CN110879403A - Simple and feasible monitoring method and system for satellite-based augmentation system - Google Patents
Simple and feasible monitoring method and system for satellite-based augmentation system 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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Abstract
The invention relates to a simple and feasible monitoring method and system of a satellite-based augmentation system, wherein the first aspect comprises a monitoring parameter system of the satellite-based augmentation system, which is specifically divided into four items of ground reference station state, satellite-based augmentation product, product broadcasting state and terminal service performance, and the second aspect comprises classification, file naming, file format, alarm threshold, updating frequency and delay time of each type of monitoring items of a BDS/GNSS satellite-based augmentation system; when the system is abnormal, the monitoring system can find problems at the first time, alarm and inform relevant responsible persons; the system has the function of statistical analysis of abnormal events, and is convenient for later analysis of problems in the system; the system has strong expansibility, and new monitoring items can be added according to new requirements on the basis of the invention.
Description
Technical Field
The invention relates to the technical field of satellite navigation, in particular to a simple and feasible method and system for monitoring a satellite-based augmentation system.
Background
At present, four global satellite navigation systems, namely, Beidou of China, American GPS, Russian GLONASS and European Union GALILEO, are mainly arranged in the world, standard service precision provided by each satellite navigation system is generally 10m magnitude, precision is low, and the requirements of engineering construction, precision agriculture, automatic driving and other submillimeter-level and centimeter-level high-precision positioning cannot be met. The traditional foundation enhancement system can better solve the problem of positioning accuracy, but has the problems of overhigh construction cost, high later-stage operation and maintenance pressure, incapability of realizing global coverage, limited total number of users and the like. The satellite-based augmentation system is a space-based augmentation system relative to a foundation augmentation system, and the satellite-based augmentation system adopting the PPP positioning technology can achieve the same positioning accuracy as the foundation augmentation system, and has the advantages of being free from regional limitation, capable of achieving global coverage, free from global user total amount and the like.
However, there is no simple and feasible monitoring method for a satellite-based augmentation system at present, and most of the existing monitoring methods related to the field of satellite navigation also aim at the monitoring of the navigation system, such as constellation state, spatial signal quality, spatial signal precision, navigation system service performance and the like, and focus on the satellite navigation system and the operation and control angle thereof; therefore, it is necessary to design a simple and feasible monitoring method and system for the satellite-based augmentation system.
Disclosure of Invention
The invention designs a simple and feasible satellite-based augmentation system monitoring method, establishes a BDS/GNSS satellite-based augmentation monitoring and displaying system, solves the problem of operation monitoring of the satellite-based augmentation system, and improves the operating integrity and reliability of the satellite-based augmentation system.
The invention relates to a simple and feasible monitoring method and a system of a satellite-based augmentation system, which comprises a monitoring parameter system of the satellite-based augmentation system, wherein the monitoring parameter system is divided into four items, namely a ground reference station state, a satellite-based augmentation product, a product broadcasting state and a terminal service performance; the ground reference station state is used for monitoring whether the running state of the global reference station is normal or not, and specifically comprises global reference station distribution, global reference station state, station measurement information, receiver type, antenna information, antenna DELTA H/E/N, observation value type, data state, data receiving rate, observation value state, ephemeris state, cycle slip state, real-time position, tracking satellite list, satellite altitude, satellite azimuth, real-time DOP value, real-time positioning accuracy ENU and real-time receiver clock error; the satellite-based enhanced product is used for monitoring the product states of an orbit product, a clock error product, an ionosphere product and an uncalibrated phase delay UPD product which are resolved by a satellite-based enhanced system, and specifically comprises on-orbit navigation satellite information, a real-time subsatellite point position, a satellite forecasting position, an orbit determination station number, an orbit post-examination sigma, an orbit determination station residual error, an orbit determination satellite residual error, an orbit determination precision, an orbit forecasting precision, the continuity of the orbit product, a real-time clock error resolving station number, a real-time clock error determining precision, an ionosphere resolving station number, a global ionosphere TEC precision, a station ionosphere model precision, an uncalibrated phase delay UPD resolving station number, a UPD product precision, a space enhanced signal continuity, a space enhanced signal precision and a global DOP value; the product broadcasting state is used for monitoring the broadcasting state of the satellite-based enhanced product and comprises a real-time track correction number broadcasting state, a real-time track correction number broadcasting correctness, a real-time clock difference correction number broadcasting state, a real-time clock difference correction number broadcasting correctness, an ionosphere product broadcasting state, an ionosphere product broadcasting correctness, a UPD product broadcasting state and a UPD product broadcasting correctness; the terminal positioning performance is used for monitoring the positioning performance obtained by the global reference station and the navigation positioning terminal by utilizing a satellite-based enhanced product, and specifically comprises global positioning plane precision, global positioning elevation precision, PPP positioning continuity, PPP positioning availability, PPP positioning precision time sequence, a terminal real-time positioning precision target point diagram, a terminal real-time positioning position and track, a terminal satellite tracking condition, a terminal sky diagram, a terminal DOP value and a terminal receiver clock error.
The second aspect of the invention comprises the classification, file naming, file format, alarm threshold, update frequency and delay time of each type of monitoring items (described in the first aspect of the invention) of the BDS/GNSS satellite-based augmentation system.
