CN110456390B - Device and method for monitoring on-orbit integrity risk of navigation satellite - Google Patents
Device and method for monitoring on-orbit integrity risk of navigation satellite Download PDFInfo
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- CN110456390B CN110456390B CN201910673604.5A CN201910673604A CN110456390B CN 110456390 B CN110456390 B CN 110456390B CN 201910673604 A CN201910673604 A CN 201910673604A CN 110456390 B CN110456390 B CN 110456390B
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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
- 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
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Abstract
An apparatus and method for monitoring risk of on-orbit integrity of a navigation satellite, the apparatus comprising: the device comprises a receiving module, a feature extraction module and a monitoring and judging module. The method comprises the following steps: and extracting a characteristic value of the signal, and calculating abnormal monitoring thresholds such as navigation signal power, a pseudo code waveform distortion value, pseudo code/carrier consistency, carrier leakage, pseudo code carrier deviation, telegraph text consistency, carrier phase consistency and the like. The characteristic value is compared to a monitoring threshold. If the threshold is exceeded, an alarm signal is sent out. The integrity of the navigation signal of the on-orbit navigation satellite is monitored, and accurate and timely alarming is realized for the user.
Description
Technical Field
The invention relates to a device and a method for monitoring the on-orbit integrity risk of a navigation satellite, and belongs to the technical field of integrity monitoring of satellite navigation systems.
Background
Integrity refers to the ability to alert a user in time when the positioning system fails, so as to prevent the user from being misled by an abnormally working navigation positioning signal, and is a confidence measure of the correct navigation information provided by the entire navigation system.
People have common knowledge on the high accuracy of a satellite navigation system under normal conditions, but the satellite navigation signal generates a distorted navigation signal due to the influence of on-satellite devices, or generates errors and interference in the propagation process of an environmental section, so that the final positioning result of a receiver is seriously influenced, especially in scenes with strict requirements on the positioning result, the precise approach stage of the landing process of an airplane is one of the scenes, and if the satellite navigation signal generates unpredictable abnormality in the landing process of the airplane, serious catastrophic accidents can be caused, so that the integrity monitoring of the navigation satellite on an airport or an aircraft carrier is very necessary.
Integrity monitoring is a prerequisite to ensure that accurate approach to landing of an aircraft landing system is safe and reliable. The fault monitoring risk cannot be obtained through theoretical analysis, and integrity monitoring needs to be performed on an actual signal to obtain an error boundary and statistical characteristics of each anomaly, so that the risk that each anomaly exceeds the error boundary is obtained. Therefore, there is a need for a device for monitoring the in-orbit integrity risk of a navigation satellite system, which can accurately monitor the integrity risk and timely send an alarm to a user.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the invention overcomes the defects of the prior art, provides a device and a method for monitoring the on-orbit integrity risk of a navigation satellite, solves the problem that the failure monitoring risk cannot be obtained through theoretical analysis, and extracts the characteristic value of a signal through receiving and processing an on-orbit navigation signal. A monitoring threshold for each anomaly is calculated. The characteristic value is compared to a monitoring threshold. If the threshold is exceeded, an alarm signal is sent out. The integrity of the navigation signal of the on-orbit navigation satellite is monitored, and accurate and timely alarming is realized for the user.
The technical scheme of the invention is as follows:
an apparatus for monitoring risk of in-orbit integrity of a navigation satellite, comprising: the device comprises a receiving module, a feature extraction module and a monitoring and judging module;
a receiving module: receiving a navigation signal transmitted by a navigation satellite, obtaining a test signal corresponding to the navigation signal according to the navigation signal, and sending the test signal to a feature extraction module;
a feature extraction module: receiving the test signal sent by a receiving module, determining the characteristic quantity of the navigation signal according to the test signal, and sending the characteristic quantity of the navigation signal to a monitoring and judging module;
the monitoring and judging module: receiving the characteristic quantity of the navigation signal sent by the characteristic extraction module, determining an alarm threshold according to the characteristic quantity of the navigation signal, judging whether the integrity risk exists in the navigation satellite detected at the current moment or not according to the alarm threshold, and if the integrity risk exists, informing a user that the navigation satellite detected at the current moment has a fault and a positioning error can be caused.
A method for monitoring the risk of the on-orbit integrity of a navigation satellite by using the device for monitoring the risk of the on-orbit integrity of the navigation satellite comprises the following steps:
1) receiving a navigation signal transmitted by a navigation satellite, obtaining navigation signals of K sampling points before the current moment, and determining a test signal according to the navigation signals of the K sampling points; wherein K is a positive integer;
2) determining the characteristic quantity of the navigation signal according to the test signal in the step 1);
3) determining an alarm threshold according to the characteristic quantity of the navigation signal in the step 2);
4) determining a characteristic quantity corresponding to the detected navigation satellite at the current moment according to a navigation signal emitted by the detected navigation satellite at the current moment;
5) judging whether the integrity risk exists in the navigation satellite detected at the current moment or not according to the alarm threshold determined in the step 3) and the characteristic quantity in the step 4), and if the integrity risk exists, informing a user that the navigation satellite detected at the current moment has a fault and causing a positioning error.
Compared with the prior art, the invention has the beneficial effects that:
1) the method can actually obtain the integrity risk of the Beidou navigation satellite system, and solves the problem that the integrity of the system cannot be determined through theoretical analysis;
2) the invention monitors and alarms the problems actually occurring in the satellite navigation system, provides a specific monitoring and alarming method and has strong realizability;
3) the method for monitoring the satellite abnormal type comprises the power of a navigation signal, a pseudo code waveform distortion value, a pseudo code/carrier increment, the change rate of the pseudo code/carrier increment, the carrier leakage amplitude, the code carrier deviation degree, the navigation message consistency parameter, the acceleration of a carrier phase, the slope of the carrier phase and the step length of the carrier phase.
