CN108680936A - Beidou satellite navigation system integrity monitoring appraisal procedure - Google Patents
Beidou satellite navigation system integrity monitoring appraisal procedure Download PDFInfo
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- CN108680936A CN108680936A CN201810487125.XA CN201810487125A CN108680936A CN 108680936 A CN108680936 A CN 108680936A CN 201810487125 A CN201810487125 A CN 201810487125A CN 108680936 A CN108680936 A CN 108680936A
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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
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
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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
- G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
Abstract
The invention belongs to satellite navigation receiver performance monitoring field, more particularly to a kind of Beidou satellite navigation system integrity monitoring appraisal procedure, including：Static immobilization data acquisition phase obtains Beidou satellite navigation system static data by the mobile unit to remain static, and calculates its static positioning error；Dynamic alignment data obtains the stage, obtains Beidou satellite navigation system dynamic data by the mobile unit being kept in motion, and calculate its dynamic positioning error；Integrity evaluation stage carries out system health assessment, position error includes the static positioning error and dynamic positioning error being calculated according to position error and by preset error protection grade and alarm limit value.The present invention is carried out at the same time the system health under static and dynamic both of which by mobile unit and monitors so that assessment data are more comprehensive, reliable, have important directive significance to Beidou satellite navigation system performance monitoring.
Description
Technical field
The invention belongs to satellite navigation receiver performance monitoring field, more particularly to a kind of Beidou satellite navigation system is intact
Property monitoring and assessing method.
Background technology
China's Beidou satellite navigation system (BeiDou Navigation Satellite System, BDS) is with " three steps
Walk " it is strategic to draw, spacing wave Interface Control File (ICD) has been disclosed at present, and is formally provided since the end of the year 2012
Asia-Pacific region service.According to the construction experiences of GPS, GLONASS, Galileo, the quality of a satellite navigation system performance is removed
It is also in close relations with the performance indicators such as the availability of system, continuity, integrity except directly related with its positioning accuracy,
It is wherein again mostly important with integrity.In order to push BDS to build up satellite navigation system leading in the world, need to reinforce integrity and
The research of its monitoring and evaluation technology.The integrity of navigation system refers to that system is sent out to user in time when cannot be used for navigation Service
Go out the ability effectively alerted.When system, which cannot be satisfied integrity, to be required, Services-Security can be caused to decline, can caused when serious
Serious accident, therefore this performance indicator is paid attention to by major satellite navigation system supplier, and cause a large amount of sections
Grind the research interest of personnel.In integrity monitoring research, most representative is the Stanford developed by Stanford University
Plot, basic ideas be using system provide information and associated ancillary information, calculation of position errors, error protection grade and
Error limit, and using the relationship between three, user's locator field it is intuitive, clearly system health is monitored and is commented
Estimate.This method has been successfully applied to the systems such as WAAS, EGNOS, Galileo, is played in terms of system health monitoring and evaluation
Important function.
However, the integrity monitoring that dipper system how is carried out using Stanford Plot is assessed, presently relevant technicism
And must be also less, in addition, Stanford Plot are to be applied to system health monitoring and evaluation based on static immobilization pattern
, way is as follows：In the monitoring station of multiple known coordinates, carry out the static immobilization of corresponding system, by with known coordinate pair
Than obtaining the system position error at each moment, being based on statistical principle, provide the good property monitoring and evaluation result of object for appreciation of system；
This method is simple and practicable, the integrity monitoring field of multiple satellite navigation systems has been successfully applied to, how by this method
The rationally integrity of assessment dipper system also lacks practical operable technology realization means, and has the sides Plot Stanford
Method is applied to system health monitoring and evaluation only based on static immobilization pattern, cannot reflect system under user's dynamic condition
Integrity situation.
Invention content
For deficiency in the prior art, the present invention provides a kind of Beidou satellite navigation system integrity monitoring assessment side
Method is commented by carrying out more comprehensively rational monitoring to Beidou navigation satellite system integrity under static and dynamic both of which
Estimate so that performance is more stablized, is reliable.
According to design scheme provided by the present invention, a kind of Beidou satellite navigation system integrity monitoring appraisal procedure, packet
Contain：Static immobilization data acquisition phase, dynamic alignment data obtain stage and integrity evaluation stage, wherein
It is quiet to obtain Beidou satellite navigation system by the mobile unit to remain static for static immobilization data acquisition phase
State data, and calculate its static positioning error；
Dynamic alignment data obtains the stage, and it is dynamic to obtain Beidou satellite navigation system by the mobile unit being kept in motion
State data, and calculate its dynamic positioning error；
Integrity evaluation stage carries out system according to position error and by preset error protection grade and alarm limit value
Integrity is assessed, and position error includes the static positioning error and dynamic positioning error being calculated.