The file format description in the invention is in the form of the Fortran programming language, one format usually has the following form: [ r ] fw [ m ] wherein r is a repetition factor indicating the number of repetitions of the following, and the r portion is optional; f is a data type symbol, X, A, I and F are used in the invention, X represents a blank space, A represents a character type, I is an integer type, and F is a single-precision floating point type; w represents the field width; m represents the minimum number of digits or characters in the current field, and represents the decimal place when the data type is a floating point type.
The ground reference station state monitoring is classified into two types, one type is total information total _ list of the reference station, and the total information total _ list is used for recording station measurement information, receiver types, antenna types, observation value types and data states of the global reference station; and the other type is single-station information site _ list which is used for recording the data receiving rate, the observed value state, the ephemeris state, the cycle slip state, the real-time position, the tracking satellite list, the satellite altitude angle, the satellite azimuth angle, the real-time positioning precision ENU and the real-time receiver clock error of a certain reference station.
The total information of the reference station, total _ list, is designed to be updated every 1s in real time, and comprises two parts, namely time information and reference station list information. The time information is represented by simplified julian days (integer type) and intra-day seconds (floating point type), the list information of the reference stations is represented by a long character string, wherein the character string sequentially comprises latitude, longitude, geodetic height, data state identification, receiver type, antenna height and system frequency information of each reference station according to the sequence of the reference stations, different types of data of the same station are used for 'separating, and different station data are used for'; ' separation.
The single-station information site _ list is designed to be updated every 1s in real time, and the single-station information comprises two parts, namely time information and positioning information; time information is represented by simplified julian days (integer type) and intra-day seconds (floating point type), and location information is represented by a long character string, wherein the character string sequentially comprises latitude, longitude, earth altitude, data receiving rate, observed value state, ephemeris state, cycle slip state, dE, dN, dU, total number of observable satellites, BDS satellite number, GPS satellite number, GLONASS satellite number, GALILEO satellite number, QZSS satellite number, PDOP, HDOP, VDOP, TDOP, receiver clock error, satellite PRN number, altitude angle, azimuth angle …, and different types of data are separated by ','; ' denotes an end symbol.
The monitoring of the satellite-based enhanced product is classified into 6 types, satellite position, precise orbit determination, real-time clock error calculation, ionosphere calculation, UPD calculation and space enhancement signals.
The satellite position class contains on-orbit satellite information, real-time satellite positions, and satellite forecasted positions.
Dat, a text file satinfo is designed for the on-orbit satellite information, the updating frequency is once updated in 3 hours, the updating frequency is the same as the precise orbit determination updating frequency, and the delay time is 5 minutes. Dat includes information of satellite PRN number, SVN number, satellite type, COSPAR ID, activation date, expiration date, quality, radio frequency number, etc., wherein 5 lines of time and format descriptive information before the file are satellite parameter information from line 6, each satellite occupies one line, and in turn, GPS satellite information, BDS satellite information, GLONASS satellite information, GALILEO satellite information, and QZSS satellite information.
A file with the suffix name sat is designed for the real-time satellite position and the forecast position, the updating frequency is 3 hours, and the delay time is 2 hours. Sat includes satellite positions 24 hours before and 24 hours after the current time point, and is represented by epoch time of GPST and latitude, longitude, and altitude (BLH) at 15-minute intervals, each epoch sequentially including a GPS satellite BLH position, a BDS satellite BLH position, a GLONASS satellite BLH position, and a GALILEO satellite BLH position.
The precise track determination designs a file with a suffix name of orb to record the relevant state of the orbit determination, which comprises the number of stations for measuring the orbit, the error sigma in unit weight after orbit determination, the track determination precision, the track forecast precision and the track product continuity, the update frequency is 3 hours, and the delay time is 2 hours. orb includes start time for determining orbit, arc length for determining orbit, processing interval, number of satellites for determining orbit, number of stations for measuring orbit, error in unit weight after test, and three-dimensional position error and radial error of each satellite.
The real-time clock error resolving designs a file with the suffix name clk to record the real-time clock error determination precision and the clock error product continuity, the updating frequency is 3 hours, and the delay time is 3 hours. The clk file content contains start time, arc length, processing interval, reference satellite, evaluation satellite, clock error accuracy for each satellite.
The ionosphere resolving designs 4 types of files to record global ionosphere TEC, global ionosphere TEC precision, station-surveying ionosphere model precision and inter-frequency deviation DCB files respectively.
The global ionosphere TEC records grid data of the global ionosphere TEC with a file with a suffix name of inx, with an update frequency of 5 minutes and a delay time of 5 minutes. inx file contains information such as start time, processing interval, latitude range, longitude range, latitude interval value, longitude interval value, TEC value for each grid point, etc. Where grid data points are designed to be one point every 5 degrees in longitude and every 2.5 degrees in latitude.
The global ionized layer TEC precision designs a file with a suffix name rms for recording grid data of the global ionized layer TEC precision, the updating frequency is 5 minutes, and the delay time is 5 minutes. Similar to the inx file, the rms file contains information such as start time, processing interval, latitude range, longitude range, latitude interval value, longitude interval value, TEC precision for each grid point, etc. Where grid data points are designed to be one point every 5 degrees in longitude and every 2.5 degrees in latitude.
The precision design of the ionosphere model of the measuring station records the rms value of the global measuring station when the ionosphere is solved by using a file with the suffix name of blh, the updating frequency is 5 minutes, and the delay time is 5 minutes. The blh file contains start times, processing intervals, station counts, longitude and latitude for each station, and rms values.