Drawings
FIG. 1 is a schematic block diagram of the present invention;
fig. 2 is a navigation message consistency calculation flow.
Detailed Description
The invention is described in further detail below with reference to the figures and the detailed description.
The invention relates to a device for monitoring the risk of the on-orbit integrity of a navigation satellite, which comprises: the device comprises a receiving module, a feature extraction module and a monitoring and judging module.
A receiving module: the method comprises the steps of receiving a navigation signal transmitted by a navigation satellite, obtaining a test signal corresponding to the navigation signal according to the navigation signal, and sending the test signal to a feature extraction module. The navigation signal comprises two paths of orthogonal signals i (k) and q (k), the orthogonal signals are converted into an intermediate frequency signal through a down converter, the intermediate frequency signal is subjected to analog/digital conversion, and despreading and demodulation processing are performed after capturing and tracking are completed; acquiring navigation signals of K sampling points before the current moment, and determining a test signal according to the navigation signals of the K sampling points; wherein K is a positive integer. Specifically, the obtaining, by the receiving module, a test signal corresponding to the navigation signal includes: amplitude of the navigation signal a (k), carrier phase observation of the navigation signal phi (k), pseudorange measurement of the navigation signal rho (k), pseudocode phase of the navigation signal c (k), and navigation message of the navigation signal d (k).
A feature extraction module: and receiving the test signal sent by the receiving module, determining the characteristic quantity of the navigation signal according to the test signal, and sending the characteristic quantity of the navigation signal to the monitoring and judging module. Specifically, the feature quantity of the navigation signal determined by the feature extraction module includes: the method comprises the following steps of power of a navigation signal, a pseudo code waveform distortion value, a pseudo code/carrier increment, a change rate of the pseudo code/carrier increment, a carrier leakage amplitude, a code carrier deviation degree, a navigation message consistency parameter, acceleration of a carrier phase, a slope of the carrier phase and a step length of the carrier phase.
The monitoring and judging module: receiving the characteristic quantity of the navigation signal sent by the characteristic extraction module, determining an alarm threshold according to the characteristic quantity of the navigation signal, judging whether the integrity risk exists in the navigation satellite detected at the current moment or not according to the alarm threshold, and if the integrity risk exists, informing a user that the navigation satellite detected at the current moment has a fault and a positioning error can be caused. If any one of the conditions is not satisfied, a failure is determined.
The feature extraction module determines the features of the navigation signal according to the test signal as follows:
3.1) determining the power p (k) of the navigation signal according to the amplitude a (k) of the navigation signal and the navigation message d (k) of the navigation signal, specifically:
wherein K is a sampling point of the navigation signal, K is a positive integer and K is an element (1, K), and in the embodiment of the present invention, sampling is performed once per minute and sampling is performed continuously for 24 hours, that is, K is 864000, NIXAnd NQXRespectively the integration results of the I branch noise and the Q branch noise of the navigation signal,
wherein n isI(t)、nQ(t) noise of the I branch and the Q branch respectively, c (k) pseudo code phase corresponding to the kth sampling point, D (k) navigation message of navigation signal corresponding to the kth sampling point, A (k) amplitude of the navigation signal corresponding to the kth sampling point,
is the phase difference between the navigation signal and the local signal X (T), N is the accumulated times, N is more than or equal to 1 and less than or equal to 10, M represents TcNumber of samples in time, TcIs the code period of the navigation signal; the local signal x (t) is specifically as follows: x (t) ═ c (t) · sin (2 pi f)0+φ0)+j·cos(2πf0+φ0)]Where c (t) is the pseudo-code phase of the local signal, f0Is the frequency of the local signal, phi0For the phase of the local signal, j denotes the phase phi0The imaginary number of (c).
3.2) determining a pseudo code waveform distortion value delta tau (d) according to the pseudo code phase c (k) of the navigation signal1,dr) The method specifically comprises the following steps:
when the navigation signal generates waveform distortion:
Δτ(d1,dr)＝Δτa(d1,dr)＝τa(d1)-τa(dr)，r∈(2，3，...，C)，
p∈(1,2，3，...，C)；
when the navigation signal is not subjected to waveform distortion:
Δτ(d1,dr)＝Δτnom(d1,dr)＝τnom(d1)-τnom(dr)，
wherein, the device comprises C related monitors, C is the number of the related monitors, C is a positive integer, d1Correlation interval corresponding to the first correlation monitor of the apparatus, dpCorrelation interval corresponding to p-th correlation monitor of the apparatus, i.e. dr∈(d2，d3，...，dC)，0＜d1＜d2＜d3＜...＜dC≤Tc；τnom(d1) When no abnormality occurs in the signal, the correlation interval is d1When the condition R (τ + d) is satisfied1/2)-R(τ-d1(v 2) ═ 0 of the correlation peak position, τa(d1) When the signal is abnormal, the correlation is betweenIs separated by d1When the condition R (τ + d) is satisfied1/2)-R(τ-d1/2) ═ 0 of the correlation peak position. τ is the delay of the local signal x (t) relative to the navigation signal.
3.3) determining a pseudo code/carrier increment Δ from the carrier phase observation φ (k) of the navigation signal and the pseudo range measurement ρ (k) of the navigation signalkAnd rate of change of pseudo code/carrier increment
The method specifically comprises the following steps:
wherein the content of the first and second substances,
carrier phase measurement values of the kth sampling point and the k-1 sampling point are respectively obtained, and rho (k) and rho (k-1) are respectively pseudo-range measurement values of the kth sampling point and the k-1 sampling point; Δ ρ (k) is the pseudorange observation increment for both early and late epochs,
the increments are observed for the carrier phase of the previous epoch and the next epoch.