Above-mentioned, in mobile unit, it is provided with host module and GPS positioning module, Beidou navigation locating module, is used for
The assembled gesture measurement module of attitude parameter is obtained, the assembled gesture measurement module includes Attitude Measuring Unit and and posture
The GPS antenna group that measuring unit is connected, the GPS antenna group include GPS antenna one and GPS antenna two, one He of GPS antenna
GPS antenna two is laid in the both sides of Attitude Measuring Unit respectively；The GPS positioning module includes for as positioning datum
GPS receiver and GPS receiving antenna, the Beidou navigation locating module include multiple Beidou navigation satellite system receivers and corresponding
Multiple Beidou navigation satellite system receiver antennas；The host module is for receiving GPS positioning module, Beidou navigation locating module and group
The data of attitude measurement module are closed, and according to the position error data of data reduction Beidou navigation locating module.
Above-mentioned, the Attitude Measuring Unit is inertial navigation set.
Above-mentioned, GPS positioning module, Beidou navigation locating module are fixed by platform frame and motion carrier.
Preferably, centered on Attitude Measuring Unit, GPS antenna one, GPS antenna two are symmetrical along motion carrier direction of travel
It is distributed on the platform frame of Attitude Measuring Unit both sides.
Above-mentioned, mobile unit obtains Beidou satellite navigation system either statically or dynamically data, and calculates it and correspond to positioning mistake
Difference, including following content：
Step 1 establishes detection platform coordinate system O-XYZ, using GPS receiving antenna A3 phase centers as origin, is set with vehicle-mounted
Standby direction of advance is Y-axis, and the outer normal orientation of detection platform is Z axis, and X-axis constitutes right-handed coordinate system with Y, Z axis；
Step 2 obtains attitude parameter according to assembled gesture measurement module, and attitude parameter includes：Yaw angle Heading, rolling
Dynamic angle Roll, pitch angle Pitch；
Step 3 is being detected according to detection platform coordinate system O-XYZ, acquisition GPS receiver A3 and Beidou navigation satellite system receiver A2
The vector of platform coordinate system O-XYZCoordinate；And according to detection platform coordinate system O-XYZ, local horizontal coordinates
O-NWU relationships between the two and attitude parameter obtain attitude angle；
Step 4, according to attitude angle, GPS receiver A3 and Beidou navigation satellite system receiver A2 is calculated in local horizontal coordinate
It is the vector of O-NWUCoordinate；
Step 5, according to GPS receiver dynamic alignment dataReduction Beidou navigation satellite system receiver A2 body-fixed coordinate systems；
Step 6 carries out coordinate data processing to reduction result, and the positioning of Beidou navigation satellite system receiver is assessed according to handling result
Error.
Above-mentioned, in step 4, vectorCoordinate calculation formula it is as follows：
Attitude angle calculation formula is：
Beidou navigation satellite system receiver A2 body-fixed coordinate systemsCalculation formula is：
(ZG)=Rz(-π-L)Ry(pi/2-B), wherein L, B respectively represent GPS receiver
The geodetic longitude and latitude that machine A3 positioning obtains.
Further, coordinate data is handled, including：WGS84 is carried out to convert with CGCS2000 coordinate systems；And when positioning result
Between be aligned.
Above-mentioned, in system health assessment, by Stanford Plot methods, pass through error protection grade, alarm limit value
Beidou satellite navigation system integrity is assessed with position error.
Further, error protection grade is obtained by Beidou satellite navigation system, and alarm limit value carries out pre- according to user demand
If.