The uncalibrated phase delay UPD solution contains UPD product accuracy and UPD product continuity, a file with a suffix name of fcb is designed to record UPD related information, the update frequency is 3 hours, and the delay time is 5 minutes. The fcb file contains epoch time, satellite PRN number, frequency point identification, wide lane value, wide lane sigma, narrow lane value, narrow lane sigma.
The spatial enhancement signal comprises spatial enhancement signal continuity, spatial enhancement signal precision and constellation global DOP value.
The spatial enhancement signal continuity and accuracy design a file with the suffix name of sis for recording, the updating frequency is 3 hours, the delay time is 5 hours, and the file comprises a processing interval, a processing time length, the radial, tangential and normal accuracy of each satellite prediction orbit, clock error accuracy and the spatial signal enhancement accuracy obtained comprehensively.
A file with a suffix name of DOP is designed for recording the global DOP value, the updating frequency is 1 day, and the delay time is one day. The file contains the start time, end time, satellite system participating in the computation, satellite PRN number, processing interval, cut-to-height angle, 95% quantile value for one day HDOP, VDOP, and PDOP per grid point.
The terminal positioning performance is used for monitoring the positioning accuracy which can be achieved by a global reference station based on BDS/GNSS satellite-based augmentation products and various positioning terminals. The invention designs a file with a suffix name of pos to record the positioning accuracy statistical condition of the global reference station, and the real-time positioning of various terminals is realized by a single-station information design part.
The updating frequency of the positioning precision file pos of the global reference station is 1 hour, and the delay time is 5 minutes. The pos file contains statistical start time, end time, sampling interval, cut-to-height angle, longitude, latitude, geodetic height, eastern deviation, northern deviation, elevation deviation, horizontal deviation, and three-dimensional position deviation for each reference station.
The third aspect of the invention designs and realizes a set of monitoring and displaying system based on the BDS/GNSS satellite-based augmentation system, which can monitor key items of the satellite-based augmentation system, alarm the found abnormality, visually display various monitoring parameters and monitoring results, and improve the operation reliability of the satellite-based augmentation system.
The monitoring and display system designed by the invention comprises a data input module, a data processing module, a display module, an alarm module and a system management module, which are shown in the attached figure 16 in detail.
The input module is a data source of the monitoring display system, generally is a state file, a product file and the like of each subsystem of the satellite-based augmentation system, the files are coded according to the data types and formats designed according to the first aspect and the second aspect of the invention and are used as data input of the monitoring display system, input data are respectively pushed to a file FTP server and a Mysql database for data storage according to the updating frequency, wherein the updating frequency of the total information, the single-station information, the user terminal information and the like of a reference station is high and is stored in the database, and files of other types are stored in the file FTP server.
The data processing module reads, analyzes, processes, plots, generates alarm information, and the like input data. The data processing module actually and correspondingly processes 24 items of chart contents, namely real-time station distribution, navigation satellite distribution, global positioning plane precision, global positioning elevation precision, track product continuity, latest track product precision, historical track product precision, clock error product continuity, latest clock error product precision, historical clock error product precision, global ionized layer TEC, global ionized layer RMS, observation station ionized layer model precision, differential code Deviation (DCB) time sequence, satellite end phase deviation (UPD) time sequence, GEO satellite service range, space enhanced signal precision, global DOP value, navigation terminal sky-space diagram, navigation terminal DOP value, navigation terminal precision, navigation terminal track, navigation terminal clock error and navigation terminal positioning precision time sequence. And information such as an interface, updating frequency, delay time, threshold setting and the like corresponding to each graph.
And the display module displays various charts generated by the data processing module.
The real-time station distribution diagram displays the real-time running state and the distribution condition of the global reference station, the running state is divided into a normal state and an abnormal state, and the information of the reference station and the real-time star-sky diagram can be obtained by clicking a certain reference station.
The navigation satellite distribution diagram displays the real-time off-satellite positions of global BDS/GPS/GLONASS/GALILEO satellites, and clicks one satellite to display the real-time state information of the satellite.
And displaying the positioning accuracy statistical results of the east direction, the north direction and the elevation direction of the global reference station based on the satellite-based enhanced product and a PPP algorithm by the global positioning plane accuracy and the global positioning elevation accuracy. And displaying the positioning statistical results of all the reference stations in a mode of the color bars corresponding to the numerical values.
The orbital product continuity displays the orbital product state of the BDS/GPS/GLONASS/GALILEO satellite in the last week, the X axis represents time, the Y axis represents the bar graph mode of the satellite, the green represents normal, and the red represents interruption.
And the latest orbit product precision displays the radial precision and the three-dimensional precision of the BDS/GPS/GLONASS/GALILEO satellite orbit obtained by the last precision orbit determination, and the radial precision and the three-dimensional precision are displayed in a histogram mode, wherein the X axis represents the satellite, and the Y axis represents the precision value.
The historical orbit product precision displays BDS/GPS/GLONASS/GALILEO satellite orbit radial precision and three-dimensional precision time series obtained by the last month precision orbit determination, the whole situation and trend of the last month orbit precision can be seen, and the whole situation and the trend are displayed in a line graph mode that the X axis represents time and the Y axis represents precision.
The clock correction product continuously displays the state of the BDS/GPS/GLONASS/GALILEO satellite clock correction product in the last week, the X axis represents time, the Y axis represents a bar graph mode of the satellite, the green represents normal, and the red represents interruption.
