CN109613564A - A kind of Beidou Navigation System fault detection method and detection system based on K-means++ clustering algorithm - Google Patents
A kind of Beidou Navigation System fault detection method and detection system based on K-means++ clustering algorithm Download PDFInfo
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- 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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- 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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- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
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Abstract
The present invention relates to a kind of Beidou Navigation System fault detection methods and detection system based on K-means++ clustering algorithm, this method comprises: matching big-dipper satellite parameter with primary standard satellite parametric reduction according to the cluster calculation of primary standard satellite parametric reduction and big-dipper satellite parameter；Primary standard satellite parametric reduction and corresponding satellite special parameter threshold values computation model are associated；The satellite special parameter of real-time reception big-dipper satellite, input calculate the satellite special parameter threshold range of big-dipper satellite with the associated satellite special parameter threshold values computation model of matched primary standard satellite；The satellite special parameter of big-dipper satellite is judged whether in satellite special parameter threshold range, if it is not, then judging the satellite special parameter of big-dipper satellite for fault parameter.Real-time reception satellite special parameter of the present invention calculates satellite special parameter threshold range, and compares to the two, to judge whether satellite special parameter is fault parameter, can be applicable in big-dipper satellite hybrid constellation completely.
Description
Technical field
The present invention relates to Beidou Navigation System detection technique fields, more particularly to one kind to be based on K-means++ clustering algorithm
Beidou Navigation System fault detection method and detection system.
Background technique
In the detection of Global Satellite Navigation System integrity, generally using mostly with reference to the B value-based algorithm for receiving consistency detection.
However, satellite is hybrid constellation in Beidou Navigation System, other than having 27 Medium-Earth Orbit (MEO) satellites, there are also 5
Stationary orbit (GEO) satellite and 3 inclined synchronous orbit (IGSO) satellites.Traditional GPS (Global Positioning
System, global positioning system) in B value detection algorithm be only applicable to rail satellite in the earth, and Beidou Navigation System is in
The hybrid constellation system of earth-orbiting satellite, geostationary satellite, inclined synchronous orbit satellite composition, this just makes existing algorithm not
It can be completely suitable for Beidou Navigation System.
In traditional GBAS (ground-based augmentation systems, ground strengthening system) system, to difference
Divided data carries out integrity detection, is that a reference value is constructed using the pseudorange correction amount of multiple reference receivers --- B
Value.By detecting to B value, failure that may be present is detected, and exclude wrong data, to guarantee the differential data broadcast
Reliability.Additionally by a kind of multiple reference consistency check new algorithm based on C value auxiliary B value, that may be present defend can be excluded
It is horizontal to improve system availability for star failure.However, these integrity detection algorithms to the Beidou Navigation System of hybrid constellation not
It is applicable in completely.
Therefore it provides a kind of Beidou Navigation System fault detection method and detection system based on K-means++ clustering algorithm
System.
Summary of the invention
In view of the above problems, it proposes on the present invention overcomes the above problem or at least be partially solved in order to provide one kind
The Beidou Navigation System fault detection method and detection system based on K-means++ clustering algorithm of problem are stated, tradition event is solved
Not the problem of barrier detection method is not suitable for big-dipper satellite hybrid constellation, to the more ginsengs for establishing Beidou satellite navigation ground strengthening system
Consistency detection has reference value.
According to an aspect of the present invention, a kind of Beidou Navigation System failure based on K-means++ clustering algorithm is provided
Detection method, comprising the following steps:
S101, the satellite data concentration formed from a variety of primary standard satellite parametric reductions and big-dipper satellite parameter randomly select one
A satellite is as initial satellite cluster centre；
S102 calculates the shortest distance between each satellite and current existing satellite cluster centre first, then calculates every
A satellite is chosen as the probability of next satellite cluster centre, finally, selecting next satellite cluster centre according to wheel disc method；
S103 repeats previous step until selecting total k satellite cluster centre；
S104 concentrates each satellite for satellite data, calculates each satellite to the distance of k satellite cluster centre and incites somebody to action
Each satellite is assigned in the corresponding satellite classification of the smallest satellite cluster centre；
S105 recalculates the satellite cluster centre of each satellite classification according to following formula for each satellite type；
S106 repeats S104 and S105, and until satellite cluster centre no longer changes, then satellite belongs to the satellite cluster centre
Corresponding satellite classification, to make big-dipper satellite according to the cluster calculation of a variety of primary standard satellite parametric reductions and big-dipper satellite parameter
Parameter is matched with primary standard satellite parametric reduction；
S107 is associated a variety of primary standard satellite parametric reductions and corresponding satellite special parameter threshold values computation model；
S108, the satellite special parameter of real-time reception big-dipper satellite, and input associated with matched primary standard satellite
In satellite special parameter threshold values computation model, the satellite special parameter threshold range of big-dipper satellite is calculated；
S109 judges the satellite special parameter of big-dipper satellite whether in satellite special parameter threshold range, if it is not, then sentencing
The satellite special parameter of disconnected big-dipper satellite is fault parameter, to abandon the fault parameter.