Beneficial effects of the present invention：
Tradition is based only upon satellite navigation system integrity appraisal procedure under static schema by the present invention by mobile unit, is expanded
Exhibition monitors for the system health being carried out at the same time under static state and dynamic both of which so that assessment data are more comprehensively, reliably, right
Reinforcing satellite navigation system integrity and its monitoring and evaluation technology has important promotion meaning；In mobile unit, pass through posture
The introducing of information fully considers the departure between Beidou receiver antenna and GPS receiver day, so that testing result is more
Add genuine and believable；Meanwhile the present invention can simultaneously be detected more Taibei bucket receiver antenna, greatly improve detection effect
Rate saves manpower and materials；It can avoid using power splitter again, cause receiver to be checked to be mismatched with antenna so that testing result
It is not objective enough；By coordinate pass-algorithm, can more accurately account between Beidou receiver antenna and GPS receiver day
Departure, and the purpose that more Beidou receivers simultaneously participate in test is realized, to greatly use manpower and material resources sparingly, improve inspection
Efficiency is surveyed, the cost of Beidou receiver dynamic detection is reduced；With preferable market promotion prospect, to Beidou satellite navigation system
Performance monitoring has important directive significance.
Description of the drawings：
Fig. 1 is the method flow schematic diagram of the present invention；
Fig. 2 is that mobile unit obtains simultaneously calculation of position errors flow chart in embodiment；
Fig. 3 is detection platform body coordinate system and local horizontal coordinates relation schematic diagram；
Fig. 4 is detection platform schematic diagram in embodiment；
Fig. 5 is that integrity monitoring assesses schematic diagram in embodiment.
Specific implementation mode：
The present invention is described in further detail with technical solution below in conjunction with the accompanying drawings, and detailed by preferred embodiment
Describe bright embodiments of the present invention in detail, but embodiments of the present invention are not limited to this.
It, cannot be comprehensive for system health monitoring and evaluation is applied to only based on static immobilization pattern in the prior art
Reflect the situations such as integrity situation of system under user's dynamic condition.For this purpose, the embodiment of the present invention, shown in Figure 1, Yi Zhongbei
Struggle against satellite navigation system integrity monitoring appraisal procedure, including：Static immobilization data acquisition phase, dynamic alignment data obtain rank
Section and integrity evaluation stage, wherein
It is quiet to obtain Beidou satellite navigation system by the mobile unit to remain static for static immobilization data acquisition phase
State data, and calculate its static positioning error；
Dynamic alignment data obtains the stage, and it is dynamic to obtain Beidou satellite navigation system by the mobile unit being kept in motion
State data, and calculate its dynamic positioning error；
Integrity evaluation stage carries out system according to position error and by preset error protection grade and alarm limit value
Integrity is assessed, and position error includes the static positioning error and dynamic positioning error being calculated.
By being monitored assessment to system health under static and dynamic both of which, assessment result more comprehensively, it is credible,
Use value higher.
In the embodiment of the present invention, mobile unit is provided with host module and GPS positioning module, Beidou navigation locating module,
Assembled gesture measurement module for obtaining attitude parameter, the assembled gesture measurement module include Attitude Measuring Unit and with
The GPS antenna group that Attitude Measuring Unit is connected, the GPS antenna group include GPS antenna one and GPS antenna two, GPS antenna
One and GPS antenna two be laid in the both sides of Attitude Measuring Unit respectively；The GPS positioning module includes for as positioning base
Accurate GPS receiver and GPS receiving antenna, the Beidou navigation locating module include multiple Beidou navigation satellite system receivers and right
The multiple Beidou navigation satellite system receiver antennas answered；The host module is for receiving GPS positioning module, Beidou navigation locating module
And the data of assembled gesture measurement module, and according to the position error data of data reduction Beidou navigation locating module.With high-precision
The GPS dynamics positioning result of degree rationally assesses Big Dipper dynamic locating accuracy as comparison standard；Realize that more Taibei buckets are led
Boat receiver simultaneously participates in test, improves detection efficiency；By the introducing of posture information, fully consider Beidou receiver antenna and
Departure between GPS receiver day, so that testing result is more genuine and believable.
In the embodiment of the present invention, Attitude Measuring Unit is inertial navigation set, passes through inertial navigation set and GPS antenna
Combination, greatly reduce the accumulation of attitude measurement error.GPS positioning module, Beidou navigation locating module pass through platform frame
Frame is fixed with motion carrier, fixed, more convenient to use.Centered on Attitude Measuring Unit, GPS antenna one, GPS antenna
Two are symmetrically distributed in along motion carrier direction of travel on the platform frame of Attitude Measuring Unit both sides, Beidou navigation satellite system receiver
It can be fixed on any plane position on the platform frame, realize the detection of more Beidou navigation satellite system receiver positioning accuracy,
Greatly improve detection efficiency.