The latest clock error product precision displays the clock error precision of the BDS/GPS/GLONASS/GALILEO satellite which is solved for the latest clock error, and the clock error precision is displayed in a histogram mode by representing the satellite by an X axis and representing the clock error precision value by a Y axis.
The historical clock error product precision displays a BDS/GPS/GLONASS/GALILEO satellite clock error precision time sequence determined by the last month clock error calculation, the whole situation and trend of the last month clock error precision can be seen, and the time is displayed in a line graph mode by using an X axis to represent time and a Y axis to represent precision.
The global ionospheric TEC, global ionospheric RMS map displays the global ionospheric TEC content and the global ionospheric RMS value in the form of a thermodynamic map.
And displaying the global reference station RMS value participating in the ionosphere calculation by the ionosphere model accuracy diagram of the observation station in a manner that the color bars correspond to the numerical values.
The Differential Code Bias (DCB) time series shows the magnitude of the code bias value of each satellite of BDS/GPS/GLONASS/GALILEO in the last year, and is displayed as a line graph in which the X axis represents the satellite and the Y axis represents the magnitude of the value.
The satellite end phase deviation (UPD) time series shows the uncalibrated phase delay of the BDS/GPS/GLONASS/GALILEO satellite in the last week, and is displayed in a mode of a broken line graph with the X axis representing the satellite and the Y axis representing the numerical value.
The GEO service area shows the coverage of the GEO satellite broadcasting the augmentation information.
The spatial signal enhancement accuracy shows the spatial enhancement signal accuracy of the BDS/GPS/GLONASS/GALILEO satellite in the last month, and is displayed in a line graph mode that an X axis represents time and a Y axis represents numerical value.
The global DOP values show the global DOP value distribution for the last hour, shown in the form of a thermodynamic diagram.
And the navigation terminal star atlas displays the real-time star atlas condition of the navigation terminal.
The DOP value of the navigation terminal displays the PDOP, VDOP and HDOP values of the navigation terminal in the latest set time period, and the values are displayed in a line graph mode in which the X axis represents time and the Y axis represents the values.
The navigation terminal accurately displays the real-time positioning accuracy condition of the navigation terminal, and displays the real-time positioning accuracy condition in a target point diagram mode.
And the position of the navigation terminal displays the real-time position of the navigation terminal and the track of the latest time period, and the track is displayed in a dotting mode on a satellite map.
The clock error of the navigation terminal displays the receiver clock error of the latest set time period of the navigation terminal, and the receiver clock error is displayed in a line graph mode that an X axis represents time and a Y axis represents numerical values.
The navigation terminal positioning accuracy time sequence displays the time sequences of the accuracy of the latest time period of the navigation terminal in the east direction, the north direction and the elevation direction, and is displayed in a line graph mode in which the X axis represents time and the Y axis represents numerical values.
And the alarm module carries out real-time alarm on abnormal conditions of the global BDS/GNSS satellite-based augmentation system.
Firstly, a monitoring system monitors the operation condition of a satellite-based augmentation system in real time;
secondly, when the system runs normally, any alarm information is not generated, and when the system is abnormal, the alarm information is generated;
thirdly, notifying a related responsible person in a mail or short message mode according to the content of the alarm information;
fourthly, the related responsible person processes and solves the alarm content;
fifthly, the monitoring system monitors the solution of the abnormal condition in real time;
and sixthly, updating the alarm information state and displaying the alarm content as a solved state.
The alarm content designed in the invention, wherein ". star" refers to the file type or the reference station name mentioned in the second aspect of the invention.
The alarm information designed by the invention comprises alarm content, alarm time, recovery time, duration, current state, responsible person, type and alarm level.
The alarm inquiry function designed by the invention has the inquiry conditions of 5 items of alarm type, state, duration, responsible person and alarm level, and can select one or more items for inquiry.
The design content of the invention can comprehensively monitor the running state of the satellite-based augmentation system, and background data is converted into rich dynamic visual display charts, which are easy to display; in addition, the invention can carry out real-time state monitoring and alarming on the abnormity or fault in the running process of the satellite-based system, inform relevant responsible persons to process at the first time, and return the corresponding processing state according to the processing result, thereby ensuring the continuous and stable running of the system.
Drawings
FIG. 1 is a schematic diagram of a system for monitoring parameters of a satellite-based augmentation system designed according to the present invention;
FIG. 2 is a diagram of a ground reference station state dependent monitoring item designed in accordance with the present invention;
FIG. 3 is a total _ list output format of the total information of the reference station designed by the invention;
FIG. 4 is a single-site information site _ list output format designed by the present invention;
FIG. 5 is a star-based enhanced product monitoring classification designed in accordance with the present invention;
FIG. 6 is an example of an in-orbit satellite information file designed by the present invention;
FIG. 7 is an exemplary file format for satellite real-time and forecasted positions designed in accordance with the present invention;
FIG. 8 is an example of a precision track determination precision file designed by the present invention;
FIG. 9 is an example of a real-time clock error calculation accuracy file designed by the present invention;
FIG. 10 is an example of a global ionosphere TEC file designed in accordance with the present invention;
FIG. 11 is an example of a precision file for a ionosphere model of a survey station designed by the present invention;
FIG. 12 is an example of an uncalibrated phase delay accuracy and continuity file for the present design;
FIG. 13 is a file example of spatially enhanced signal continuity and accuracy designed in accordance with the present invention;
FIG. 14 is a file example of a constellation global PDOP value designed by the present invention;
FIG. 15 is an example of a global reference station positioning accuracy evaluation file designed in accordance with the present invention;
FIG. 16 is a block diagram of a monitoring and display system according to the present invention;
FIG. 17 is a diagram of the display effect of the monitoring and display system designed in accordance with the present invention;
FIG. 18 is a process flow of the alarm portion in the satellite based augmentation system monitoring designed by the present invention;
FIG. 19 is a diagram of specific fault types for a system alarm module designed in accordance with the present invention;
FIG. 20 is a diagram illustrating the alarm information content of the alarm module of the system according to the present invention;
FIG. 21 shows input condition items for alarm queries in the alarm module of the system according to the present invention.
