CN108931790A - A kind of Satellite Autonomous Integrity Monitoring method of the slow accident barrier of navigation satellite clock - Google Patents
A kind of Satellite Autonomous Integrity Monitoring method of the slow accident barrier of navigation satellite clock Download PDFInfo
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- CN108931790A CN108931790A CN201810474123.7A CN201810474123A CN108931790A CN 108931790 A CN108931790 A CN 108931790A CN 201810474123 A CN201810474123 A CN 201810474123A CN 108931790 A CN108931790 A CN 108931790A
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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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Abstract
A kind of Satellite Autonomous Integrity Monitoring method of the slow accident barrier of navigation satellite clock, including the fitting of (1) quadratic polynomial：The setting fitting long N of window carries out quadratic polynomial fitting to the clock deviation data in window length, finds out coefficient of first order a1With second order coefficient a2；(2) monitoring quantity calculates：Calculate adjacent moment coefficient of first order a1Variation delta a1With the coefficient of first order a every N number of epoch1Variation delta Na1；(3) jump false-alarm monitoring：Before entering slow change monitoring, using the feature of jump type failure, jump type failure is separated from slow modification failure；(4) slow become is carried out to satellite clock correction using monitoring quantity to monitor；(5) integrity mark is exported：No matter which rank of monitoring is alerted, output integrity mark.The separation of the method for the present invention proposition navigation satellite clock jump type failure and slow modification failure, it can be ensured that becoming in malfunction monitoring slowly not by the interference of jump type failure, i.e., will not generate alarm to jump type failure.
Description
Technical field
The present invention relates to a kind of Satellite Autonomous Integrity Monitoring methods of the slow accident barrier of navigation satellite clock, belong to satellite navigation
Technical field.
Background technique
As GNSS is using more and more extensive, demand of the user to navigation satellite integrity be also higher and higher.Satellite clock
As the core component of navigation satellite, integrity service performance is the important component of navigation satellite integrity.Satellite clock
On-orbit fault there are two types of, be jump type failure and slow modification failure respectively.Jump type failure has been realized in in-orbit complete at present
Good property monitoring, and slow modification failure is asked due to the slow change false-alarm etc. that fault latency is long and generates there are the jump of inadequate thresholding
Topic, there are certain monitoring difficulty.
Currently, the integrity monitoring of navigation satellite clock can be carried out by following two method：
Method 1, receiver autonomous integrity monitoring (RAIM)；
Method 2, enhancing system health monitoring；
However, there are the following problems for the above method：
(1) method 1 needs at least 5 stars to detect failure when carrying out integrity monitoring, and at least 6 stars is needed to know
It not and debugs, has very high requirement to satellite constellation configuration, it cannot be guaranteed that the implementation of global integrity monitoring.
(2) 2 ground monitoring station of method can not be covered and be monitored to all navigation satellites in real time, and the multiple star of signal
Ground transmission can significantly affect alarm time, and alarm ability is poor in time, be difficult to meet the integrity demand being increasingly stringenter.
Summary of the invention
Technology of the invention solves the problems, such as：Overcome the deficiencies in the prior art proposes a kind of slow accident of navigation satellite clock
The Satellite Autonomous Integrity Monitoring method of barrier is hindered using the slow accident of the fast slowdown monitoring navigation satellite clock of satellite clock correction data, and
Jump failure and slow accident barrier are separated, so that it will not influence each other, realized to the autonomous intact of slow modification failure
Property monitoring.