Further, the satellite cluster centre of each satellite classification is recalculated according to following formula
Wherein, ci is satellite cluster centre, and x is that the corresponding satellite type Satellite of satellite cluster centre is poly- to k satellite
The distance at class center.
Further, the above-mentioned Beidou Navigation System fault detection method based on K-means++ clustering algorithm, further includes:
Big-dipper satellite parameter is associated with corresponding satellite special parameter threshold values computation model.
Further, it is obtained by the following formula satellite special parameter:
Wherein,For the big-dipper satellite special parameter of target satellite different moments, M is base station receiver number, j
For target satellite, l≤j≤N, N are number of satellites, and m is reference base station receiver, and σ is that the code phase pseudo range after eliminating clock deviation is repaired
Positive quantity.
Further, primary standard satellite includes GPS satellite and satellite-based augmentation system satellite, and big-dipper satellite includes middle orbit
Satellite, geostationary satellite and inclination geo-synchronous orbit satellite.
Further, when primary standard satellite is GPS satellite, satellite special parameter threshold values computation model is
Wherein, BthFor satellite special parameter threshold range, M is base station receiver number,θnFor satellite elevation angle, a0、a1、a2、b0、c0It is receiver ginseng
Number；
When primary standard satellite is satellite-based augmentation system satellite, satellite special parameter threshold values computation model is
Wherein, BthFor satellite special parameter threshold range, M is base station receiver number,θnFor satellite elevation angle, a0、a1、a2、b0、c0It is receiver ginseng
Number.
Further, the above-mentioned Beidou Navigation System fault detection method based on K-means++ clustering algorithm, further includes:
Satellite failure special parameter and satellite failure special parameter threshold range are calculated and compare, to determine satellite failure.
Further, it is calculated by the following formula satellite failure special parameter
Wherein,For the satellite failure special parameter of the satellite n at the m of base station, N is observation satellite number, can obtain N number of puppet
Away from correction amount, j is target satellite, and l≤j≤N, N are number of satellites, and m is reference base station receiver, and σ is the code eliminated after clock deviation
Phase pseudo range correction amount；
It is calculated by the following formula satellite failure special parameter threshold range
Wherein,For the satellite failure special parameter threshold range of the target satellite j at the m of base station, M is base station reception
Machine number, j are target satellite, and l≤j≤N, N are number of satellites,When for fault-free deviationVariance,PrIt (LOC) is system totality continuity demand.
According to another aspect of the present invention, a kind of Beidou Navigation System fault detection system realizing above-mentioned detection method is provided
System, comprising:
Satellite parametric reduction cluster calculation module, for being defended from a variety of primary standard satellite parametric reductions with what big-dipper satellite parameter formed
Sing data concentration randomly selects a satellite as initial satellite cluster centre；Each satellite and currently existing satellite are calculated first
The shortest distance between cluster centre then calculates the probability that each satellite is chosen as next satellite cluster centre, finally, pressing
Next satellite cluster centre is selected according to wheel disc method；Previous step is repeated until selecting total k satellite cluster centre；For defending
Sing data concentrates each satellite, calculates each satellite to the distance of k satellite cluster centre and by each satellite and assigns to distance most
In the corresponding satellite classification of small satellite cluster centre；For each satellite type, each defend is recalculated according to following formula
The satellite cluster centre of star classification；Above step is repeated, until satellite cluster centre no longer changes, then it is poly- to belong to the satellite for satellite
The corresponding satellite classification in class center, to make north according to the cluster calculation of a variety of primary standard satellite parametric reductions and big-dipper satellite parameter
Bucket satellite parametric reduction is matched with primary standard satellite parametric reduction；
Satellite parametric reduction-threshold values computation model relating module, for a variety of primary standard satellite parametric reductions and corresponding satellite
Special parameter threshold values computation model is associated；
Satellite special parameter threshold values computing module, for the satellite special parameter of real-time reception big-dipper satellite, and input with
In the matched associated satellite special parameter threshold values computation model of primary standard satellite, the satellite special parameter of big-dipper satellite is calculated
Threshold range；
Fault parameter judgment module, for judging the satellite special parameter of big-dipper satellite whether in satellite special parameter threshold values
In range, if it is not, then judging the satellite special parameter of big-dipper satellite for fault parameter.