Detailed Description
The invention designs a simple and feasible satellite-based augmentation system monitoring method, establishes a BDS/GNSS satellite-based augmentation monitoring and displaying system, solves the problem of operation monitoring of the satellite-based augmentation system, and improves the operating integrity and reliability of the satellite-based augmentation system.
The first aspect of the simple and feasible method and system for monitoring the satellite-based augmentation system comprises a satellite-based augmentation system monitoring parameter system which is specifically divided into four items of ground reference station state, satellite-based augmentation product, product broadcasting state and terminal service performance, and is shown in the attached drawing 1 in detail.
The ground reference station state is used for monitoring whether the running state of the global reference station is normal or not, and specifically comprises global reference station distribution, global reference station state, station measurement information, receiver type, antenna information, antenna DELTA H/E/N, observation value type, data state, data receiving rate, observation value state, ephemeris state, cycle slip state, real-time position, tracking satellite list, satellite altitude, satellite azimuth, real-time DOP value, real-time positioning accuracy ENU and real-time receiver clock error.
The satellite-based augmentation product is used for monitoring the product states of an orbit product, a clock error product, an ionosphere product and an uncalibrated phase delay UPD product which are resolved by a satellite-based augmentation system, and specifically comprises on-orbit navigation satellite information, a real-time subsatellite point position, a satellite forecasting position, an orbit determination station number, an orbit post-examination sigma, an orbit determination station residual error, an orbit determination satellite residual error, an orbit determination precision, an orbit forecasting precision, an orbit product continuity, a real-time clock error resolving station number, a real-time clock error determining precision, an ionosphere resolving station number, a global ionosphere TEC precision, a station ionosphere model precision, an uncalibrated phase delay UPD resolving station number, a UPD product precision, a space augmentation signal continuity, a space augmentation signal precision and a global DOP value.
The product broadcasting state is used for monitoring the broadcasting state of the satellite-based enhanced product and comprises a real-time track correction number broadcasting state, a real-time track correction number broadcasting correctness, a real-time clock difference correction number broadcasting state, a real-time clock difference correction number broadcasting correctness, an ionosphere product broadcasting state, an ionosphere product broadcasting correctness, a UPD product broadcasting state and a UPD product broadcasting correctness.
The terminal positioning performance is used for monitoring the positioning performance obtained by the global reference station and the navigation positioning terminal by utilizing a satellite-based enhanced product, and specifically comprises global positioning plane precision, global positioning elevation precision, PPP positioning continuity, PPP positioning availability, PPP positioning precision time sequence, a terminal real-time positioning precision target point diagram, a terminal real-time positioning position and track, a terminal satellite tracking condition, a terminal sky diagram, a terminal DOP value and a terminal receiver clock error.
The second aspect of the present invention includes the classification, file naming, file format, alarm threshold, update frequency and delay time of each type of monitoring items (described in the first aspect of the present invention) of the BDS/GNSS satellite based augmentation system, which is detailed in table 1. YYYY, MM, DD, HH, MM respectively mark year, month, day, hour, minute.
The file format description in the invention is in the form of the Fortran programming language, one format usually has the following form: [ r ] fw [ m ] wherein r is a repetition factor indicating the number of repetitions of the following, and the r portion is optional; f is a data type symbol, X, A, I and F are used in the invention, X represents a blank space, A represents a character type, I is an integer type, and F is a single-precision floating point type; w represents the field width; m represents the minimum number of digits or characters in the current field, and represents the decimal place when the data type is a floating point type.
TABLE 1 details of the monitoring items of the satellite-based augmentation System
The state monitoring of the ground reference station is classified into two types, and the detailed description is shown in an attached figure 2; one type is total _ list of the reference station, and is used for recording station measurement information, receiver types, antenna types, observation value types and data states of the global reference station; and the other type is single-station information site _ list which is used for recording the data receiving rate, the observed value state, the ephemeris state, the cycle slip state, the real-time position, the tracking satellite list, the satellite altitude angle, the satellite azimuth angle, the real-time positioning precision ENU and the real-time receiver clock error of a certain reference station.
The total information total _ list of the reference station is designed to be updated once every 1s, updated in real time, and the detailed output format is shown in figure 3 and comprises two parts, namely time information and reference station list information; the time information is represented by a simplified julian day (integer type) and a second in the day (floating point type), and the list information of the reference stations is represented by a long character string, wherein the character string sequentially comprises latitude, longitude, geodetic height, data state identification, receiver type, antenna height and system frequency information of each reference station according to the sequence of the reference stations. The data of different types of the same station are used for 'separation and the data of different stations are used for'; ' separation.