In one more embodiment of the present invention, mobile unit obtains Beidou satellite navigation system either statically or dynamically data, and counts
It calculates it and corresponds to position error, it is shown in Figure 2, including following content：
Step 1 establishes detection platform coordinate system O-XYZ, using GPS receiving antenna A3 phase centers as origin, is set with vehicle-mounted
Standby direction of advance is Y-axis, and the outer normal orientation of detection platform is Z axis, and X-axis constitutes right-handed coordinate system with Y, Z axis；
Step 2 obtains attitude parameter according to assembled gesture measurement module, and attitude parameter includes：Yaw angle Heading, rolling
Dynamic angle Roll, pitch angle Pitch；
Step 3 is being detected according to detection platform coordinate system O-XYZ, acquisition GPS receiver A3 and Beidou navigation satellite system receiver A2
The vector of platform coordinate system O-XYZCoordinate；And according to detection platform coordinate system O-XYZ, local horizontal coordinates
O-NWU relationships between the two and attitude parameter obtain attitude angle；
Step 4, according to attitude angle, GPS receiver A3 and Beidou navigation satellite system receiver A2 is calculated in local horizontal coordinate
It is the vector of O-NWUCoordinate；
Step 5, according to GPS receiver dynamic alignment dataReduction Beidou navigation satellite system receiver A2 body-fixed coordinate systems；
Step 6 carries out coordinate data processing to reduction result, and the positioning of Beidou navigation satellite system receiver is assessed according to handling result
Error.
By the introducing of posture information, the departure between Beidou receiver antenna and GPS receiver day is fully considered, from
And make testing result more genuine and believable；By coordinate pass-algorithm, Beidou receiver antenna can be more accurately accounted for
Departure between GPS receiver day, and realize the purpose that more Beidou receivers simultaneously participate in test.
First, shown in Figure 3, detection platform coordinate system O-XYZ is established, is original with GPS receiving antenna A3 phase centers
Point, using motion carrier direction of advance as Y-axis, the outer normal orientation of detection platform is Z axis, and X-axis constitutes right-handed coordinate system with Y, Z axis.
Attitude parameter is obtained according to assembled gesture measurement module, attitude parameter includes：Yaw angle Heading, roll angle Roll, pitch angle
Pitch, wherein yaw angle Heading is ranging from：0 °~360 °, roll angle Roll is ranging from：- 180 °~180 °, pitch angle
Pitch is ranging from：- 90 °~90 °.According to detection platform coordinate system O-XYZ, GPS receiver A3 and Beidou navigation satellite system receiver are obtained
Vectors of the A2 in detection platform coordinate system O-XYZCoordinate；According to detection platform coordinate system O-XYZ, local level
Coordinate system O-NWU relationships between the two and attitude parameter, according to formula：Obtain attitude angle.So
Afterwards, according to attitude angle, according to formula：
GPS receiver A3 is calculated and Beidou navigation receives
Vectors of the machine A2 in local horizontal coordinates O-NWUCoordinate.According to GPS receiver dynamic alignment data
It is according to formula：
(ZG)=Rz(-π-L)Ry(pi/2-B), with calculating Beidou navigation satellite system receiver A2
Gu coordinate, wherein L, B respectively represent the geodetic longitude and latitude that GPS receiver A3 positioning obtains.Finally, to reduction result into
The processing of the coordinate datas such as row WGS84 and the conversion of CGCS2000 coordinate systems, positioning result time unifying assesses north according to handling result
Struggle against navigation neceiver position error.
In system health assessment, by Stanford Plot methods, pass through error protection grade, alarm limit value and positioning
Error assesses Beidou satellite navigation system integrity.Error protection grade is obtained by Beidou satellite navigation system, and alarm limit value is pressed
It is preset according to user demand.
In order to further verify effectiveness of the invention, the present invention is further explained with reference to specific example
It is bright：
GPS positioning result rationally assesses Big Dipper dynamic locating accuracy as comparison standard with high precision, vehicle-mounted to set
It is standby to be respectively at movement or stationary state as needed, the position error under dynamic and static conditions is obtained with this, and accordingly
Carry out integrity assessment.In order to reach object above, detection platform as shown in Figure 4 is devised.High-precision is put in the positions A3
GPS dynamic position devices, i.e. GPS receiver, using the posture of the fixed relationship and platform of other positions and A3, by the height at A3
Precision GPS dynamic positioning result reduction is to other positions, to provide precision for the Big Dipper dynamic positioning result of corresponding position
Comparison standard.High-precision GPS dynamic positioning result is obtained by dynamic precision relative positioning or dynamic precision One-Point Location；Platform
Posture obtained by inertial posture measuring equipment, using the assembled gesture measuring apparatus of inertial navigation and GPS, to reduce attitude measurement
The accumulation of error, composition include two GPS antennas of the Attitude Measuring Unit and the position C1, C3 of the positions C2.It will be high-precision at A3
GPS dynamic positioning result reduction is spent to other positions, and accuracy detection standard is provided for corresponding Beidou receiver.