Further, above-mentioned Beidou Navigation System fault detection system, satellite parametric reduction-threshold values computation model relating module,
It is also used to for big-dipper satellite parameter being associated with corresponding satellite special parameter threshold values computation model.
The present invention has the advantage that compared with prior art
1. the Beidou Navigation System fault detection method and detection system benefit of the invention based on K-means++ clustering algorithm
It is that big-dipper satellite parameter finds out most like primary standard satellite parametric reduction with K-means++ clustering algorithm, so that big-dipper satellite is joined
Number matches more efficient, more acurrate with primary standard satellite parametric reduction；
2. Beidou Navigation System fault detection method and detection system of the invention based on K-means++ clustering algorithm are real
When receive satellite special parameter, satellite special parameter threshold range is calculated according to satellite special parameter threshold values computation model, and it is right
Satellite special parameter and satellite special parameter threshold range compare, to judge whether satellite special parameter is fault parameter,
It can be applicable in big-dipper satellite hybrid constellation completely；
3. the Beidou Navigation System fault detection method and detection system of the invention based on K-means++ clustering algorithm will
Big-dipper satellite parameter is associated with corresponding satellite special parameter threshold values computation model, so that meeting in fault detection next time
To association computation model big-dipper satellite parameter when, satellite special parameter threshold values computation model can be directly linked, without carry out
Cluster calculation saves time and operand.
Detailed description of the invention
Below in conjunction with drawings and examples, the invention will be further described.
Fig. 1 is the Beidou Navigation System fault detection method block diagram of the invention based on K-means++ clustering algorithm；
Fig. 2 is the Beidou Navigation System fault detection system of the invention based on K-means++ clustering algorithm.
Specific embodiment
Exemplary embodiments of the present disclosure are described in more detail below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
It is fully disclosed to those skilled in the art.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singular " one " used herein, " one
It is a ", " described " and "the" may also comprise plural form.It is to be further understood that being arranged used in specification of the invention
Diction " comprising " refer to that there are the feature, integer, step, operation, element and/or component, but it is not excluded that in the presence of or addition
Other one or more features, integer, step, operation, element, component and/or their group.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific term), there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Should also
Understand, those terms such as defined in the general dictionary, it should be understood that have in the context of the prior art
The consistent meaning of meaning, and unless otherwise will not be explained in an idealized or overly formal meaning by specific definitions.
Fig. 1 is the Beidou Navigation System fault detection method block diagram of the invention based on K-means++ clustering algorithm, such as
Shown in Fig. 1, the Beidou Navigation System fault detection method provided by the invention based on K-means++ clustering algorithm, including it is following
Step:
S101, the satellite data concentration formed from a variety of primary standard satellite parametric reductions and big-dipper satellite parameter randomly select one
For a satellite as initial satellite cluster centre, which is c1；
S102 calculates the shortest distance between each satellite and current existing satellite cluster centre first, then calculates every
A satellite is chosen as the probability of next satellite cluster centre, finally, selecting next satellite cluster centre according to wheel disc method；
S103 repeats previous step until selecting total k satellite cluster centre, which is combined into C
=c1, c2, c3 ..., ck }；
S104 concentrates each satellite for satellite data, calculates each satellite to the distance of k satellite cluster centre and incites somebody to action
Each satellite is assigned in the corresponding satellite classification of the smallest satellite cluster centre；
S105 recalculates the satellite cluster centre of each satellite classification according to following formula for each satellite type；
S106 repeats S104 and S105, and until satellite cluster centre no longer changes, then satellite belongs to the satellite cluster centre
Corresponding satellite classification, to make big-dipper satellite according to the cluster calculation of a variety of primary standard satellite parametric reductions and big-dipper satellite parameter
Parameter is matched with primary standard satellite parametric reduction；
S107 is associated a variety of primary standard satellite parametric reductions and corresponding satellite special parameter threshold values computation model；
S108, the satellite special parameter of real-time reception big-dipper satellite, and input associated with matched primary standard satellite
In satellite special parameter threshold values computation model, the satellite special parameter threshold range of big-dipper satellite is calculated；
S109 judges the satellite special parameter of big-dipper satellite whether in satellite special parameter threshold range, if it is not, then sentencing
The satellite special parameter of disconnected big-dipper satellite is fault parameter, to abandon the fault parameter.