The single-station information site _ list is designed to be updated every 1s, and is updated in real time, and the detailed output format is shown in figure 4 and comprises two parts, namely time information and positioning information; the time information is represented by simplified julian days (integer type) and intra-day seconds (floating point type), and the positioning information is represented by a long character string, wherein the character string sequentially comprises latitude, longitude, earth height, data receiving rate, observed value state, ephemeris state, cycle slip state, dE, dN, dU, total number of observable satellites, BDS satellite number, GPS satellite number, GLONASS satellite number, GALILEO satellite number, QZSS satellite number, PDOP, HDOP, VDOP, TDOP, receiver clock error, satellite PRN number, altitude angle, azimuth angle satellite PRN number, altitude angle and azimuth angle …; data of different types are separated by ','; ' denotes an end symbol.
The monitoring of the satellite-based enhanced product is classified into 6 types, satellite position, precise orbit determination, real-time clock error calculation, ionosphere calculation, UPD calculation and space enhancement signals, and the details are shown in an attached figure 5.
The satellite position class contains on-orbit satellite information, real-time satellite positions, and satellite forecasted positions.
Dat, designing a text file satinfo.dat in the on-orbit satellite information, wherein the updating frequency is once updated in 3 hours, the updating frequency is the same as the determined updating frequency of the precise orbit, and the delay time is 5 minutes; dat includes information such as a satellite PRN number, an SVN number, a satellite type, a COSPAR ID, an activation date, a failure date, quality, a radio frequency number, and the like, wherein 5 lines of time and format descriptive information in the front of a file are satellite parameter information from the 6 th line, each satellite occupies one line, and the specific formats are shown in table 2 and fig. 6, wherein each satellite is satellite parameter information, GPS satellite information, BDS satellite information, GLONASS satellite information, GALILEO satellite information, and QZSS satellite information.
Table 2 satinfo
Designing a file with a suffix name sat at the real-time satellite position and the forecast position, wherein the update frequency is 3 hours, and the delay time is 2 hours; the sat includes satellite positions 24 hours before and 24 hours after the current time point, and is represented by epoch time of GPST and latitude, longitude, and altitude (BLH) at 15-minute intervals, each epoch includes a GPS satellite BLH position, a BDS satellite BLH position, a GLONASS satellite BLH position, and a GALILEO satellite BLH position in sequence, and the specific format is shown in table 3, and an example is shown in fig. 7.
Table 3 sat File Format description
The precise track determination designs a file with a suffix name of orb to record the relevant state of the orbit determination, wherein the relevant state comprises the number of stations for measuring the orbit, the error sigma in unit weight after the orbit determination, the track determination precision, the track forecast precision and the track product continuity, the update frequency is 3 hours, and the delay time is 2 hours; orb includes start time for orbit determination, arc length for orbit determination, processing interval, number of orbit determination satellites, number of orbit determination stations, error in unit weight after verification, three-dimensional position error and radial error of each satellite, and its specific format is shown in table 4 and its example is shown in fig. 8.
TABLE 4 orb description of the File Format
A file with the suffix name clk is designed for real-time clock difference resolving to record real-time clock difference determination precision and clock difference product continuity, the updating frequency is 3 hours, and the delay time is 3 hours; the clk file contents include start time, arc length, processing interval, reference satellite, estimated satellite, and clock error accuracy for each satellite, in the specific format shown in table 5 and for example in fig. 9.
TABLE 5 clk File Format description
The ionosphere resolving designs 4 types of files to record global ionosphere TEC, global ionosphere TEC precision, station-surveying ionosphere model precision and inter-frequency deviation DCB files respectively.
The global ionosphere TEC records grid data of the global ionosphere TEC with a file with a suffix name of inx, with an update frequency of 5 minutes and a delay time of 5 minutes. inx file contains information such as start time, processing interval, latitude range, longitude range, latitude interval value, longitude interval value, TEC value for each grid point, etc. Wherein grid data points are designed to be one point every 5 degrees longitude and 2.5 degrees latitude, the specific format of the file is shown in table 6, and the example is shown in fig. 10.
TABLE 6 inx and rms File Format Specification
The global ionized layer TEC precision designs a file with a suffix name of rms to record grid data of the global ionized layer TEC precision, the updating frequency is 5 minutes, and the delay time is 5 minutes; like the inx file, the rms file contains information such as start time, processing interval, latitude range, longitude range, latitude interval value, longitude interval value, TEC precision for each grid point, etc.; the grid data points are designed to be one point every 5 degrees in longitude and 2.5 degrees in latitude, and the specific format of the file is shown in table 7.
TABLE 7 rms File Format description
The precision design of the ionosphere model of the measuring station records the rms value of the global measuring station when the ionosphere is resolved by using a file with a suffix name of blh, the updating frequency is 5 minutes, and the delay time is 5 minutes; blh the file contains the start time, processing interval, station count, longitude and latitude for each station and rms value, the specific format of the file is shown in Table 8, an example is shown in FIG. 11.
TABLE 8 blh description of the File Format
The uncalibrated phase delay UPD solution contains UPD product accuracy and UPD product continuity, a file with a suffix name of fcb is designed to record UPD related information, the update frequency is 3 hours, and the delay time is 5 minutes. fcb the file contains epoch time, satellite PRN number, frequency point identification, wide lane value, wide lane sigma, narrow lane value, narrow lane sigma, the specific format of the file is shown in Table 9, and the example is shown in figure 12.