3.4) determining the carrier leakage amplitude A' (k) according to the amplitude A (k) of the navigation signal and the navigation message D (k) of the navigation signal, specifically:
wherein f issFor the sampling frequency of the navigation signal, f0Is the frequency of the local signal;
3.5) determining a code carrier deviation Dvgc (k) according to the pseudo-range measurement value rho (k) of the navigation signal and the carrier phase observation value phi (k) of the navigation signal, specifically:
dZ(k)＝Z(k)-Z(k-1)，Z(k)＝ρ(k)-φ(k)，
wherein, tau is more than or equal to 100d≤300，TsRepresents the measurement period of the device, 0 < Ts≤τd；
3.6) determining a navigation message consistency parameter delta D according to the ephemeris and the almanac included in the navigation message D (k), specifically:
if the satellite sending the navigation signal enters the detection range of the device for the first time, the following steps are carried out:
ΔD＝ΔDfirst(k)＝Dalmanac(k)-Dephemeris(k)，
if the satellite sending the navigation signal does not enter the detection range of the device for the first time, the method comprises the following steps:
ΔD＝ΔDnon_first(k)＝Dephemeris(k)-Dephemeris(k-1)，
wherein D isalmanac(k) For the orbital position of the satellite at the k-th sampling point determined by the latest almanac, Dephemeris(k) The method for calculating the orbit position of the satellite according to the ephemeris and the almanac is common knowledge in the art, and the specific flow is shown in fig. 2.
3.7) according to the carrier phase observed value phi (k) of the navigation signal, determining the acceleration acc (k) of the carrier phase, the slope ramp (k) of the carrier phase and the step size step (k) of the carrier phase, specifically:
Step(k)＝φ*(k)-φ*(k-1,10Ts)，
wherein Acc (k), ramp (k), and C (k) are according to phi*(k)，φ*(k+1)，…，φ*(k+18)，φ*(k +19) performing a binomial fit determination,
φj(k) carrier phase observations for the jth navigation satellite that can be detected, NsatThe total number of detected navigation satellites for the kth sample point. Phi is a*(k-1,10Ts) The fitted curve for the (k-1) th sampling point is 10T at TsThe value of (c).
A) The monitoring and judging module is used for judging the characteristic quantity of the navigation signal according to the following steps: the method comprises the following steps of determining an alarm threshold by the power of a navigation signal, pseudo code/carrier increment, the change rate of the pseudo code/carrier increment, code carrier deviation, navigation message consistency parameters, the acceleration of a carrier phase, the slope of the carrier phase and the step length of the carrier phase, wherein the specific steps are as follows:
A31) respectively determining the power of the navigation signal, pseudo code/carrier increment change rate, code carrier deviation, navigation message consistency parameters, carrier phase acceleration, carrier phase slope and standard deviation sigma and mean mu corresponding to the carrier phase step length;
A32) according to the power, the pseudo code/carrier increment change rate, the code carrier deviation degree, the navigation message consistency parameter, the carrier phase acceleration, the carrier phase slope and the standard deviation sigma and the mean value mu corresponding to the carrier phase step length of the navigation signal determined in the step A31), the alarm corresponding to the power, the pseudo code/carrier increment change rate, the code carrier deviation degree, the navigation message consistency parameter, the carrier phase acceleration, the carrier phase slope and the carrier phase step length of the navigation signal is respectively determinedThreshold maximum ThmaxMinimum value Th of alarm thresholdmin；
Thmax＝μ+nfσ，Thmin＝μ-nfσ，
Wherein the value range of n is 1-8; f ranges from 1 to 3, and preferably n is 6 and f is 1.5;
the monitoring and judging module judges whether the integrity risk exists in the navigation satellite detected at the current moment according to the determined alarm threshold, and specifically comprises the following steps:
if any one characteristic quantity corresponding to the detected navigation satellite at the current moment is larger than the maximum value of the alarm threshold corresponding to the characteristic quantity or smaller than the minimum value of the alarm threshold corresponding to the characteristic quantity, judging that the integrity risk exists in the navigation satellite detected at the current moment; otherwise, judging that the integrity risk does not exist in the navigation satellite detected at the current moment;
B) the monitoring and judging module is used for judging the characteristic quantity of the navigation signal according to the following steps: determining the false code waveform distortion value, and determining the alarm threshold beta corresponding to the false code waveform distortion valuePRThe method specifically comprises the following steps:
the monitoring and judging module is used for judging according to betaPRThe method for judging whether the integrity risk exists in the navigation satellite detected at the current moment specifically comprises the following steps: if beta isPRIf the number of the detected navigation satellites is more than or equal to 1, judging that the integrity risk exists in the detected navigation satellites due to the pseudo code distortion, and sending an alarm signal; otherwise, judging that the pseudo code distortion does not occur, and judging that the integrity risk does not exist in the navigation satellite detected at the current moment;
C) the monitoring and judging module is used for judging the characteristic quantity of the navigation signal according to the following steps: determining the alarm threshold Thp by the carrier leakage amplitude, specifically:
the method for judging whether the integrity risk exists in the navigation satellite detected at the current moment by the monitoring and judging module according to the Thp specifically comprises the following steps: if the carrier leakage amplitude A' (k) corresponding to the navigation satellite detected at the current moment is more than or equal to Thp, judging that the integrity risk exists in the navigation satellite detected at the current moment; otherwise, judging that the integrity risk does not exist in the navigation satellite detected at the current moment.