Wherein, k-means algorithm is a kind of basic clustering algorithm, and the prerequisite of this algorithm is 1) must to select most
Termination fruit needs to gather for several classes, is exactly the size of k.2) cluster centre point, that is, seeds are initialized.
Beidou Navigation System fault detection method based on K-means++ clustering algorithm of the invention utilizes K-means++
Clustering algorithm is that big-dipper satellite parameter finds out most like primary standard satellite parametric reduction, so that big-dipper satellite parameter and primary standard
Satellite parametric reduction matching is more efficient, more acurrate.
Beidou Navigation System fault detection method real-time reception satellite based on K-means++ clustering algorithm of the invention is special
Determine parameter, satellite special parameter threshold range is calculated according to satellite special parameter threshold values computation model, and to satellite special parameter
It compares with satellite special parameter threshold range, to judge whether satellite special parameter is fault parameter, can be applicable in completely
Big-dipper satellite hybrid constellation.
Beidou Navigation System has the characteristics that hybrid constellation, determines that its satellite special parameter threshold value needs a point different satellites
Track discusses that clustering is a kind of important unsupervised learning method, is one and finds similar element set in data set
Therefore the unsupervised learning process of conjunction can be clustered by the calculating of K-means++ clustering algorithm to each big-dipper satellite similar first
Beginning standard satellite.
The satellite cluster centre of each satellite classification is recalculated according to following formula
Wherein, ci is satellite cluster centre, and x is that the corresponding satellite type Satellite of satellite cluster centre is poly- to k satellite
The distance at class center.
The above-mentioned Beidou Navigation System fault detection method based on K-means++ clustering algorithm, further includes: by big-dipper satellite
Parameter is associated with corresponding satellite special parameter threshold values computation model.
It is of the invention based on the Beidou Navigation System fault detection method of K-means++ clustering algorithm by big-dipper satellite parameter
It is associated with corresponding satellite special parameter threshold values computation model, so that encountering association in fault detection next time calculates mould
When the big-dipper satellite parameter of type, it can be directly linked satellite special parameter threshold values computation model, without carrying out cluster calculation, saved
Time and operand.
By clustering it is found that the medium earth orbit satellite in big-dipper satellite constellation and the satellite type in GPS satellite constellation
It is identical；And for geostationary satellite and inclination geo-synchronous orbit satellite, it is similar to satellite-based augmentation system satellite, therefore can be with
The satellite special parameter threshold calculations formula of satellite-based augmentation system satellite is introduced into the geostationary satellite in big-dipper satellite constellation
Among inclination geo-synchronous orbit satellite.
Although Beidou Navigation System is hybrid constellation system, the satellite special parameter of Beidou Navigation System, which still represents, to be broadcast
The PRC average value of reference receiver in other base stations other than the difference pseudorange correction amount PRC and removing reference receiver m of hair
Difference.Therefore, it is obtained by the following formula satellite special parameter:
Wherein,For the big-dipper satellite special parameter of target satellite different moments, M is base station receiver number, j
For target satellite, l≤j≤N, N are number of satellites, and m is reference base station receiver, and σ is that the code phase pseudo range after eliminating clock deviation is repaired
Positive quantity.
Further, primary standard satellite includes GPS satellite and satellite-based augmentation system satellite, and big-dipper satellite includes middle orbit
Satellite, geostationary satellite and inclination geo-synchronous orbit satellite.
The threshold calculations of satellite special parameter are only related with receiver model and satellite elevation angle.Therefore, primary standard satellite-
In satellite special parameter threshold values computation model linked database, when primary standard satellite is GPS satellite, satellite special parameter threshold values
Computation model is
Wherein, BthFor satellite special parameter threshold range, M is base station receiver number,θnFor satellite elevation angle, a0、a1、a2、b0、c0It is receiver ginseng
Number；
When primary standard satellite is satellite-based augmentation system satellite, satellite special parameter threshold values computation model is
Wherein, BthFor satellite special parameter threshold range, M is base station receiver number,θnFor satellite elevation angle, a0、a1、a2、b0、c0It is receiver ginseng
Number.
