical issues in wave phase positioning, such as the integrity in integer ambiguity verification process.
Invention content
The present invention provides one kind being based on GNSS carrier phase high accuracy positioning completeness monitoring methods, solves and determines height
The technical issues of whether precision positioning result is credible (i.e. integrity), avoids the high-precision positioner based on satellite navigation system
Misleading information is exported, is to ensure that high-precision satellite navigation positioning device is essential in risky field (such as safe) application
Measure.
The technical solution adopted by the present invention is as follows：
One kind being based on GNSS carrier phase high accuracy positioning completeness monitoring methods, in the positioning Kalman filtering constructed
On the basis of device, include the following steps：
Step 1, integer ambiguity solves the integrity monitoring in stage, is verified to the distribution of statistic T, the statistics
The distribution of amount T is double noncentral f distribution, if the verification passes, replaces real solution using integer solution, enters step 2, otherwise directly
Enter step 2；
Step 2, the integrity monitoring in high accuracy positioning stage extracts residual information from location algorithm, constructs second set
Statistic carries out fault detect, judge whether it is faulty, if so, fault identification and be isolated, construction Kalman filter,
Integer ambiguity is solved, step 1 is repeated；If not, carrying out level of protection calculating, judge whether level of protection is more than alarm threshold,
If so, alarm；If not, output level protection result and integrity mark.
Further, statistic T is distributed as in the step 1：
T~F (m2, m1, δ2, δ1)
Wherein, m2, m1It is the quantity of integer ambiguity, δ2, δ1It is non-centrality parameter.
Further, δ2, δ1With false alarm rate pFAWith omission factor pMDCorrelation is found out by following formula：
Wherein, i=1,2, m be fuzziness sum, m=m1=m2。
Further, threshold value T needed for statistic TdWith confidence level pcRelationship it is as follows：
Wherein, Γ () is gamma function,
U=m2/(m2k+m1K), 0≤u≤1, a ＞ 0, b ＞ 0.
Further, fault detect carries out in such a way that complete or collected works' residual sum subset residual error shares in the step 2：
Pseudorange residuals, wide lane residual sum L1 main carrier phase residual errors are combined and carry out failure inspection by complete or collected works' residual error
It surveys, the L1 is GPS first frequencies；
Subset residual detection carries out independent failure inspection to pseudorange residuals, wide lane residual sum L1 main carrier phase residual errors respectively
It surveys.
Further, level of protection calculating is calculated by two kinds of level of protection computational methods in the step 2, then
It is maximized, it is specific as follows：
The first level of protection computational methods utilizes the relevant member of covariance matrix neutral position in Kalman filtering
The element is converted to local horizontal coordinates and obtains the first horizontal direction level of protection in conjunction with integrity risk by element
With vertical direction level of protection；
Second of level of protection computational methods obtains second of level side by the error map of observed quantity at site error
To level of protection and vertical direction level of protection.
Further, the first horizontal direction level of protection HPL1It is as follows：
HPL1=kHσH
The first vertical direction level of protection VPL1It is as follows：
VPL1=kVσV
Wherein,P is the Kalman filter covariance being transformed under horizontal coordinates
Matrix, kHAnd kVIt is respectively and level and the vertical relevant factor of integrity risk probability.
Further, second of horizontal direction level of protection HPL2It is as follows：
Second of vertical direction level of protection VPL1It is as follows：
Wherein, K is Kalman filter gain matrix, S=(I-HK)T(I-HK), H is design matrix, and I is unit square
Battle array, b is minimum detectable deviation, and observing accuracy of measurement by mapping obtains.
Further, the level of protection result of output takes the maximum value of two kinds of level of protection, specific as follows：
HPL=max (HPL1, HPL2)
VPL=max (VPL1, VPL2)。
The beneficial effects of the present invention are, it is ensured that high accuracy positioning result has integrity, avoids being based on satellite navigation system
The high-precision positioner of system exports misleading information, is generated in the application of high-precision satellite navigation positioning device key to reduce
Risk avoids safety accident occurring or generates legal liabilities etc..
Description of the drawings
Fig. 1 is inventive algorithm flow chart.
Specific implementation mode
The afforded risk of application (is, for example, less than 10 according to practical application request, completeness monitoring method by the present invention-7) input as algorithm, judge that high-precision positioner output information whether may be used by the completeness monitoring method in two stages
Letter, provides alarm in time if insincere.Hereinafter, the present invention is further elaborated in conjunction with the accompanying drawings and embodiments.