A method for monitoring the risk of the on-orbit integrity of a navigation satellite by using the device for monitoring the risk of the on-orbit integrity of the navigation satellite comprises the following steps:
1) receiving a navigation signal transmitted by a navigation satellite, wherein the navigation signal comprises two paths of orthogonal signals i (k) and q (k), the orthogonal signals are converted into an intermediate frequency signal through a down converter, the intermediate frequency signal is subjected to analog/digital conversion, and despreading and demodulation processing are performed after capturing and tracking are completed; acquiring navigation signals of K sampling points before the current moment, and determining a test signal according to the navigation signals of the K sampling points; wherein K is a positive integer; the test signal includes: amplitude of the navigation signal a (k), carrier phase observation of the navigation signal phi (k), pseudorange measurement of the navigation signal rho (k), pseudocode phase of the navigation signal c (k), and navigation message of the navigation signal d (k).
2) Determining the characteristic quantity of the navigation signal according to the test signal in the step 1); the feature quantities of the navigation signal include: the power of the navigation signal, the pseudo code/carrier increment, the change rate of the pseudo code/carrier increment, the code carrier deviation, the navigation message consistency parameter, the acceleration of the carrier phase, the slope of the carrier phase and the step length of the carrier phase;
the step 2) of determining the characteristic quantity of the navigation signal comprises the following steps:
21) determining the power P (k) of the navigation signal according to the amplitude A (k) of the navigation signal and the navigation message D (k) of the navigation signal, specifically:
wherein K is a sampling point of the navigation signal, K is a positive integer and K belongs to (1, K), NIXAnd NQXRespectively I, Q branch noise integration results,
wherein n isI(t)、nQ(t) noise of the I branch and the Q branch of the navigation signal respectively, c (k) pseudo code phase corresponding to the kth sampling point, D (k) navigation message of the navigation signal corresponding to the kth sampling point, A (k) amplitude of the navigation signal corresponding to the kth sampling point,
is the phase difference between the navigation signal and the local signal X (T), N is the accumulated times, N is more than or equal to 1 and less than or equal to 10, M represents TcThe number of sampling points in time,
fsfor the sampling frequency, T, of the navigation signalcIs the code period of the navigation signal; the local signal x (k) is specifically as follows: x (t) ═ c (t) · sin (2 pi f)0+φ0)+j·cos(2πf0+φ0)]Where c (t) is the pseudo-code phase of the local signal, f0Is the frequency of the local signal, phi0For the phase of the local signal, j denotes the phase phi0The imaginary number of (c).
22) Determining a pseudo code/carrier increment Δ from the carrier phase observation φ (k) of the navigation signal and the pseudo range measurement ρ (k) of the navigation signalkAnd rate of change of pseudo code/carrier increment
The method specifically comprises the following steps:
wherein the content of the first and second substances,
carrier phase measurement values of the kth sampling point and the k-1 sampling point are respectively obtained, and rho (k) and rho (k-1) are respectively pseudo-range measurement values of the kth sampling point and the k-1 sampling point; Δ ρ is the pseudorange observation increment for both early and late epochs,
the increments are observed for the carrier phase of the previous epoch and the next epoch.
23) Determining a code carrier deviation Dvgc (k) according to the pseudo-range measurement value rho (k) of the navigation signal and the carrier phase observation value phi (k) of the navigation signal, specifically:
dZ(k)＝Z(k)-Z(k-1)，Z(k)＝ρ(k)-φ(k)，
wherein, tau is more than or equal to 100d≤300，TsRepresents the measurement period of the device, 0 < Ts≤τd；
24) Determining a navigation message consistency parameter delta D according to ephemeris and almanac included in the navigation message D (k), specifically:
if the satellite sending the navigation signal enters the detection range of the device for the first time, the following steps are carried out:
ΔD＝ΔDfirst(k)＝Dalmanac(k)-Dephemeris(k)，
if the satellite sending the navigation signal does not enter the detection range of the device for the first time, the method comprises the following steps:
ΔD＝ΔDnon_first(k)＝Dephemeris(k)-Dephemeris(k-1)，
wherein D isalmanac(k) For the orbital position of the satellite at the k-th sampling point determined by the latest almanac, Dephemeris(k) The orbital position of the satellite at the kth sampling point determined by the satellite ephemeris;
25) according to the carrier phase observation value phi (k) of the navigation signal, determining the acceleration Acc (k) of the carrier phase, the slope ramp (k) of the carrier phase and the step size step (k) of the carrier phase, specifically:
Step(k)＝φ*(k)-φ*(k-1,10Ts)，
wherein Acc (k), ramp (k), and C (k) are according to phi*(k)，φ*(k+1)，…，φ*(k+18)，φ*(k +19) performing a binomial fit determination,
φj(k) carrier phase observations for the jth navigation satellite that can be detected, NsatThe total number of detected navigation satellites for the kth sample point.
Step 2) the feature quantity of the navigation signal further includes: a pseudo code waveform distortion value; the method for determining the characteristic quantity of the navigation signal in the step 2) comprises the step of determining a pseudo code waveform distortion value delta tau (d) according to the pseudo code phase c (k) of the navigation signal1,dr) The method specifically comprises the following steps:
when the navigation signal generates waveform distortion:
Δτ(d1,dr)＝Δτa(d1,dr)＝τa(d1)-τa(dr)，r∈(2，3，...，C)，
p∈(1,2，3，...，C)；
when the navigation signal is not subjected to waveform distortion:
Δτ(d1,dr)＝Δτnom(d1,dr)＝τnom(d1)-τnom(dr)，
wherein, the device comprises C related monitors, C is the number of the related monitors, C is a positive integer, d1Correlation interval corresponding to the first correlation monitor of the apparatus, dpCorrelation interval corresponding to p-th correlation monitor of the apparatus, i.e. dr∈(d2，d3，...，dC)，0＜d1＜d2＜d3＜...＜dC≤Tc；τnom(d1) When no abnormality occurs in the signal, the correlation interval is d1When the condition R (τ + d) is satisfied1/2)-R(τ-d1(v 2) ═ 0 of the correlation peak position, τa(d1) When an abnormality occurs in the signal, the correlation interval isd1When the condition R (τ + d) is satisfied1/2)-R(τ-d1/2) ═ 0 of the correlation peak position. τ is the delay of the local signal x (t) relative to the navigation signal.