Specifically, when primary standard satellite is GPS satellite, it is as follows that satellite special parameter threshold values computation model obtains process:
It is assumed that the random error mean square deviation of each base station receiver is σ ref, the then pseudorange correction obtained by M receiver
Corresponding variance is measured to be represented by
Corresponding variance is represented by
False detection rate and its variance of each observed quantity in fault-free determine B value threshold value.Under usual condition, satellite lands
System Loss of continuity is as caused by two kinds of situations.One is satellites or receiver the system failure occurs；It is another then be nothing
Occurs system erroneous detection when failure.It is generally acknowledged that the two probability is identical.Then according to system totality continuity demand Pr(LOC) it can calculate
Probability of false detection is out
For M base station, N satellite, observed quantity total MN can be obtained, then is to the probability of false detection of each observed quantity
For observation satellite j, by its corresponding variance of B valueThe threshold value that B value can be obtained is
In formula,
Mostly it can effectively detect that pseudorange correction amount caused by receiver failure is inclined with reference to consistency detection based on B value
Difference, however it is but difficult to detect by deviation caused by satellite failure, therefore, the above-mentioned Beidou based on K-means++ clustering algorithm is led
Boat system failure detection method, further includes: calculate and compare satellite failure special parameter and satellite failure special parameter threshold values model
It encloses, to determine satellite failure, the integrity for further improving system is horizontal.
It is calculated by the following formula satellite failure special parameter
Wherein,For the satellite failure special parameter of the satellite n at the m of base station, N is observation satellite number, can obtain N number of puppet
Away from correction amount, j is target satellite, and l≤j≤N, N are number of satellites, and m is reference base station receiver, and σ is the code eliminated after clock deviation
Phase pseudo range correction amount；
It is calculated by the following formula satellite failure special parameter threshold range
Wherein,For the satellite failure special parameter threshold range of the target satellite j at the m of base station, M is base station reception
Machine number, j are target satellite, and l≤j≤N, N are number of satellites,When for fault-free deviationVariance,PrIt (LOC) is system totality continuity demand.
Specifically,WithRelationship it is as follows: in the case where fault-free deviation,Obey zero-mean, variance isNormal distribution.
For embodiment of the method, for simple description, therefore, it is stated as a series of action combinations, but this field
Technical staff should be aware of, and embodiment of that present invention are not limited by the describe sequence of actions, because implementing according to the present invention
Example, some steps may be performed in other sequences or simultaneously.Secondly, those skilled in the art should also know that, specification
Described in embodiment belong to preferred embodiment, the actions involved are not necessarily necessary for embodiments of the present invention.
As shown in Fig. 2, the Beidou Navigation System fault detection system provided by the invention for realizing above-mentioned detection method, packet
It includes:
Satellite parametric reduction cluster calculation module, for being defended from a variety of primary standard satellite parametric reductions with what big-dipper satellite parameter formed
Sing data concentration randomly selects a satellite as initial satellite cluster centre, which is c1；It counts first
The shortest distance between each satellite and current existing satellite cluster centre is calculated, each satellite is then calculated and is chosen as next defend
The probability of star cluster centre, finally, selecting next satellite cluster centre according to wheel disc method；Previous step is repeated until selecting
Total k satellite cluster centre, the k satellite cluster centre collection are combined into C={ c1, c2, c3 ..., ck }；It is concentrated for satellite data
Each satellite calculates each satellite and gathers to the distance of k satellite cluster centre and assign to each satellite apart from the smallest satellite
In the corresponding satellite classification in class center；For each satellite type, defending for each satellite classification is recalculated according to following formula
Star cluster centre；S104 and S105 is repeated, until satellite cluster centre no longer changes, then satellite belongs to the satellite cluster centre pair
The satellite classification answered, join big-dipper satellite according to the cluster calculation of a variety of primary standard satellite parametric reductions and big-dipper satellite parameter
Number is matched with primary standard satellite parametric reduction；
Satellite parametric reduction-threshold values computation model relating module, for a variety of primary standard satellite parametric reductions and corresponding satellite
Special parameter threshold values computation model is associated；
Satellite special parameter threshold values computing module, for the satellite special parameter of real-time reception big-dipper satellite, and input with
In the matched associated satellite special parameter threshold values computation model of primary standard satellite, the satellite special parameter of big-dipper satellite is calculated
Threshold range；
Fault parameter judgment module, for judging the satellite special parameter of big-dipper satellite whether in satellite special parameter threshold values
In range, if it is not, then judging the satellite special parameter of big-dipper satellite for fault parameter.
