CN109444924B - Satellite ephemeris fault monitoring method based on short-baseline multi-reference receiver - Google Patents
Satellite ephemeris fault monitoring method based on short-baseline multi-reference receiver Download PDFInfo
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- CN109444924B CN109444924B CN201811582872.8A CN201811582872A CN109444924B CN 109444924 B CN109444924 B CN 109444924B CN 201811582872 A CN201811582872 A CN 201811582872A CN 109444924 B CN109444924 B CN 109444924B
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- 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
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- 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
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Abstract
The invention aims to provide a satellite ephemeris fault monitoring method based on a short-baseline multi-reference receiver with high monitoring efficiency, which comprises the steps of 1, constructing test statistics of ephemeris fault detection; step 2, resolving ambiguity; step 3, controlling false alarm errors; and 4, controlling missed detection errors. The invention synchronously receives and processes navigation satellite signals through a multi-reference receiver under the short baseline configuration, carries out multi-reference consistency monitoring aiming at satellite ephemeris faults through carrier phase differential positioning of the multi-reference receiver, and carries out integrity monitoring according to preset required navigation performance; a more relaxed detection threshold can be obtained in the case of multiple reference receivers compared to a single reference receiver, which is beneficial for the continuity risk in integrity monitoring; in addition, the influence of atmospheric propagation errors such as an ionosphere and a troposphere on satellite ephemeris fault monitoring performance can be avoided by adopting the short-baseline reference receiver, and the monitoring efficiency is improved.
Description
Technical Field
The invention belongs to the field of satellite ephemeris fault monitoring, and particularly relates to a satellite ephemeris fault monitoring method based on a short-baseline multi-reference receiver.
Background
For many safety-critical navigation applications, the effects of satellite ephemeris failure must be monitored. In Receiver Autonomous Integrity Monitoring (RAIM), ground Based Augmentation System (GBAS), and Satellite Based Augmentation System (SBAS), ephemeris failure must be monitored to prevent excessive position error and lack of availability in integrity monitoring.
Ephemeris failure of a GPS satellite can be classified into two categories a, B depending on whether it is related to satellite maneuvering. For a type B satellite fault, no satellite maneuver is involved, but the abnormal ephemeris broadcast by the navigation satellite can generate a large error in the satellite position during the propagation process. To resolve a class B failure, the ground reference station network performs a discrepancy test by comparing the verified ephemeris several days before with the current ephemeris, which is the YE-TE test. The LGF monitor that performs this action is called a class B ephemeris monitor. In class a failures, after the satellite maneuvers, the ephemeris data is not marked with a corresponding health flag. At this time, the class a fault cannot be effectively detected by monitoring the class B fault. Since the predictive performance of the monitoring method is severely impaired by maneuvers that cannot be accurately characterized in the interim. Class a faults can be further subdivided into two independent classes A1 and A2. In A1, satellite maneuvers are scheduled and planned, but erroneous ephemeris data is broadcast during the maneuvers. Pseudorange differential corrections and pseudorange correction rate corrections from Multiple Reference Consistency Checks (MRCCs) are often used for class a fault ephemeris monitoring methods.
The discrepancy between the ephemeris and the broadcast ephemeris may also be used as an alternative to detecting ephemeris failure. However, because the ephemeris provided by IGS is delayed by at least two weeks, this method is therefore not suitable for real-time navigation services.
The foreign correlation research institution proposes to use two or more reference receivers to implement pseudo-range differentiation to detect ephemeris errors, and the test result shows that the proposed detection method can monitor all kinds of ephemeris faults in real time. However, the implementation of the method is mainly based on a GBAS framework, and the purpose of the method is mainly to monitor the influence of the satellite ephemeris fault on the differential correction accuracy, so that the monitoring method also needs to avoid atmospheric propagation errors, such as the influence of ionosphere and troposphere storms on the satellite ephemeris fault monitoring performance, and the monitoring efficiency is limited accordingly.
Disclosure of Invention
The invention aims to provide a satellite ephemeris fault monitoring method based on a short-baseline multi-reference receiver with high monitoring efficiency.
A satellite ephemeris fault monitoring method based on a short-baseline multi-reference receiver specifically comprises the following steps:
step 1, constructing test statistics of ephemeris fault detection;
step 2, resolving ambiguity;
step 3, controlling false alarm errors;
and 4, controlling missed detection errors.