Step 2) the feature quantity of the navigation signal further includes: a carrier leakage amplitude; the method for determining the characteristic quantity of the navigation signal in step 2) further includes determining a carrier leakage amplitude a' (k) according to the amplitude a (k) of the navigation signal and a navigation message d (k) of the navigation signal, specifically:
wherein f issFor the sampling frequency of the navigation signal, f0Is the frequency of the local signal.
3) Determining an alarm threshold according to the characteristic quantity of the navigation signal in the step 2);
4) determining a characteristic quantity corresponding to the detected navigation satellite at the current moment according to a navigation signal emitted by the detected navigation satellite at the current moment;
5) judging whether the integrity risk exists in the navigation satellite detected at the current moment or not according to the alarm threshold determined in the step 3) and the characteristic quantity in the step 4), and if the integrity risk exists, informing a user that the navigation satellite detected at the current moment has a fault and causing a positioning error.
The method for determining the alarm threshold in the step 3) specifically comprises the following steps:
31) respectively determining the power of the navigation signal, pseudo code/carrier increment change rate, code carrier deviation, navigation message consistency parameters, carrier phase acceleration, carrier phase slope and standard deviation sigma and mean mu corresponding to the carrier phase step length;
32) according to the power, the pseudo code/carrier increment change rate, the code carrier deviation degree, the navigation message consistency parameter, the carrier phase acceleration, the carrier phase slope and the standard deviation sigma and the mean value mu corresponding to the carrier phase step length of the navigation signal determined in the step 31), respectively determining the power, the pseudo code/carrier increment change rate, the code carrier deviation degree, the navigation message consistency parameter, the carrier phase acceleration, the carrier phase slope and the alarm threshold maximum Th corresponding to the carrier phase step lengthmaxMinimum value Th of alarm thresholdmin；
Thmax＝μ+nfσ，Thmin＝μ-nfσ，
Wherein the value range of n is 1-8; f ranges from 1 to 3, and preferably n is 6 and f is 1.5;
the step 5) is a method for judging whether the integrity risk exists in the navigation satellite detected at the current moment according to the alarm threshold determined in the step 3) and the characteristic quantity in the step 4), and specifically comprises the following steps:
if the characteristic quantity corresponding to the detected navigation satellite at the current moment is larger than the maximum value of the alarm threshold corresponding to the characteristic quantity or smaller than the minimum value of the alarm threshold corresponding to the characteristic quantity, judging that the integrity risk exists in the navigation satellite detected at the current moment; otherwise, judging that the integrity risk does not exist in the navigation satellite detected at the current moment.
The method for determining the alarm threshold in the step 3) is to determine the alarm threshold beta corresponding to the pseudo code waveform distortion valuePR：
The step 5) is a method for judging whether the integrity risk exists in the navigation satellite detected at the current moment according to the alarm threshold determined in the step 3) and the characteristic quantity in the step 4), and specifically comprises the following steps: if beta isPRIf not less than 1, judging that the false code distortion occursChanging the detected navigation satellite to have integrity risk and sending an alarm signal; and otherwise, judging that the integrity risk does not exist in the detected navigation satellite without the pseudo code distortion.
The method for determining the alarm threshold in step 3) is specifically to determine the alarm threshold Thp corresponding to the carrier leakage amplitude:
the step 5) is a method for judging whether the integrity risk exists in the navigation satellite detected at the current moment according to the alarm threshold determined in the step 3) and the characteristic quantity in the step 4), specifically, if the carrier leakage amplitude A' (k) corresponding to the navigation satellite detected at the current moment is greater than or equal to Thp, judging that the integrity risk exists in the navigation satellite detected at the current moment; otherwise, judging that the integrity risk does not exist in the navigation satellite detected at the current moment.
Those skilled in the art will appreciate that the details of the invention not described in detail in the specification are within the skill of those skilled in the art.