Fig. 1 is that the present invention is based on GNSS carrier phase high accuracy positioning completeness monitoring method flow charts, including integer mould
Paste degree solves the completeness monitoring method of the completeness monitoring method and high accuracy positioning stage in stage, illustrates in detail below：
1) integer ambiguity solves the completeness monitoring method in stage
The distribution of statistic T is double noncentral f distribution in the present invention, i.e.,
T~F (m2, m1, δ2, δ1) (6)
Wherein, m2, m1It is the quantity and IR of integer ambiguity1And IR2Dimension it is identical (be all m2=m1=m).δ2, δ1It is
Non-centrality parameter, they and false alarm rate pFAWith omission factor pMDCorrelation is shown below：
Wherein, i=1,2, based on above formula relationship is utilized, δ can be found out2And δ1.It therefore can further will be needed for formula (6)
Threshold value TdWith confidence level pcIt links together i.e.：
Above formula can be rewritten as：
Wherein, Γ () is gamma function,
U=m2/(m2k+m1K), 0≤u≤1, a ＞ 0, b ＞ 0.In actual operation, higher order term can be given up.
2) completeness monitoring method in high accuracy positioning stage
RTK or PPP patterns may be used in high accuracy positioning.RTK (Real time kinematic) is to utilize carrier phase
Differential technique handles the difference method of two measuring station carrier phase observed quantities in real time, and the carrier phase of base station acquisition is sent out
To receiver user, carry out that difference is asked to resolve coordinate.PPP (Precise Point Positioning) refers to several using the whole world
The calculated precise satellite track of GPS observations data, satellite clock correction and the ionospheric error of ground tracking station, meet separate unit GPS
The phase and Pseudo-range Observations that receipts machine is acquired carry out positioning calculation.The present invention be directed to RTK patterns, in such a mode, usually
Using two-frequency signal to needing to carry out double difference processing to receiver user and reference station receiver observed quantity, this processing can cause
Occurs correlation (dependent) between observed quantity, i.e. observing matrix off diagonal element is not all zero.
Wherein, σ2It is the variance of non-poor observed quantity, the dimension of this matrix is (n-1) x (n-1), and n is available observed quantity
Number.
Formula (9) is used as weighting matrix in least square location algorithm, also in weighting matrix in Kalman filtering algorithm
In play an important role, the present invention decouples correlative observable using the inverse matrix mode of correlation matrix.
It is with L1, that is, GPS first frequencies pseudorange, carrier phase observed quantity and L2 second frequencies pseudorange, carrier phase observed quantity
Example, wide lane are combined as (widelane L1-L2), and high accuracy positioning observation vector is：
Wherein,For L1 pseudorange double differences；For the wide lane observed quantity of carrier phase；For L1
Carrier phase observed quantity.Covariance matrix is accordingly：
Wherein, R is observation noise covariance matrix；RpFor pseudorange observation noise covariance matrix；RL1For L1 carrier phases
Observation noise covariance matrix；RL2For L2 carrier phase observation noise covariance matrixes.
High accuracy positioning stage integrity monitoring is divided into two aspect fault detects in the present invention and level of protection calculates two
Part.Fault detection part is carried out in such a way that complete or collected works' residual sum subset residual error shares：
(1) pseudorange residuals, wide lane residual sum L1 main carrier phase residual errors are combined and carry out failure by complete or collected works' residual error
Detection.
(2) subset residual detection carries out individually event to pseudorange residuals, wide lane residual sum L1 main carrier phase residual errors respectively
Barrier detection
The advantages of fault detect of the present invention is it can be found that failure and can identify failure so as to timely isolated fault in time.
Level of protection calculating is calculated by two different methods in the present invention, is then maximized.First method
It is using the relevant element of covariance matrix neutral position in Kalman filtering, by the way that these elements are transformed into local level
Coordinate system (east-north-day) simultaneously obtains first set horizontal direction level of protection HPL (horizontal in conjunction with integrity risk
Protection Level) and vertical direction level of protection VPL (Vertical Protection Level) it is as follows：
HPL1=kHσH (14)
VPL1=kVσV (15)
Wherein,P is the Kalman filter covariance being transformed under horizontal coordinates
Matrix, kHAnd kVIt is respectively and level and the vertical relevant factor of integrity risk probability.
Second of level of protection computational methods is by the error map of observed quantity into site error, and expression formula is as follows：
Wherein, K is Kalman filter gain matrix, S=(I-HK)T(I-HK), H is design matrix, and I is unit square
Battle array, b is minimum detectable deviation, and observing accuracy of measurement by mapping obtains.