TABLE 9 fab File Format description
The spatial enhancement signal comprises spatial enhancement signal continuity, spatial enhancement signal precision and constellation global DOP value.
The spatial enhancement signal continuity and accuracy design a file with the suffix name of sis for recording, the updating frequency is 3 hours, the delay time is 5 hours, and the file comprises a processing interval, a processing time length, the radial, tangential and normal accuracy of each satellite prediction orbit, clock error accuracy and the spatial signal enhancement accuracy obtained comprehensively. The specific format of the file is shown in Table 10, and an example is shown in FIG. 13.
TABLE 10 sis File Format description
A file with a suffix name of DOP is designed for the constellation global DOP value to record the global DOP value, the updating frequency is 1 day, and the delay time is one day; the file contains the start time, end time, satellite system involved in the calculation, satellite PRN number, processing interval, cut-to-height angle, 95% quantile value for HDOP, VDOP, and PDOP for each grid point for one day, in the specific format of table 11, and the example file is shown in fig. 14.
TABLE 11 DOP File Format description
The terminal positioning performance is used for monitoring the positioning accuracy which can be achieved by a global reference station based on BDS/GNSS satellite-based enhanced products and various positioning terminals; the invention designs a file with a suffix name of pos to record the positioning accuracy statistical condition of the global reference station, and the real-time positioning of various terminals is realized by a single-station information design part.
The updating frequency of the positioning precision file pos of the global reference station is 1 hour, and the delay time is 5 minutes; the pos file contains the statistical start time, end time, sampling interval, cut-to-height angle, longitude, latitude, geodetic height, eastern deviation, northern deviation, elevational deviation, horizontal deviation, and three-dimensional position deviation for each reference station, in the specific format of table 12, and the example file is shown in fig. 15.
TABLE 12 pos File Format description
The third aspect of the invention designs and realizes a set of monitoring and displaying system based on the BDS/GNSS satellite-based augmentation system, which can monitor key items of the satellite-based augmentation system, alarm the found abnormality, visually display various monitoring parameters and monitoring results, and improve the operation reliability of the satellite-based augmentation system.
The monitoring and display system designed by the invention comprises a data input module, a data processing module, a display module, an alarm module and a system management module, which are shown in the attached figure 16 in detail.
The input module is a data source of the monitoring display system, generally is a state file, a product file and the like of each subsystem of the satellite-based augmentation system, the files are coded according to the data types and formats designed according to the first aspect and the second aspect of the invention and are used as data input of the monitoring display system, input data are respectively pushed to a file FTP server and a Mysql database for data storage according to the updating frequency, wherein the updating frequency of the total information, the single-station information, the user terminal information and the like of a reference station is high and is stored in the database, and files of other types are stored in the file FTP server.
The data processing module reads, analyzes, processes, plots and generates alarm information for the input data; the data processing module actually and correspondingly processes 24 items of chart contents, namely real-time station distribution, navigation satellite distribution, global positioning plane precision, global positioning elevation precision, track product continuity, latest track product precision, historical track product precision, clock error product continuity, latest clock error product precision, historical clock error product precision, global ionized layer TEC, global ionized layer RMS, observation station ionized layer model precision, differential code Deviation (DCB) time sequence, satellite end phase deviation (UPD) time sequence, GEO satellite service range, space enhanced signal precision, global DOP value, navigation terminal sky-space diagram, navigation terminal DOP value, navigation terminal precision, navigation terminal track, navigation terminal clock error and navigation terminal positioning precision time sequence. The interface, update frequency, delay time, threshold setting, and other information corresponding to each graph are shown in table 13.
Table 13 monitoring chart and interface relation tracing table
And the display module displays various charts generated by the data processing module. The display effect of the monitoring display system designed by the invention is shown in figure 17, and the total number of the 24 charts is 4 in each row and is 6 in total.
The real-time station distribution diagram displays the real-time running state and the distribution condition of the global reference station, the running state is divided into a normal state and an abnormal state, and the information of the reference station and the real-time star-sky diagram can be obtained by clicking a certain reference station.
The navigation satellite distribution diagram displays the real-time off-satellite positions of global BDS/GPS/GLONASS/GALILEO satellites, and clicks one satellite to display the real-time state information of the satellite.
Displaying the positioning accuracy statistical results of the east direction, the north direction and the elevation direction obtained by the global reference station based on the satellite-based enhanced product and the PPP algorithm by the global positioning plane accuracy and the global positioning elevation accuracy; and displaying the positioning statistical results of all the reference stations in a mode of the color bars corresponding to the numerical values.
The orbital product continuity displays the orbital product state of the BDS/GPS/GLONASS/GALILEO satellite in the last week, the X axis represents time, the Y axis represents the bar graph mode of the satellite, the green represents normal, and the red represents interruption.
And the latest orbit product precision displays the radial precision and the three-dimensional precision of the BDS/GPS/GLONASS/GALILEO satellite orbit obtained by the last precision orbit determination, and the radial precision and the three-dimensional precision are displayed in a histogram mode, wherein the X axis represents the satellite, and the Y axis represents the precision value.