The technical solution of the invention is as follows：
A kind of Satellite Autonomous Integrity Monitoring method of the slow accident barrier of navigation satellite clock, it is characterised in that steps are as follows：
(1) quadratic polynomial is fitted：The setting fitting long N of window carries out quadratic polynomial fitting to the clock deviation data in window length,
Find out coefficient of first order a1With second order coefficient a2；
Satellite clock correction is stated by following quadratic polynomial, i.e.,
Δ T=a0+a1t+a2t2/2
Wherein, Δ T is clock deviation, unit s；a0For clock jitter, unit s；a1For clock drift, unit s/s；a2
For drift rate, unit s/s2；T is time interval, and the clock deviation data for being fitted the long N of window to one seek its G-bar, that is, is acquired
The coefficient of first order a of this section of clock deviation quadratic polynomial1, then seek a1G-bar obtain a2If clock deviation data are in the long N of window
ΔT1~Δ TN, remember that its G-bar is a1,1, then haveSuccessively calculate a1,2~a1,N, then seek a1Be averaged
Slope, i.e.,
(2) monitoring quantity calculates：Calculate adjacent moment coefficient of first order a1Variation delta a1With the level every N number of epoch
Number a1Variation delta Na1；
(3) jump false-alarm monitoring：Enter it is slow become monitoring before, using the feature of jump type failure, by jump type failure from
It is separated in slow modification failure；
Jump type failure is divided into two kinds, is the jump of Jump type and the jump of Step type respectively；
The jump of Jump type can cause a2、Δa1It is more than respective thresholding, but it can't be made to continue to exceed thresholding；Step
Type jump, Δ a1Can failure initial time and at the time of faulty section is completely covered in window occur symmetry jump.
Using the feature of jump type failure, jump type failure is separated from slow modification failure, specially：If a2It is super
A thresholding is crossed, then mark ErrorJump is set 1, if being less than thresholding in subsequent time, mark ErrorJump is sent into
It is slow to become in monitoring；Otherwise it will indicate zero setting；
If Δ a1Mark ErrorStep is then set 1, and records current time i by more than one time thresholding, if in subsequent time
It is less than thresholding, then mark ErrorStep is sent into slow become in monitoring；Otherwise it will indicate zero setting；
If at the i+N moment and when ErrorStep is set to 1, Δ a1More than thresholding, then mark ErrorStep is sent into slow become
In monitoring, it otherwise will indicate ErrorStep zero setting.
(4) slow become is carried out to satellite clock correction using monitoring quantity to monitor；
Slowly become monitoring and is divided into two-stage, respectively first order monitoring and the second level monitors, and data sequentially enter in two-stage monitoring.
The first order monitors：
When there is bigger slow accident barrier in clock deviation, i.e. a2、Δa1Simultaneously it is more than its thresholding, and then triggers first order prison
It surveys, and mark LRampFlag is set 1；Meanwhile continuous monitoring tri- epoch of LRampFlag, if LRampFlag continuous three
Epoch is 1, and without jump false-alarm mark, then alerts and generate integrity mark, LRampFlag mark is otherwise set 0；
Jump false-alarm mark refers to ErrorStep and ErrorJump, does not jump false-alarm mark and refers to not to be 1；
The second level monitors：
It is continuous at this time to supervise when the slow variable Rate of clock deviation is decreased to that first order alarm can not be triggered, and alerts without integrity
Survey Δ Na1；If continuous four epoch Δ Na1More than its thresholding, and without jump false-alarm mark, then alerts and generate integrity mark；
If jump false-alarm mark exists at this time, continue to monitor；If continuous N epoch is more than thresholding, and jumps false-alarm mark
Will zero setting alerts at this time and generates integrity mark.
(5) integrity mark is exported：No matter which rank of monitoring is alerted, output integrity mark.
Compared with the prior art, the invention has the advantages that：
(1) the method for the present invention proposes the separation of navigation satellite clock jump type failure and slow modification failure, it can be ensured that slow
Become in malfunction monitoring not by the interference of jump type failure, i.e., will not generate alarm to jump type failure.
(2) the method for the present invention proposes the in-orbit monitoring of the slow modification failure of navigation satellite clock, and by actual measurement clock deviation number
According to emulation, it is whole for different degrees of slow modification failure (the minimum slow accident of satellite clock that can detecte out 0.04ns/s hinders)
Body alarm time, between 11s, meets the demand of alarm time in 2s to a certain extent.
(3) monitoring method simple possible proposed by the present invention can provide guarantor for the intact sex service of navigation satellite clock
Barrier.