Claims (8)
1. An apparatus for monitoring risk of in-orbit integrity of a navigation satellite, comprising: the device comprises a receiving module, a feature extraction module and a monitoring and judging module;
a receiving module: receiving a navigation signal transmitted by a navigation satellite, obtaining a test signal corresponding to the navigation signal according to the navigation signal, and sending the test signal to a feature extraction module;
a feature extraction module: receiving the test signal sent by a receiving module, determining the characteristic quantity of the navigation signal according to the test signal, and sending the characteristic quantity of the navigation signal to a monitoring and judging module;
the monitoring and judging module: receiving the characteristic quantity of the navigation signal sent by the characteristic extraction module, determining an alarm threshold according to the characteristic quantity of the navigation signal, judging whether the integrity risk exists in the navigation satellite detected at the current moment or not according to the alarm threshold, and if the integrity risk exists, informing a user that the navigation satellite detected at the current moment has a fault and a positioning error can be caused;
the obtaining, by the receiving module, a test signal corresponding to the navigation signal includes: amplitude a (k) of the navigation signal, carrier phase observation value phi (k) of the navigation signal, pseudo-range measurement value rho (k) of the navigation signal, pseudo-code phase c (k) of the navigation signal and navigation message d (k) of the navigation signal;
the feature quantity of the navigation signal determined by the feature extraction module includes: the power of the navigation signal, the waveform distortion value of the pseudo code, the pseudo code/carrier increment, the change rate of the pseudo code/carrier increment, the carrier leakage amplitude, the code carrier deviation degree, the navigation message consistency parameter, the acceleration of the carrier phase, the slope of the carrier phase and the step length of the carrier phase;
the feature extraction module determines the features of the navigation signal according to the test signal as follows:
3.1) determining the power p (k) of the navigation signal according to the amplitude a (k) of the navigation signal and the navigation message d (k) of the navigation signal, specifically:
wherein K is a positive integer and K belongs to (1, K), K is the total number of sampling points, NIXAnd NQXRespectively the integration results of the I branch noise and the Q branch noise of the navigation signal,
for the phase difference between the navigation signal and the local signal X (T), N is more than or equal to 1 and less than or equal to 10, and M represents TcNumber of samples in time, TcIs the code period of the navigation signal;
3.2) determining a pseudo code waveform distortion value delta tau (d) according to the pseudo code phase c (k) of the navigation signal1,dr) The method specifically comprises the following steps:
when the navigation signal generates waveform distortion:
Δτ(d1,dr)＝Δτa(d1,dr)＝τa(d1)-τa(dr)，r∈(2，3，...，C)，
p∈(1,2，3，...，C)；
when the navigation signal is not subjected to waveform distortion:
Δτ(d1,dr)＝Δτnom(d1,dr)＝τnom(d1)-τnom(dr)，
wherein C is the number of related monitors, C is a positive integer, dpFor the correlation interval corresponding to the p-th correlation monitor of the device, 0 < d1＜d2＜d3＜...＜dC≤Tc(ii) a τ is the time delay of the local signal x (t) relative to the navigation signal;
3.3) determining a pseudo code/carrier increment Δ from the carrier phase observation φ (k) of the navigation signal and the pseudo range measurement ρ (k) of the navigation signalkAnd rate of change of pseudo code/carrier increment
The method specifically comprises the following steps:
Δρ(k)＝ρ(k)-ρ(k-1)，
wherein the content of the first and second substances,
carrier phase measurement values of the kth sampling point and the k-1 sampling point are respectively obtained, and rho (k) and rho (k-1) are respectively pseudo-range measurement values of the kth sampling point and the k-1 sampling point;
3.4) determining the carrier leakage amplitude A' (k) according to the amplitude A (k) of the navigation signal and the navigation message D (k) of the navigation signal, specifically:
wherein f issFor the sampling frequency of the navigation signal, f0Is the frequency of the local signal;
3.5) determining a code carrier deviation Dvgc (k) according to the pseudo-range measurement value rho (k) of the navigation signal and the carrier phase observation value phi (k) of the navigation signal, specifically:
dZ(k)＝Z(k)-Z(k-1)，Z(k)＝ρ(k)-φ(k)，
wherein, tau is more than or equal to 100d≤300，TsRepresents the measurement period of the device, 0 < Ts≤τd；
3.6) determining a navigation message consistency parameter delta D according to the ephemeris and the almanac included in the navigation message D (k), specifically:
if the satellite sending the navigation signal enters the detection range of the device for the first time, the following steps are carried out:
ΔD＝ΔDfirst(k)＝Dalmanac(k)-Dephemeris(k)，
if the satellite sending the navigation signal does not enter the detection range of the device for the first time, the method comprises the following steps:
ΔD＝ΔDnon_first(k)＝Dephemeris(k)-Dephemeris(k-1)，
wherein D isalmanac(k) For the orbital position of the satellite at the k-th sampling point determined by the latest almanac, Dephemeris(k) The orbital position of the satellite at the kth sampling point determined by the satellite ephemeris;
3.7) according to the carrier phase observed value phi (k) of the navigation signal, determining the acceleration acc (k) of the carrier phase, the slope ramp (k) of the carrier phase and the step size step (k) of the carrier phase, specifically:
Step(k)＝φ*(k)-φ*(k-1,10Ts)，
wherein Acc (k), ramp (k), and C (k) are according to phi*(k)，φ*(k+1)，…，φ*(k+18)，φ*(k +19) performing a binomial fit determination,
φj(k) carrier phase observations for the jth navigation satellite that can be detected, NsatThe total number of detected navigation satellites for the kth sample point.