Detection platform body coordinate system O-XYZ is initially set up, origin is located at the positions A3 GPS antenna phase center, and Y-axis refers to
To carrier direction of advance, Z axis is directed toward the outer normal orientation of platform, and X-axis constitutes right-handed coordinate system with Y, Z axis.Here only with the positions A2
For illustrate, other positions are similar.
As shown in Figure 4,Coordinate in O-XYZ is (0, L23,h2-h3), wherein L23For A2With A3The distance between,
h2、h3Respectively A2、A3The device antenna at place is high.
Detection platform body coordinate system and the relationship of local horizontal coordinates are as shown in figure 3, O-XYZ is ontology coordinate in figure
System, O-NWU are local horizontal coordinates (northwest (NW) day), and the two is associated by three Euler Angles ψ, θ, γ, three classes angle all with
Counterclockwise for just.
In the design of detection platform, assembled gesture measuring apparatus provides the attitude parameter of platform, i.e. yaw angle Heading
(0 °~360 °), roll angle Roll (- 180 °~180 °), pitch angle Pitch (- 90 °~90 °).By these three attitude parameters,
ψ, θ and γ are obtained, conversion relation is：
After obtaining three attitude angles, that is, have：
It can be obtained by above formulaLocal horizontal coordinate (N', W', U')T。
If A3Place GPS dynamic positioning result be(body-fixed coordinate system), the then A that thus reduction obtains2Position body-fixed coordinate system
System is：
(ZG)=Rz(-π-L)Ry(π/2-B)
The positions A2 are arrived into high-precision GPS dynamic positioning result reduction at A3, using WGS84 and CGCS2000 coordinate systems
Between the processing such as conversion, positioning result time unifying after, so that it may with using reduction as a result, obtaining that the Big Dipper is static and dynamic is fixed
Position error.More than obtaining on the basis of static and dynamic positioning error, further system is assessed by Stanford Plot methods
The integrity of system, specific practice are as follows：In Stanford Plot, usually provided respectively according to two components of plane and elevation
The intact implementations of system, wherein error protection grade (Protection Levels, PL)：Represent the top of position error
Boundary divides horizontal error protected level (HPL) and vertical error protected level (VPL)；(2) alarm limit value (Alert Limits, AL)：With
The position error upper alarm threshold that family gives according to concrete application demand, is divided into horizontal alarm limit value (HAL) and vertical alarm limit value
(VAL)；(3) position error (Position Errors, PE)：The difference of the positioning result and actual position of navigation user, can divide
For horizon location error (HPE) and perpendicular positioning error (VPE).Error protection grade, alarm limit value and position error are sought, is passed through
The different relationships of three, and can assessment preferably be monitored to the intact implementations of system by Stanford Plot.Accidentally
Poor protected level can for information about be sought according to what navigation system provided；Alarm limit value is set according to user demand, special
It is other close to have different alarm limit value code requirements into level according to different to aviation users；Position error is in the embodiment of the present invention
In be divided into static positioning error and dynamic positioning error.Fig. 5 gives the Stanford signals of Plot elevation integrity statistics figures
Figure, horizontal direction are similar.Below in conjunction with Fig. 5, with regard to error protection grade, alarm limit value and position error and system health
Relationship between situation provides explanation：
1) as PE ＜ PL ＜ AL, indicate that system is available.Wherein, PL ＜ AL indicate the information display system that system itself provides
It can use；On this basis, PE ＜ PL indicate that error protection grade meets the requirement in the position error upper bound.
2) as PE ＜ AL ＜ PL or AL ＜ PE ＜ PL, indicate that system is unavailable.AL ＜ PL indicate the letter that system itself provides
It is unavailable to cease display system；Meanwhile PE ＜ PL indicate that error protection grade meets the requirement in the position error upper bound.At this point, no matter PE
＜ AL or AL ＜ PE, system are unavailable.