The satellite ephemeris fault monitoring method based on the short-baseline multi-reference receiver specifically comprises the following steps in step 1:
step 1.1, constructing test statistics of ephemeris fault detection;
and step 1.2, establishing a double-difference model between the reference receivers.
The satellite ephemeris fault monitoring method based on the short-baseline multi-reference receiver comprises the following steps in step 2:
step 2.1, estimating ambiguity by using a non-geometric combination;
and 2.2, resolving the ambiguity by using a method of rounding nearby, substituting the fixed ambiguity into the step 1, and constructing a test statistic.
The satellite ephemeris fault monitoring method based on the short-baseline multi-reference receiver specifically comprises the following steps in step 3:
3.1, solving a detection threshold value by using the test statistic constructed in the step 1 and a predefined control requirement of false alarm errors;
and 3.2, judging whether the test statistic is larger than a detection threshold value, and if so, marking the ephemeris fault.
The satellite ephemeris fault monitoring method based on the short-baseline multi-reference receiver comprises the following specific steps in step 4:
step 4.1, calculating the joint missed detection probability according to the test statistic and the monitoring threshold, and obtaining the maximum missed detection probability by respectively changing the mean values under the conditions of correct ambiguity and incorrect assumption;
and 4.2, judging whether the missed detection probability meets the predefined missed detection error control requirement or not.
According to the satellite ephemeris fault monitoring method based on the short-baseline multi-reference receiver, in the step 1, under the condition of the short baseline, double-difference atmospheric deviation of ionosphere and troposphere delay is ignored.
Based on short baseSatellite ephemeris failure monitoring method of line multi-reference receiver, step 1, checking statistic obeys positive distribution N (0, sigma) when ephemeris is not failed ε ) When ephemeris is faulty, a normal distribution with an unknown mean is followed.
According to the satellite ephemeris fault monitoring method based on the short-baseline multi-reference receiver, when ambiguity is resolved in the step 2, the influence of code observation noise is suppressed by using a multi-epoch accumulation smoothing method.
According to the satellite ephemeris fault monitoring method based on the short-baseline multi-reference receiver, step 3, a multi-reference consistency monitoring phase aiming at satellite ephemeris fault is implemented through carrier phase differential positioning of the multi-reference receiver.
The invention has the beneficial effects that:
the method comprises the steps of synchronously receiving and processing navigation satellite signals through a multi-reference receiver under the short baseline configuration, implementing multi-reference consistency monitoring aiming at satellite ephemeris faults through carrier phase differential positioning of the multi-reference receiver, and implementing integrity monitoring according to preset required navigation performance; a more relaxed detection threshold can be obtained in the case of multiple reference receivers compared to a single reference receiver, which is beneficial for the continuity risk in integrity monitoring; in addition, the short-baseline reference receiver can avoid the influence of atmospheric propagation errors such as an ionized layer and a troposphere on the satellite ephemeris fault monitoring performance, and the monitoring efficiency is improved.
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FIG. 1 is a flow diagram of a short baseline multi-reference receiver based satellite ephemeris failure monitoring technique.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Referring to fig. 1, a flow chart of a satellite ephemeris failure monitoring technique based on a short baseline multi-reference receiver according to the invention is shown.
Step 1, constructing test statistics of ephemeris fault detection;
for a fault satellite i and a non-fault satellite j, referring to m and n of receivers, double differences of phase observables between satellites
Can be expressed as:
wherein
Is the single difference of direction cosine between stars, b mn Is a vector of the base-line,
and
a double differential ionosphere and a troposphere respectively,
for double-difference ambiguity, λ is the wavelength and ε is the observation noise. When double-difference ambiguities can be reliably resolved, the test statistic t for ephemeris fault detection can be constructed as:
step 2, ambiguity resolution
When the ionospheric offset is negligibly small in this short baseline case, we can use a geometry-free combination to estimate the ambiguity
To obtain a reliable ambiguity solution, we use a multi-epoch cumulative smoothing method to suppress the effect of code observation noise, thusThe degree of ambiguity can be fixed
In the formula, L represents the length of the movement smoothing time.