2. The apparatus for monitoring the risk of in-orbit integrity of a navigation satellite according to claim 1, wherein:
A) the monitoring and judging module is used for judging the characteristic quantity of the navigation signal according to the following steps: the method comprises the following steps of determining an alarm threshold by the power of a navigation signal, pseudo code/carrier increment, the change rate of the pseudo code/carrier increment, code carrier deviation, navigation message consistency parameters, the acceleration of a carrier phase, the slope of the carrier phase and the step length of the carrier phase, wherein the specific steps are as follows:
A31) respectively determining the power of the navigation signal, pseudo code/carrier increment change rate, code carrier deviation, navigation message consistency parameters, carrier phase acceleration, carrier phase slope and standard deviation sigma and mean mu corresponding to the carrier phase step length;
A32) respectively determining the power, the pseudo code/carrier increment, the standard deviation sigma and the mean mu corresponding to the power, the pseudo code/carrier increment change rate, the code carrier deviation, the navigation message consistency parameter, the carrier phase acceleration, the carrier phase slope and the carrier phase step length of the navigation signal determined in the step A31),The maximum alarm threshold Th corresponding to pseudo code/carrier increment change rate, code carrier deviation, navigation message consistency parameter, carrier phase acceleration, carrier phase slope and carrier phase step lengthmaxMinimum value Th of alarm thresholdmin；
Thmax＝μ+nfσ，Thmin＝μ-nfσ，
Wherein the value range of n is 1-8; the value range of f is 1-3;
the monitoring and judging module judges whether the integrity risk exists in the navigation satellite detected at the current moment according to the determined alarm threshold, and specifically comprises the following steps:
if any one characteristic quantity corresponding to the detected navigation satellite at the current moment is larger than the maximum value of the alarm threshold corresponding to the characteristic quantity or smaller than the minimum value of the alarm threshold corresponding to the characteristic quantity, judging that the integrity risk exists in the navigation satellite detected at the current moment; otherwise, judging that the integrity risk does not exist in the navigation satellite detected at the current moment;
B) the monitoring and judging module is used for judging the characteristic quantity of the navigation signal according to the following steps: determining the false code waveform distortion value, and determining the alarm threshold beta corresponding to the false code waveform distortion valuePRThe method specifically comprises the following steps:
the monitoring and judging module is used for judging according to betaPRThe method for judging whether the integrity risk exists in the navigation satellite detected at the current moment specifically comprises the following steps: if beta isPRIf the number of the detected navigation satellites is larger than or equal to 1, judging that the integrity risk exists in the detected navigation satellites due to pseudo code distortion; otherwise, judging that the pseudo code distortion does not occur, and judging that the integrity risk does not exist in the navigation satellite detected at the current moment;
C) the monitoring and judging module is used for judging the characteristic quantity of the navigation signal according to the following steps: determining the alarm threshold Thp by the carrier leakage amplitude, specifically:
the method for judging whether the integrity risk exists in the navigation satellite detected at the current moment by the monitoring and judging module according to the Thp specifically comprises the following steps: if the carrier leakage amplitude A' (k) corresponding to the navigation satellite detected at the current moment is more than or equal to Thp, judging that the integrity risk exists in the navigation satellite detected at the current moment; otherwise, judging that the integrity risk does not exist in the navigation satellite detected at the current moment.
3. A method for monitoring the risk of on-orbit integrity of a navigation satellite by using the apparatus for monitoring the risk of on-orbit integrity of a navigation satellite according to claim 1, comprising the steps of:
1) receiving a navigation signal transmitted by a navigation satellite, obtaining navigation signals of K sampling points before the current moment, and determining a test signal according to the navigation signals of the K sampling points; wherein K is a positive integer;
2) determining the characteristic quantity of the navigation signal according to the test signal in the step 1);
3) determining an alarm threshold according to the characteristic quantity of the navigation signal in the step 2);
4) determining a characteristic quantity corresponding to the detected navigation satellite at the current moment according to a navigation signal emitted by the detected navigation satellite at the current moment;
5) judging whether the integrity risk exists in the navigation satellite detected at the current moment or not according to the alarm threshold determined in the step 3) and the characteristic quantity in the step 4), and if the integrity risk exists, informing a user that the navigation satellite detected at the current moment has a fault and causing a positioning error;
step 1) the test signal comprises: amplitude a (k) of the navigation signal, carrier phase observation value phi (k) of the navigation signal, pseudo-range measurement value rho (k) of the navigation signal, pseudo-code phase c (k) of the navigation signal and navigation message d (k) of the navigation signal;
step 2) the feature quantity of the navigation signal includes: the power of the navigation signal, the pseudo code/carrier increment, the change rate of the pseudo code/carrier increment, the code carrier deviation, the navigation message consistency parameter, the acceleration of the carrier phase, the slope of the carrier phase and the step length of the carrier phase;
the step 2) of determining the characteristic quantity of the navigation signal comprises the following steps:
21) determining the power P (k) of the navigation signal according to the amplitude A (k) of the navigation signal and the navigation message D (k) of the navigation signal, specifically:
wherein K is a positive integer and K belongs to (1, K), K is the total number of sampling points, NIXAnd NQXRespectively I, Q branch noise integration results,
for the phase difference between the navigation signal and the local signal X (T), N is more than or equal to 1 and less than or equal to 10, and M represents TcNumber of samples in time, TcIs the code period of the navigation signal; the local signal x (k) is specifically as follows: x (t) ═ c (t) · sin (2 pi f)0+φ0)+j·cos(2πf0+φ0)]C (t) is the pseudo-code phase of the local signal, f0Is the frequency of the local signal, phi0For the phase of the local signal, j denotes the phase phi0The imaginary number of (c);
22) determining a pseudo code/carrier increment Δ from the carrier phase observation φ (k) of the navigation signal and the pseudo range measurement ρ (k) of the navigation signalkAnd rate of change of pseudo code/carrier increment
The method specifically comprises the following steps:
Δρ(k)＝ρ(k)-ρ(k-1)，
wherein the content of the first and second substances,
carrier phase measurement values of the kth sampling point and the k-1 sampling point are respectively obtained, and rho (k) and rho (k-1) are respectively pseudo-range measurement values of the kth sampling point and the k-1 sampling point;
23) determining a code carrier deviation Dvgc (k) according to the pseudo-range measurement value rho (k) of the navigation signal and the carrier phase observation value phi (k) of the navigation signal, specifically:
dZ(k)＝Z(k)-Z(k-1)，Z(k)＝ρ(k)-φ(k)，
wherein, tau is more than or equal to 100d≤300，TsRepresents the measurement period of the device, 0 < Ts≤τd；
24) Determining a navigation message consistency parameter delta D according to ephemeris and almanac included in the navigation message D (k), specifically:
if the satellite sending the navigation signal enters the detection range of the device for the first time, the following steps are carried out:
ΔD＝ΔDfirst(k)＝Dalmanac(k)-Dephemeris(k)，
if the satellite sending the navigation signal does not enter the detection range of the device for the first time, the method comprises the following steps:
ΔD＝ΔDnon_first(k)＝Dephemeris(k)-Dephemeris(k-1)，
wherein D isalmanac(k) For the orbital position of the satellite at the k-th sampling point determined by the latest almanac, Dephemeris(k) The orbital position of the satellite at the kth sampling point determined by the satellite ephemeris;
25) according to the carrier phase observation value phi (k) of the navigation signal, determining the acceleration Acc (k) of the carrier phase, the slope ramp (k) of the carrier phase and the step size step (k) of the carrier phase, specifically:
Step(k)＝φ*(k)-φ*(k-1,10Ts)，
wherein Acc (k), ramp (k), and C (k) are according to phi*(k)，φ*(k+1)，…，φ*(k+18)，φ*(k +19) performing a binomial fit determination,
φj(k) carrier phase observations for the jth navigation satellite that can be detected, NsatThe total number of detected navigation satellites for the kth sample point.