Detailed description of the invention
Fig. 1 is that jump false-alarm disclosed by the invention monitors logic；
Fig. 2 is that slow change disclosed by the invention monitors logic；
Fig. 3 is that slow become of the present invention monitors alarm section at different levels；
Fig. 4 is the alarm time (unit of monitoring result of the present invention：Second)；
Fig. 5, Fig. 6 are monitoring result of the monitoring result of the present invention to two class jump failures.
Specific embodiment
A specific embodiment of the invention is further described in detail with reference to the accompanying drawing.
To achieve the above object, the invention discloses a kind of Satellite Autonomous Integrity Monitorings of the slow accident barrier of navigation satellite clock
Method, as shown in Figure 1, steps are as follows：
(1) quadratic polynomial is fitted：The setting fitting long N of window carries out quadratic polynomial fitting to the clock deviation data in window length,
Find out coefficient of first order a1With second order coefficient a2；
Satellite clock correction is stated by following quadratic polynomial, i.e.,
Δ T=a0+a1t+a2t2/2
Wherein, Δ T is clock deviation, unit s；a0For clock jitter, unit s；a1For clock drift, unit s/s；a2
For drift rate, unit s/s2；T is time interval, and the clock deviation data for being fitted the long N of window to one seek its G-bar, that is, is acquired
The coefficient of first order a of this section of clock deviation quadratic polynomial1, then seek a1G-bar obtain a2If clock deviation data are in the long N of window
ΔT1~Δ TN, remember that its G-bar is a1,1, then haveSuccessively calculate a1,2~a1,N, then seek a1Be averaged
Slope, i.e.,
The main purpose of the a1 and a2 that calculate in this way are to be to reduce calculation amount, can be rapidly to clock deviation by the sliding of window
Exception is reacted.
(2) monitoring quantity calculates：Calculate adjacent moment coefficient of first order a1Variation delta a1With the level every N number of epoch
Number a1Variation delta Na1。
Satellite clock correction occurs that a can be made when slow become1There is step phenomenon, due to satellite clock a under normal circumstances1It can be with
Temperature change become slowly, directly monitoring a1Item difficulty is larger, regardless of whether there is slow accident barrier, it always can be certain
Amplitude in shaken, thus the Δ a between any two adjacent moment1Variable quantity is basicly stable, and can reflect a1Change
Change.
When the slow variable Rate of clock deviation is smaller, as window propulsion per second possibly can not trigger alarm, and a after N seconds1?
Step is completed, at this time a of current time k1The a of value and k-N moment1It is poor that value is made, and is denoted as Δ Na1, to realize to a1Step
Monitoring.
(3) jump false-alarm monitoring：As shown in Figure 1, using the feature of jump type failure, will be jumped before entering slow change monitoring
Modification failure is separated from slow modification failure, and the influence of jump is excluded.
Jump type failure is divided into two kinds, is the jump of Jump type and the jump of Step type respectively；
The jump of Jump type refers to that satellite clock correction at a time jumps, and returns in subsequent time or after very short several moment
To normal condition, a can be caused2、Δa1It is more than respective thresholding, but it can't be made to continue to exceed thresholding；The jump of Step type
Refer to that satellite clock correction at a time jumps, and be always maintained at later without returning to normal condition, in this case Δ
a1Can failure initial time and at the time of faulty section is completely covered in window occur symmetry jump.
Using the feature of jump type failure, jump type failure is separated from slow modification failure, specially：Such as Fig. 1
It is shown, if a2Mark ErrorJump is then set 1 by more than one time thresholding, will mark if being less than thresholding in subsequent time
ErrorJump is sent into slow become in monitoring；Otherwise it will indicate zero setting；
If Δ a1Mark ErrorStep is then set 1, and records current time i by more than one time thresholding, if in subsequent time
It is less than thresholding, then mark ErrorStep is sent into slow become in monitoring；Otherwise it will indicate zero setting；
If at the i+N moment and when ErrorStep is set to 1, Δ a1More than thresholding, then mark ErrorStep is sent into slow become
In monitoring, it otherwise will indicate ErrorStep zero setting.