And step 3: false alarm error control
The following two assumptions are made for ephemeris. Suppose H 0 : the ephemeris is free of faults; suppose H 1 : ephemeris is faulty; when ephemeris is faultless, false alarm errors can occur once the test statistic exceeds the detection threshold.
P fa ＝P(min(|t 1 ,|t 2 |)＞T d |H 0 )＝P((|t 1 |＞T d )∪(|t 2 |＞T d )|H 0 )
＝P(|t 1 ＞T d |H 0 )+P(|t 2 |＞T d |H 0 )-P((|t 1 |＞T d )∩(|t 2 |＞T d )|H 0 )
Wherein P is fa Is a predefined false alarm probability requirement. Each reference receiver has t 1 And t 2 Two test statistics. These two quantities and the detection threshold T in ephemeris failure detection d Are paired.
For a single reference receiver pair, both the ephemeris failure risk and the ambiguity resolution failure risk need to be considered. And respectively calculating the conditional probability of the false alarm rate under the condition that the ambiguity resolution is correct or wrong.
If the test statistic is greater than the detection threshold, the ephemeris fault may be flagged. Otherwise, the undetected errors in the proposed detection method will be evaluated as follows, and ephemeris faults can be further eliminated.
And 4, step 4: control of missed detection errors
Under the ephemeris fault assumption, when both test statistics are within the test threshold, the false miss probability may be calculated as follows:
then respectively calculating the average value vector of the missed detection probability and the test statistic under the condition of correct or wrong ambiguity resolution, and obtaining the maximum p md 。
The calculated missed detection probability is used to calculate and compare to predefined missed detection requirements in order for the ground facility to verify that the ephemeris is sufficiently healthy.
The present invention may, of course, be carried out in other various embodiments, and various modifications may be made by those skilled in the art without departing from the spirit and scope of the invention.
Claims (5)
1. A satellite ephemeris fault monitoring method based on a short-baseline multi-reference receiver is characterized by comprising the following steps:
step 1, constructing test statistics of ephemeris fault detection:
step 1.1, constructing test statistic of ephemeris fault detection;
step 1.2, establishing a double-difference model between reference receivers;
step 2, resolving ambiguity:
step 2.1, estimating ambiguity by using a non-geometric combination;
step 2.2, resolving the ambiguity by using a method of rounding nearby, substituting the fixed ambiguity into the step 1, and constructing a test statistic;
step 3, false alarm error control:
step 3.1, solving a detection threshold value by using the test statistic constructed in the step 1 and a predefined control requirement of false alarm and error;
step 3.2, judging whether the test statistic is larger than a detection threshold value, and if so, marking out the ephemeris fault;
step 4, error missing control:
step 4.1, calculating the joint missed detection probability according to the test statistic and the monitoring threshold, and obtaining the maximum missed detection probability by respectively changing the mean values under the conditions of correct ambiguity and incorrect assumption;
and 4.2, judging whether the missed detection probability meets the predefined missed detection error control requirement.
2. The method for monitoring satellite ephemeris fault based on short baseline multi-reference receiver as claimed in claim 1, wherein in the case of short baseline in step 1, double difference atmosphere shift of ionospheric and tropospheric delay is ignored.
3. The method for satellite ephemeris fault monitoring based on short-baseline multi-reference receiver as claimed in claim 1, wherein the test statistic in step 1 obeys positive distribution N (0, σ) when ephemeris is not faulty ε ) When ephemeris is faulty, a normal distribution with an unknown mean is followed.
4. The method for monitoring satellite ephemeris fault based on short-baseline multi-reference receiver as claimed in claim 1, wherein in the step 2, when ambiguity resolution is performed, the influence of code observation noise is suppressed by using a multi-epoch cumulative smoothing method.
5. The method for monitoring satellite ephemeris fault based on short-baseline multi-reference receiver as claimed in claim 1, wherein step 3 is implemented for multi-reference consistency monitoring phase for satellite ephemeris fault by carrier phase differential positioning of multi-reference receiver.
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| CN111427068B (en) * | 2020-03-21 | 2023-09-29 | 哈尔滨工程大学 | Method for monitoring integrity of ephemeris faults of type A satellites of dynamic-to-dynamic platform local augmentation |
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