4. A method for monitoring the risk of on-orbit integrity of a navigation satellite according to claim 3, wherein the characteristic quantity of the navigation signal of step 2) further comprises: a pseudo code waveform distortion value; said step 2) determiningThe method for the navigation signal characteristic quantity comprises the step of determining a pseudo code waveform distortion value delta tau (d) according to the pseudo code phase c (k) of the navigation signal1,dr) The method specifically comprises the following steps:
when the navigation signal generates waveform distortion:
Δτ(d1,dr)＝Δτa(d1,dr)＝τa(d1)-τa(dr)，r∈(2，3，...，C)，
p∈(1,2，3，...，C)；
when the navigation signal is not subjected to waveform distortion:
Δτ(d1,dr)＝Δτnom(d1,dr)＝τnom(d1)-τnom(dr)，
wherein C is the number of related monitors, C is a positive integer, dpFor the correlation interval corresponding to the p-th correlation monitor of the device, 0 < d1＜d2＜d3＜...＜dC≤Tc(ii) a τ is the delay of the local signal x (t) relative to the navigation signal.
5. A method for monitoring the risk of on-orbit integrity of a navigation satellite according to claim 3, wherein the characteristic quantity of the navigation signal of step 2) further comprises: a carrier leakage amplitude; the method for determining the characteristic quantity of the navigation signal in step 2) further includes determining a carrier leakage amplitude a' (k) according to the amplitude a (k) of the navigation signal and a navigation message d (k) of the navigation signal, specifically:
wherein f issFor the sampling frequency of the navigation signal, f0Is the frequency of the local signal.
6. The method for monitoring the risk of the in-orbit integrity of the navigation satellite according to claim 3, wherein the step 3) is a method for determining the alarm threshold, specifically:
31) respectively determining the power of the navigation signal, pseudo code/carrier increment change rate, code carrier deviation, navigation message consistency parameters, carrier phase acceleration, carrier phase slope and standard deviation sigma and mean mu corresponding to the carrier phase step length;
32) respectively determining the power, the pseudo code/carrier increment change rate, the code carrier deviation degree, the standard deviation sigma and the mean mu corresponding to the navigation signal power, the pseudo code/carrier increment change rate, the code carrier deviation degree, the pseudo code/carrier increment change rate and the carrier phase step length which are determined in the step 31),Alarm threshold maximum value Th corresponding to navigation message consistency parameter, carrier phase acceleration, carrier phase slope and carrier phase step lengthmaxMinimum value Th of alarm thresholdmin；
Thmax＝μ+nfσ，Thmin＝μ-nfσ，
Wherein the value range of n is 1-8; the value range of f is 1-3;
the step 5) is a method for judging whether the integrity risk exists in the navigation satellite detected at the current moment according to the alarm threshold determined in the step 3) and the characteristic quantity in the step 4), and specifically comprises the following steps:
if the characteristic quantity corresponding to the detected navigation satellite at the current moment is larger than the maximum value of the alarm threshold corresponding to the characteristic quantity or smaller than the minimum value of the alarm threshold corresponding to the characteristic quantity, judging that the integrity risk exists in the navigation satellite detected at the current moment; otherwise, judging that the integrity risk does not exist in the navigation satellite detected at the current moment.
7. The method for monitoring the risk of the in-orbit integrity of the navigation satellite according to claim 4, wherein the step 3) is a method for determining an alarm threshold, specifically, an alarm threshold β corresponding to a waveform distortion value of the pseudo codePR：
The step 5) is a method for judging whether the integrity risk exists in the navigation satellite detected at the current moment according to the alarm threshold determined in the step 3) and the characteristic quantity in the step 4), and specifically comprises the following steps: if beta isPRIf the number of the detected navigation satellites is larger than or equal to 1, judging that the integrity risk exists in the detected navigation satellites due to pseudo code distortion; and otherwise, judging that the integrity risk does not exist in the detected navigation satellite without the pseudo code distortion.
8. A method for monitoring navigation according to claim 5The method for determining the satellite in-orbit integrity risk is characterized in that the method for determining the alarm threshold in the step 3) is specifically a method for determining the alarm threshold Thp corresponding to the carrier leakage amplitude:
the step 5) is a method for judging whether the integrity risk exists in the navigation satellite detected at the current moment according to the alarm threshold determined in the step 3) and the characteristic quantity in the step 4), specifically, if the carrier leakage amplitude A' (k) corresponding to the navigation satellite detected at the current moment is greater than or equal to Thp, judging that the integrity risk exists in the navigation satellite detected at the current moment; otherwise, judging that the integrity risk does not exist in the navigation satellite detected at the current moment.
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