After obtaining two sets of level of protection, protection scheme is maximized as final level of protection as a result, specific as follows：
HPL=max (HPL1, HPL2) (18)
VPL=max (VPL1, VPL2) (19)
Although the invention has been described by way of example and in terms of the preferred embodiments, but it is not for limiting the present invention, any this field
Technical staff without departing from the spirit and scope of the present invention, may be by the methods and technical content of the disclosure above to this hair
Bright technical solution makes possible variation and modification, therefore, every content without departing from technical solution of the present invention, and according to the present invention
Technical spirit to any simple modifications, equivalents, and modifications made by above example, belong to technical solution of the present invention
Protection domain.
Claims (9)
1. one kind being based on GNSS carrier phase high accuracy positioning completeness monitoring methods, in the positioning Kalman filter constructed
On the basis of, which is characterized in that include the following steps：
Step 1, integer ambiguity solves the integrity monitoring in stage, is verified to the distribution of statistic T, the statistic T
Distribution be double noncentral f distribution, if the verification passes, real solution is replaced using integer solution, enters step 2, otherwise directly into
Enter step 2；
Step 2, the integrity monitoring in high accuracy positioning stage extracts residual information from location algorithm, constructs second set of statistics
Amount carries out fault detect, judges whether faulty, if so, fault identification and be isolated, reconstructs and makes Kalman filter, ask
Integer ambiguity is solved, step 1 is repeated；If not, carrying out level of protection calculating, judge whether level of protection is more than alarm threshold, such as
It is to alarm；If not, output level protection result and integrity mark.
2. as described in claim 1 a kind of based on GNSS carrier phase high accuracy positioning completeness monitoring methods, feature exists
In statistic T is distributed as in the step 1：
T~F (m2, m1, δ2, δ1)
Wherein, m2, m1It is the quantity of integer ambiguity, δ2, δ1It is non-centrality parameter.
3. as claimed in claim 2 a kind of based on GNSS carrier phase high accuracy positioning completeness monitoring methods, feature exists
In δ2, δ1With false alarm rate pFAWith omission factor pMDCorrelation is found out by following formula：
Wherein, i=1,2, m be fuzziness sum, m=m1=m2。
4. as claimed in claim 2 a kind of based on GNSS carrier phase high accuracy positioning completeness monitoring methods, feature exists
In threshold value T needed for statistic TdWith confidence level pcRelationship it is as follows：
Wherein, Γ () is gamma function,u
=m2/(m2k+m1K), 0≤u≤1, a ＞ 0, b ＞ 0.
5. as described in claim 1 a kind of based on GNSS carrier phase high accuracy positioning completeness monitoring methods, feature exists
In, in the step 2 fault detect complete or collected works' residual sum subset residual error share by way of carry out：
Pseudorange residuals, wide lane residual sum L1 main carrier phase residual errors are combined and carry out fault detect, institute by complete or collected works' residual error
It is GPS first frequencies to state L1；
Subset residual detection carries out independent failure detection to pseudorange residuals, wide lane residual sum L1 main carrier phase residual errors respectively.
6. as claimed in claim 5 a kind of based on GNSS carrier phase high accuracy positioning completeness monitoring methods, feature exists
In level of protection is calculated and calculated by two kinds of level of protection computational methods in the step 2, is then maximized, specifically
It is as follows：
The first level of protection computational methods will using the relevant element of covariance matrix neutral position in Kalman filtering
The element is converted to local horizontal coordinates and obtains the first horizontal direction level of protection in conjunction with integrity risk and hang down
Histogram is to level of protection；
Second of level of protection computational methods obtains second of horizontal direction and protects by the error map of observed quantity at site error
Protect both horizontally and vertically level of protection.
7. as claimed in claim 6 a kind of based on GNSS carrier phase high accuracy positioning completeness monitoring methods, feature exists
In the first horizontal direction level of protection HPL1It is as follows：
HPL1=kHσH
The first vertical direction level of protection VPL1It is as follows：
VPL1=kVσV
Wherein,P is the Kalman filter covariance matrix being transformed under horizontal coordinates,
kHAnd kVIt is respectively and level and the vertical relevant factor of integrity risk probability.
8. as claimed in claim 7 a kind of based on GNSS carrier phase high accuracy positioning completeness monitoring methods, feature exists
In second of horizontal direction level of protection HPL2It is as follows：
Second of vertical direction level of protection VPL1It is as follows：
Wherein, K is Kalman filter gain matrix, S=(I-HK)T(I-HK), H is design matrix, and I is unit matrix, and b is
Minimum detectable deviation is observed accuracy of measurement by mapping and is obtained.
9. as claimed in claim 8 a kind of based on GNSS carrier phase high accuracy positioning completeness monitoring methods, feature exists
In the level of protection result of output takes the maximum value of two kinds of level of protection, specific as follows：
HPL=max (HPL1, HPL2)
VPL=max (VPL1, VPL2)。
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