The purpose of jump false-alarm monitoring is that the clock deviation jump failure that will likely be impacted to slow change monitoring carries out failure
Separation.
(4) it is monitored as shown in Fig. 2, carrying out slow become to satellite clock correction using monitoring quantity；
Slowly become monitoring and is divided into two-stage, respectively first order monitoring and the second level monitors, and data sequentially enter in two-stage monitoring.
The slow change of different rates can trigger different grades of monitoring, ensure that alarm time.
The first order monitors：
As shown in the level-one monitoring in Fig. 2, when there is bigger slow accident barrier in clock deviation, i.e. a2、Δa1It is simultaneously more than it
Thresholding, and then first order monitoring is triggered, and mark LRampFlag is set 1；Meanwhile continuous monitoring tri- epoch of LRampFlag,
If LRampFlag continuous three epoch are 1, and without jump false-alarm mark, then alert and generate integrity mark, otherwise
LRampFlag mark is set 0；
Jump false-alarm mark refers to ErrorStep and ErrorJump, does not jump false-alarm mark and refers to not to be 1；
The second level monitors：
As shown in the second level monitoring in Fig. 2, when the slow variable Rate of clock deviation is decreased to can not to trigger first order alarm, and it is not complete
When good property alerts, Δ Na is continuously monitored at this time1；If continuous four epoch Δ Na1More than its thresholding, and without jump false-alarm mark, then
It alerts and generates integrity mark；
If jump false-alarm mark exists at this time, continue to monitor；If continuous N epoch is more than thresholding, and jumps false-alarm mark
Will zero setting alerts at this time and generates integrity mark.
In the monitoring of the second level, it is influenced the most it is apparent that Step type jumps, if Δ a1It is less than thresholding, then is proved
Step type jump false-alarm is not generated；If Δ a1More than thresholding, then need to observe the Δ a after N number of epoch1Whether thresholding is exceeded,
To judge whether there is the jump of Step type, therefore the second level becomes monitoring needs continuously to Δ Na slowly1It is monitored, i.e. monitoring a1
Step.
(5) integrity mark is exported：No matter which rank of monitoring is alerted, output integrity mark.
Result of implementation：
To the slow accident barrier of actual measurement clock deviation injection 0.01ns-0.99ns/s, monitoring result is as shown in figure 3, " * " indicates first
The output identification of grade monitoring, " O " indicate the output identification of second level monitoring, which proves the minimum slow accident barrier prison of this method
Survey ability is 0.04ns/s；
Alarm time to different slow variable Rates as shown in figure 4, whole alarm time between 2s-11s；
Assuming that jump alarming threshold is 1ns, therefore the slow monitoring algorithm that becomes should not accuse the clock deviation jump less than 1ns
Alert, to the jump failure of actual measurement clock deviation injection 0.01ns-0.99ns, monitoring result is as shown in Figure 5, Figure 6, two class jump type failures
It does not generate integrity alarm, that is, realizes the fault reconstruction of jump type failure.
The content that description in the present invention is not described in detail belongs to the well-known technique of professional and technical personnel in the field.
Claims (6)
1. a kind of Satellite Autonomous Integrity Monitoring method of the slow accident barrier of navigation satellite clock, it is characterised in that steps are as follows：
(1) quadratic polynomial is fitted：The setting fitting long N of window carries out quadratic polynomial fitting to the clock deviation data in window length, finds out
Coefficient of first order a1With second order coefficient a2；
(2) monitoring quantity calculates：Calculate adjacent moment coefficient of first order a1Variation delta a1With the coefficient of first order a every N number of epoch1
Variation delta Na1；
(3) jump false-alarm monitoring：Before entering slow change monitoring, using the feature of jump type failure, jump type failure is become from slow
It is separated in type failure；
(4) slow become is carried out to satellite clock correction using monitoring quantity to monitor；
(5) integrity mark is exported：No matter which rank of monitoring is alerted, output integrity mark.