Beidou Navigation System fault detection system based on K-means++ clustering algorithm of the invention utilizes K-means++
Clustering algorithm is that big-dipper satellite parameter finds out most like primary standard satellite parametric reduction, so that big-dipper satellite parameter and primary standard
Satellite parametric reduction matching is more efficient, more acurrate.
Beidou Navigation System fault detection system real-time reception satellite special parameter of the invention, according to satellite special parameter
Threshold values computation model calculates satellite special parameter threshold range, and to satellite special parameter and satellite special parameter threshold range into
Row comparison, to judge whether satellite special parameter is fault parameter, can be applicable in big-dipper satellite hybrid constellation completely.
Above-mentioned Beidou Navigation System fault detection system, satellite parametric reduction-threshold values computation model relating module, being also used to will be northern
Bucket satellite parametric reduction is associated with corresponding satellite special parameter threshold values computation model.
Beidou Navigation System fault detection system of the invention is by big-dipper satellite parameter and corresponding satellite special parameter valve
Value computation model is associated, when so that encountering the big-dipper satellite parameter of association computation model in fault detection next time, energy
It is enough directly linked satellite special parameter threshold values computation model and saves time and operand without carrying out cluster calculation.
For system embodiments, since it is basically similar to the method embodiment, related so being described relatively simple
Place illustrates referring to the part of embodiment of the method.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
Invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each implementation
Technical solution documented by example is modified or equivalent replacement of some of the technical features；And these modification or
Replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of Beidou Navigation System fault detection method based on K-means++ clustering algorithm, which is characterized in that including following
Step:
S101, the satellite data concentration formed from a variety of primary standard satellite parametric reductions with big-dipper satellite parameter randomly select one and defend
Star is as initial satellite cluster centre；
S102 calculates the shortest distance between each satellite and current existing satellite cluster centre first, then calculates and each defend
Star is chosen as the probability of next satellite cluster centre, finally, selecting next satellite cluster centre according to wheel disc method；
S103 repeats previous step until selecting total k satellite cluster centre；
S104 concentrates each satellite for satellite data, calculates each satellite to the distance of k satellite cluster centre and will be each
Satellite is assigned in the corresponding satellite classification of the smallest satellite cluster centre；
S105 recalculates the satellite cluster centre of each satellite classification according to following formula for each satellite type；
S106 repeats step S104 and S105, and until satellite cluster centre no longer changes, then satellite belongs to the satellite cluster centre
Corresponding satellite classification, to make big-dipper satellite according to the cluster calculation of a variety of primary standard satellite parametric reductions and big-dipper satellite parameter
Parameter is matched with primary standard satellite parametric reduction；
S107 is associated a variety of primary standard satellite parametric reductions and corresponding satellite special parameter threshold values computation model；
S108, the satellite special parameter of real-time reception big-dipper satellite, and input and the matched associated satellite of primary standard satellite
In special parameter threshold values computation model, the satellite special parameter threshold range of big-dipper satellite is calculated；
S109 judges the satellite special parameter of big-dipper satellite whether in satellite special parameter threshold range, if it is not, then judging north
The satellite special parameter of bucket satellite is fault parameter, to abandon the fault parameter.
2. the Beidou Navigation System fault detection method according to claim 1 based on K-means++ clustering algorithm, special
Sign is, the satellite cluster centre of each satellite classification is recalculated according to following formula
Wherein, ci is satellite cluster centre, and x is the corresponding satellite type Satellite of satellite cluster centre into k satellite cluster
The distance of the heart.
3. the Beidou Navigation System fault detection method according to claim 2 based on K-means++ clustering algorithm, special
Sign is, further includes: is associated big-dipper satellite parameter with corresponding satellite special parameter threshold values computation model.