3) as PL ＜ PE ＜ AL or AL ＜ PL ＜ PE, expression system may give misleading information (MI).For PL ＜ PE
＜ AL, since PL ＜ AL indicate that the information display system that system itself provides is available, and PL ＜ PE indicate that error protection grade is discontented
The requirement in the sufficient position error upper bound, i.e., the PL that the information provided according to system acquires is insincere, and system is available at this time
Information may be a kind of misleading information；For AL ＜ PL ＜ PE,
AL ＜ PL indicate that the information display system that system itself provides is unavailable, and PL ＜ PE indicate that error protection grade is discontented
The requirement in the sufficient position error upper bound, the not available information of system may be a kind of misleading information at this time.
4) as PL ＜ AL ＜ PE, expression system gives dangerous misleading information (HMI).PL ＜ AL indicate that system itself provides
Information display system it is available；But AL ＜ PE indicate that actual location error will be big than alarm limit value.At this point, system is available
Information be a kind of dangerous misleading information.
By the investigation to relation above, by Stanford Plot, can it is clear, intuitively to triones navigation system
Intact implementations be monitored assessment, assessment result more comprehensively, it is reliable.The present invention is to traditional sides Plot Stanford
Method is extended, by it by only relying on static immobilization mode evaluation system health, expanding for while considering static and dynamic
Two kinds of station-keeping modes, so that corresponding assessment result is more fully credible；This method is applied successfully by mobile unit
The Big Dipper is defended to provide a kind of new system health monitoring method for dipper system in dipper system integrity monitoring
Star navigation system performance monitoring has great importance.
The foregoing description of the disclosed embodiments enables professional and technical personnel in the field to realize or use the application.
Various modifications to these embodiments will be apparent to those skilled in the art, as defined herein
General Principle can in other embodiments be realized in the case where not departing from spirit herein or range.Therefore, the application
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest range caused.
Claims (10)
1. a kind of Beidou satellite navigation system integrity monitoring appraisal procedure, which is characterized in that include：Static immobilization data acquisition
Stage, dynamic alignment data obtain stage and integrity evaluation stage, wherein
Static immobilization data acquisition phase obtains Beidou satellite navigation system static number by the mobile unit to remain static
According to, and calculate its static positioning error；
Dynamic alignment data obtains the stage, and Beidou satellite navigation system dynamic number is obtained by the mobile unit being kept in motion
According to, and calculate its dynamic positioning error；
Integrity evaluation stage carries out system health according to position error and by preset error protection grade and alarm limit value
Property assessment, position error includes the static positioning error and dynamic positioning error that are calculated.
2. Beidou satellite navigation system integrity monitoring appraisal procedure according to claim 1, which is characterized in that vehicle-mounted to set
In standby, it is provided with host module and GPS positioning module, Beidou navigation locating module, the assembled gesture for obtaining attitude parameter
Measurement module, the assembled gesture measurement module include Attitude Measuring Unit and be connected with Attitude Measuring Unit GPS days
Line group, the GPS antenna group include GPS antenna one and GPS antenna two, and GPS antenna one and GPS antenna two are laid in appearance respectively
The both sides of state measuring unit；The GPS positioning module includes for the GPS receiver and GPS receiver day as positioning datum
Line, the Beidou navigation locating module include multiple Beidou navigation satellite system receivers and corresponding multiple Beidou navigation satellite system receiver days
Line；Number of the host module for receiving GPS positioning module, Beidou navigation locating module and assembled gesture measurement module
According to, and according to the position error data of data reduction Beidou navigation locating module.
3. Beidou satellite navigation system integrity monitoring appraisal procedure according to claim 2, the attitude measurement list
Member is inertial navigation set.
4. Beidou satellite navigation system integrity monitoring appraisal procedure according to claim 2, which is characterized in that GPS is fixed
Position module, Beidou navigation locating module are fixed by platform frame and motion carrier.
5. Beidou satellite navigation system integrity monitoring appraisal procedure according to claim 4, which is characterized in that with posture
Centered on measuring unit, GPS antenna one, GPS antenna two are symmetrically distributed in Attitude Measuring Unit two along motion carrier direction of travel
On the platform frame of side.