The historical orbit product precision displays BDS/GPS/GLONASS/GALILEO satellite orbit radial precision and three-dimensional precision time series obtained by the last month precision orbit determination, the whole situation and trend of the last month orbit precision can be seen, and the whole situation and the trend are displayed in a line graph mode that the X axis represents time and the Y axis represents precision.
The clock correction product continuously displays the state of the BDS/GPS/GLONASS/GALILEO satellite clock correction product in the last week, the X axis represents time, the Y axis represents a bar graph mode of the satellite, the green represents normal, and the red represents interruption.
The latest clock error product precision displays the clock error precision of the BDS/GPS/GLONASS/GALILEO satellite which is solved for the latest clock error, and the clock error precision is displayed in a histogram mode by representing the satellite by an X axis and representing the clock error precision value by a Y axis.
The historical clock error product precision displays a BDS/GPS/GLONASS/GALILEO satellite clock error precision time sequence determined by the last month clock error calculation, the whole situation and trend of the last month clock error precision can be seen, and the time is displayed in a line graph mode by using an X axis to represent time and a Y axis to represent precision.
The global ionospheric TEC, global ionospheric RMS map displays the global ionospheric TEC content and the global ionospheric RMS value in the form of a thermodynamic map.
And displaying the global reference station RMS value participating in the ionosphere calculation by the ionosphere model accuracy diagram of the observation station in a manner that the color bars correspond to the numerical values.
The Differential Code Bias (DCB) time series shows the magnitude of the code bias value of each satellite of BDS/GPS/GLONASS/GALILEO in the last year, and is displayed as a line graph in which the X axis represents the satellite and the Y axis represents the magnitude of the value.
The satellite end phase deviation (UPD) time series shows the uncalibrated phase delay of the BDS/GPS/GLONASS/GALILEO satellite in the last week, and is displayed in a mode of a broken line graph with the X axis representing the satellite and the Y axis representing the numerical value.
The GEO service area shows the coverage of the GEO satellite broadcasting the augmentation information.
The spatial signal enhancement accuracy shows the spatial enhancement signal accuracy of the BDS/GPS/GLONASS/GALILEO satellite in the last month, and is displayed in a line graph mode that an X axis represents time and a Y axis represents numerical value.
The global DOP values show the global DOP value distribution for the last hour, shown in the form of a thermodynamic diagram.
And the navigation terminal star atlas displays the real-time star atlas condition of the navigation terminal.
The DOP value of the navigation terminal displays the PDOP, VDOP and HDOP values of the navigation terminal in the latest set time period, and the values are displayed in a line graph mode in which the X axis represents time and the Y axis represents the values.
The navigation terminal accurately displays the real-time positioning accuracy condition of the navigation terminal, and displays the real-time positioning accuracy condition in a target point diagram mode.
And the position of the navigation terminal displays the real-time position of the navigation terminal and the track of the latest time period, and the track is displayed in a dotting mode on a satellite map.
The clock error of the navigation terminal displays the receiver clock error of the latest set time period of the navigation terminal, and the receiver clock error is displayed in a line graph mode that an X axis represents time and a Y axis represents numerical values.
The navigation terminal positioning accuracy time sequence displays the time sequences of the accuracy of the latest time period of the navigation terminal in the east direction, the north direction and the elevation direction, and is displayed in a line graph mode in which the X axis represents time and the Y axis represents numerical values.
The warning module performs real-time warning on abnormal conditions occurring in the global BDS/GNSS satellite-based augmentation system, and the working flow of the warning module is shown in fig. 18.
Firstly, a monitoring system monitors the operation condition of a satellite-based augmentation system in real time;
secondly, when the system runs normally, any alarm information is not generated, and when the system is abnormal, the alarm information is generated;
thirdly, notifying a related responsible person in a mail or short message mode according to the content of the alarm information;
fourthly, the related responsible person processes and solves the alarm content;
fifthly, the monitoring system monitors the solution of the abnormal condition in real time;
and sixthly, updating the alarm information state and displaying the alarm content as a solved state.
The alarm content designed in the invention is shown in fig. 19, wherein ". star" refers to the file type or the reference station name mentioned in the second aspect of the invention.
The alarm information designed by the invention comprises alarm content, alarm time, recovery time, duration, current state, responsible person, type and alarm level, and is shown in figure 20.
The alarm query function designed by the invention has the query conditions of 5 items of alarm types, states, duration, responsible persons and alarm levels, and can select one or more items for query, as shown in figure 21.
Claims (2)
1. A simple and feasible method and system for monitoring a satellite-based augmentation system, on the first hand, the method comprises a satellite-based augmentation system monitoring parameter system which is specifically divided into four items of ground reference station state, satellite-based augmentation products, product broadcasting state and terminal service performance;
the method comprises the steps that the state of a ground reference station is used for monitoring whether the running state of the global reference station is normal or not, a satellite-based enhanced product is used for monitoring the product states of an orbit product, a clock error product, an ionosphere product and an uncalibrated phase delay UPD product which are resolved by a satellite-based enhanced system, the product broadcasting state is used for monitoring the broadcasting state of the satellite-based enhanced product, and the terminal positioning performance is used for monitoring the positioning performance obtained by the global reference station and a navigation positioning terminal by using the satellite-based enhanced product.
2. A simple and feasible method and system for monitoring a satellite-based augmentation system as claimed in claim 1, wherein the second aspect comprises classification, file naming, file format, alarm threshold, update frequency and delay time of each type of monitoring items of the BDS/GNSS satellite-based augmentation system.
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