4. the Beidou Navigation System fault detection method according to claim 3 based on K-means++ clustering algorithm, special
Sign is, is obtained by the following formula satellite special parameter:
Wherein,For the big-dipper satellite special parameter of target satellite different moments, M is base station receiver number, and j is mesh
Satellite is marked, 1≤j≤N, N are number of satellites, and m is reference base station receiver, and σ is the code phase pseudo range correction amount eliminated after clock deviation.
5. the Beidou Navigation System fault detection method according to claim 4 based on K-means++ clustering algorithm, special
Sign is that primary standard satellite includes GPS satellite and satellite-based augmentation system satellite, and big-dipper satellite includes medium earth orbit satellite, the earth
Synchronous satellite and inclination geo-synchronous orbit satellite.
6. the Beidou Navigation System fault detection method according to claim 5 based on K-means++ clustering algorithm, special
Sign is,
When primary standard satellite is GPS satellite, satellite special parameter threshold values computation model is
Wherein, BthFor satellite special parameter threshold range, M is base station receiver number,θnFor satellite elevation angle, a0、a1、a2、b0、c0It is receiver ginseng
Number；
When primary standard satellite is satellite-based augmentation system satellite, satellite special parameter threshold values computation model is
Wherein, BthFor satellite special parameter threshold range, M is base station receiver number,θnFor satellite elevation angle, a0、a1、a2、b0、c0It is receiver ginseng
Number.
7. the Beidou Navigation System fault detection method according to claim 6 based on K-means++ clustering algorithm, special
Sign is, further includes: satellite failure special parameter and satellite failure special parameter threshold range is calculated and compare, to determine satellite
Failure.
8. the Beidou Navigation System fault detection method according to claim 7 based on K-means++ clustering algorithm, special
Sign is, is calculated by the following formula satellite failure special parameter
Wherein,For the satellite failure special parameter of the satellite n at the m of base station, N is observation satellite number, can obtain N number of pseudorange and repair
Positive quantity, j are target satellite, and 1≤j≤N, N are number of satellites, and m is reference base station receiver, and σ is the code phase eliminated after clock deviation
Pseudorange correction amount；
It is calculated by the following formula satellite failure special parameter threshold range
Wherein,For the satellite failure special parameter threshold range of the target satellite j at the m of base station, M is base station receiver number,
J is target satellite, and 1≤j≤N, N are number of satellites,When for fault-free deviationVariance,
Pr(LOC)For system totality continuity demand.
9. a kind of Beidou Navigation System fault detection system for realizing detection method described in claim 1, which is characterized in that packet
It includes:
Satellite parametric reduction cluster calculation module, the satellite number for being formed from a variety of primary standard satellite parametric reductions and big-dipper satellite parameter
A satellite is randomly selected as initial satellite cluster centre according to concentration；Each satellite and currently existing satellite cluster are calculated first
The shortest distance between center then calculates the probability that each satellite is chosen as next satellite cluster centre, finally, according to wheel
Disk method selects next satellite cluster centre；Previous step is repeated until selecting total k satellite cluster centre；For satellite number
According to each satellite is concentrated, calculates each satellite and assign to the distance of k satellite cluster centre and by each satellite apart from the smallest
In the corresponding satellite classification of satellite cluster centre；For each satellite type, each satellite class is recalculated according to following formula
Other satellite cluster centre；Above step is repeated, until satellite cluster centre no longer changes, then satellite belongs in satellite cluster
The corresponding satellite classification of the heart, defend Beidou according to the cluster calculation of a variety of primary standard satellite parametric reductions and big-dipper satellite parameter
Star parameter is matched with primary standard satellite parametric reduction；
Satellite parametric reduction-threshold values computation model relating module, for specific to a variety of primary standard satellite parametric reductions and corresponding satellite
Parameter threshold computation model is associated；
Satellite special parameter threshold values computing module for the satellite special parameter of real-time reception big-dipper satellite, and is inputted and is matched
The associated satellite special parameter threshold values computation model of primary standard satellite in, calculate the satellite special parameter threshold values of big-dipper satellite
Range；
Fault parameter judgment module, for judging the satellite special parameter of big-dipper satellite whether in satellite special parameter threshold range
It is interior, if it is not, then judging the satellite special parameter of big-dipper satellite for fault parameter.
10. Beidou Navigation System fault detection system according to claim 9, which is characterized in that satellite parametric reduction-threshold values meter
Model association module is calculated, is also used to for big-dipper satellite parameter being associated with corresponding satellite special parameter threshold values computation model.
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