6. Beidou satellite navigation system integrity monitoring appraisal procedure according to claim 1, which is characterized in that vehicle-mounted to set
It is standby to obtain Beidou satellite navigation system either statically or dynamically data, and calculate it and correspond to position error, including following content：
Step 1 establishes detection platform coordinate system O-XYZ, using GPS receiving antenna A3 phase centers as origin, before mobile unit
It is Y-axis into direction, the outer normal orientation of detection platform is Z axis, and X-axis constitutes right-handed coordinate system with Y, Z axis；
Step 2 obtains attitude parameter according to assembled gesture measurement module, and attitude parameter includes：Yaw angle Heading, roll angle
Roll, pitch angle Pitch；
Step 3, foundation detection platform coordinate system O-XYZ, obtain GPS receiver A3 and Beidou navigation satellite system receiver A2 in detection platform
The vector of coordinate system O-XYZCoordinate；And according to detection platform coordinate system O-XYZ, local horizontal coordinates O-
NWU relationships between the two and attitude parameter obtain attitude angle；
Step 4, according to attitude angle, GPS receiver A3 and Beidou navigation satellite system receiver A2 is calculated in local horizontal coordinates O-
The vector of NWUCoordinate；
Step 5, according to GPS receiver dynamic alignment dataReduction Beidou navigation satellite system receiver A2 body-fixed coordinate systems；
Step 6 carries out coordinate data processing to reduction result, and the positioning that Beidou navigation satellite system receiver is assessed according to handling result misses
Difference.
7. Beidou satellite navigation system integrity monitoring appraisal procedure according to claim 6, which is characterized in that step 4
In, vectorCoordinate calculation formula it is as follows：
Attitude angle calculation formula is：North
Struggle against navigation neceiver A2 body-fixed coordinate systemsCalculation formula is：
(ZG)=Rz(-π-L)Ry(pi/2-B), wherein L, B respectively represent GPS receiver A3
Position the geodetic longitude obtained and latitude.
8. Beidou satellite navigation system integrity monitoring appraisal procedure according to claim 6, which is characterized in that step 6
In coordinate data processing, including：WGS84 is carried out to convert with CGCS2000 coordinate systems；And positioning result time unifying.
9. Beidou satellite navigation system integrity monitoring appraisal procedure according to claim 1, which is characterized in that system is complete
In good property assessment, by Stanford Plot methods, the Big Dipper is assessed by error protection grade, alarm limit value and position error
Satellite navigation system integrity.
10. Beidou satellite navigation system integrity monitoring appraisal procedure according to claim 9, which is characterized in that error
Protected level is obtained by Beidou satellite navigation system, and alarm limit value is preset according to user demand.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN111157944A (en) * | 2018-11-07 | 2020-05-15 | 千寻位置网络有限公司 | Distance measuring device and mobile carrier based on double antennas |
| CN110887508A (en) * | 2019-11-30 | 2020-03-17 | 航天科技控股集团股份有限公司 | Dynamic positioning function detection method for vehicle-mounted navigation product |
| CN112077881A (en) * | 2020-11-13 | 2020-12-15 | 浙江欣奕华智能科技有限公司 | Method and device for evaluating mobility performance of robot |
| CN112077881B (en) * | 2020-11-13 | 2021-01-29 | 浙江欣奕华智能科技有限公司 | Method and device for evaluating mobility performance of robot |
| CN112596080A (en) * | 2020-11-25 | 2021-04-02 | 中国人民解放军93216部队 | Method for testing integrity index of differential Beidou take-off and landing guide system of unmanned aerial vehicle |
| CN112596080B (en) * | 2020-11-25 | 2024-04-16 | 中国人民解放军93216部队 | Method for testing integrity index of unmanned aerial vehicle differential Beidou lifting guide system |
| CN113109849A (en) * | 2021-05-13 | 2021-07-13 | 西安索格亚航空科技有限公司 | Auxiliary flight navigation method and system based on Beidou/GPS dual-channel differential prediction |
| CN114954580A (en) * | 2022-05-17 | 2022-08-30 | 交控科技股份有限公司 | Mobile block column control method, device, equipment and medium based on Beidou positioning |
| CN114954580B (en) * | 2022-05-17 | 2024-04-26 | 交控科技股份有限公司 | Mobile occlusion column control method, device, equipment and medium based on Beidou positioning |
| CN117148391A (en) * | 2023-10-30 | 2023-12-01 | 北京神导科技股份有限公司 | Beidou satellite navigation credible position service system and method |
| CN117148391B (en) * | 2023-10-30 | 2024-01-26 | 北京神导科技股份有限公司 | Beidou satellite navigation credible position service system and method |
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