2. a kind of Satellite Autonomous Integrity Monitoring method of the slow accident barrier of navigation satellite clock according to claim 1, special
Sign is：The fitting of quadratic polynomial described in step (1), is realized by the following method：
Satellite clock correction is stated by following quadratic polynomial, i.e.,
Δ T=a0+a1t+a2t2/2
Wherein, Δ T is clock deviation, unit s；a0For clock jitter, unit s；a1For clock drift, unit s/s；a2For drift
Shifting rate, unit s/s2；T is time interval, and the clock deviation data for being fitted the long N of window to one seek its G-bar, that is, acquires the section
The coefficient of first order a of clock deviation quadratic polynomial1, then seek a1G-bar obtain a2If clock deviation data are Δ T in the long N of window1
~Δ TN, remember that its G-bar is a1,1, then haveSuccessively calculate a1,2~a1,N, then seek a1It is average oblique
Rate, i.e.,
3. a kind of Satellite Autonomous Integrity Monitoring method of the slow accident barrier of navigation satellite clock according to claim 1, special
Sign is：Jump type failure described in step (3) is divided into two kinds, is the jump of Jump type and the jump of Step type respectively；Jump type is jumped
Change can cause a2、Δa1It is more than respective thresholding, but it can't be made to continue to exceed thresholding；The jump of Step type, Δ a1It can be in event
Hinder initial time and the jump of symmetry occurs at the time of faulty section is completely covered in window.
4. a kind of Satellite Autonomous Integrity Monitoring method of the slow accident barrier of navigation satellite clock according to claim 3, special
Sign is：Using the feature of jump type failure, jump type failure is separated from slow modification failure, specially：If a2It is super
A thresholding is crossed, then mark ErrorJump is set 1, if being less than thresholding in subsequent time, mark ErrorJump is sent into
It is slow to become in monitoring；Otherwise it will indicate zero setting；
If Δ a1Mark ErrorStep is then set 1, and records current time i by more than one time thresholding, if being less than in subsequent time
Mark ErrorStep is then sent into slow become in monitoring by thresholding；Otherwise it will indicate zero setting；
If at the i+N moment and when ErrorStep is set to 1, Δ a1More than thresholding, then mark ErrorStep is sent into slow change monitoring
In, it otherwise will indicate ErrorStep zero setting.
5. a kind of Satellite Autonomous Integrity Monitoring method of the slow accident barrier of navigation satellite clock according to claim 1, special
Sign is：The monitoring of slow change described in step (4) is divided into two-stage, respectively first order monitoring and second level monitoring, data successively into
Enter in two-stage monitoring.
6. a kind of Satellite Autonomous Integrity Monitoring method of the slow accident barrier of navigation satellite clock according to claim 5, special
Sign is：
The first order monitors：
When there is bigger slow accident barrier in clock deviation, i.e. a2、Δa1Simultaneously it is more than its thresholding, and then triggers first order monitoring, and
Mark LRampFlag is set 1；Meanwhile continuous monitoring tri- epoch of LRampFlag, if LRampFlag continuous three epoch are equal
It is 1, and without jump false-alarm mark, then alerts and generate integrity mark, LRampFlag mark is otherwise set 0；
Jump false-alarm mark refers to ErrorStep and ErrorJump, does not jump false-alarm mark and refers to not to be 1；
The second level monitors：
When the slow variable Rate of clock deviation is decreased to that first order alarm can not be triggered, and alerts without integrity, Δ is continuously monitored at this time
Na1；If continuous four epoch Δ Na1More than its thresholding, and without jump false-alarm mark, then alerts and generate integrity mark；
If jump false-alarm mark exists at this time, continue to monitor；If continuous N epoch is more than thresholding, and jumps false-alarm mark and set
Zero, it alerts at this time and generates integrity mark.
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| CN111381260A (en) * | 2018-12-29 | 2020-07-07 | 广州市泰斗电子科技有限公司 | Method and device for processing satellite navigation positioning signal and receiver |
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