CN110988939A - Semi-distributed satellite navigation acquisition monitoring system and method - Google Patents
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Abstract
The invention discloses a semi-distributed satellite navigation acquisition monitoring system and a semi-distributed satellite navigation acquisition monitoring method, which belong to the technical field of satellite navigation, and comprise a control main platform, a monitoring sub-platform and stations, wherein the monitoring sub-platform is connected with a plurality of stations, the monitoring sub-platform and the stations form monitoring partitions, the control main platform is connected with a plurality of monitoring partitions, and the stations comprise two working modes of user stations and mobile acquisition stations; according to the semi-distributed satellite navigation acquisition monitoring method, after the station is moved and switched to other areas, the optimal monitoring sub-platform is selected according to the geographical position of the station and the processing pressure of the monitoring sub-platform, so that the transmission delay and the processing delay of the observation data are reduced as much as possible, the time-space correlation degree of the observation data monitoring information product is enhanced, and the user experience is improved.
Description
Technical Field
The invention belongs to the technical field of satellite navigation, and particularly relates to a semi-distributed satellite navigation acquisition monitoring system and method.
Background
Under the background of rapid development and increasingly severe competition of satellite navigation technology, the performance problem of a satellite navigation system gradually draws wide attention, and the performance of the satellite navigation system directly influences the operation and service level of the satellite navigation system. The main objective of the satellite navigation monitoring and evaluation is to monitor and evaluate the running state and main performance indexes of a global satellite navigation system by establishing a global near real-time tracking network with full arc and multiple coverage of a navigation satellite and an information service platform with functions of data acquisition, storage, analysis, management, release and the like, so as to realize constellation availability monitoring, space signal quality monitoring and evaluation, navigation information monitoring and evaluation and navigation service performance monitoring and evaluation, generate various monitoring and evaluation products, provide satellite navigation observation data and various data products for users, and support satellite navigation technical tests, monitoring and evaluation, geodetic survey, scientific research and various applications. The existing satellite navigation monitoring stations and evaluation systems mainly comprise the following types: the satellite navigation system comprises a monitoring station of a satellite navigation internal operation control system, international satellite navigation service (IGS) constructed by international cooperative organization, a satellite navigation monitoring evaluation system (iGMAS) constructed by a China satellite navigation system management office test evaluation research center and the like, and a monitoring system self-built by an industry user according to self requirements. The monitoring system mainly comprises a station and a monitoring platform. The stations are deployed in different regions to form an acquisition station network, so that signal receiving and measurement of satellite navigation and acquisition of original observation data are mainly completed, and part of acquisition stations have certain data analysis and monitoring capabilities; the monitoring platform receives data sent by the acquisition station, carries out data quality analysis, realizes constellation availability monitoring, space signal quality monitoring and evaluation, navigation information monitoring and evaluation and navigation service performance monitoring and evaluation, and then issues products and services for various users.
However, for an ever-increasing large number of satellite navigation users, the satellite navigation monitoring information with the most timeliness and practical value is mainly observation data quality information with strong space-time correlation, that is, availability information of satellite navigation observation data at any time and any place, and the observation data includes pseudo-range observation quantity, carrier phase observation quantity and navigation message, which is the basis and key for the user to use satellite navigation to realize positioning navigation. The existing satellite navigation monitoring and evaluating system still has the following limitations: (1) the method is mainly used for monitoring the overall operation condition of the satellite navigation system, and is not suitable for flexible application scenes of observation data for massive users; (2) the network coverage of the acquisition station is limited, the spatial correlation degree between the observation environment and the user observation environment is low, and the monitoring coverage can be expanded only by constructing a large number of acquisition stations according to the existing scheme, so that the maintenance cost is high; (3) the existing monitoring has the defects of large data quantity, multiple types, and large processing pressure and transmission pressure. Therefore, certain transmission delay and processing delay exist, the evaluation result cannot be directly accessed to a user for use in time, most monitoring and evaluation services and products need to be downloaded from a website for resolving and contrastive analysis afterwards, and the time correlation degree of the observation data products is low.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a semi-distributed satellite navigation acquisition monitoring system and a semi-distributed satellite navigation acquisition monitoring method.
The invention provides a semi-distributed satellite navigation acquisition monitoring system, which comprises a control main platform, a monitoring sub-platform and a station (namely a user receiver), wherein the monitoring sub-platform is connected with a plurality of stations, the monitoring sub-platform and the station form a monitoring partition, the control main platform is connected with a plurality of monitoring partitions, and the station comprises two working modes of a user station and a mobile acquisition station;
the control main platform is used for receiving geographic position information of a station, distributing the monitoring sub-platform to the station according to a semi-distributed monitoring sub-platform distribution strategy, and after the station is moved and switched to other areas, selecting the optimal monitoring sub-platform according to the geographic position of the station and the processing pressure of the monitoring sub-platform so as to reduce the transmission delay and the processing delay of observation data, enhance the space-time correlation degree of an observation data monitoring information product and improve the user experience;
the monitoring sub-platform is used for receiving information such as space-time observation data uploaded by the mobile acquisition station, processing and analyzing the information, constructing and dividing data dimensions and generating monitoring information of large space-time observation data; monitoring information used for requesting satellite navigation space-time observation big data to a subordinate station; the system is used for auditing a mobile acquisition station working mode switching application submitted by a user station and issuing a mode switching instruction; the system is used for periodically checking the mobile acquisition station according to a switching strategy, and switching the mobile acquisition station back to a user station mode if the mobile acquisition station is judged to not meet the requirements of the acquisition station any more;
the user station eliminates abnormal data according to quality monitoring information of satellite navigation space-time observation big data broadcasted by a monitoring sub-platform, improves the quality of observation data, optimizes resolving efficiency and positioning precision, and enhances positioning reliability; after the station is accessed into the monitoring system, the default initial mode is a user station mode, the user station can apply to switch into a mobile acquisition station working mode, and the mobile acquisition station can be executed;
the mobile acquisition station is switched from a user station through modes to realize the satellite navigation data acquisition function, the main functions are data acquisition, signal receiving and uploading, the data signals comprise one or more of satellite navigation observation data, resolving results and high-precision position information, and the data signals are uploaded to the monitoring sub-platform through the existing communication network.
The invention also provides a semi-distributed satellite navigation acquisition monitoring method, which comprises the following steps:
s1, after a station is accessed into a monitoring system, initially defaulting to a user station mode, and sending a positioning result to a control overall platform through a communication network;
s2, the control main platform distributes the affiliated monitoring sub-platforms to the user stations for the first time according to a semi-distributed monitoring sub-platform distribution strategy, namely the user stations and the monitoring sub-platforms are optimally matched and belong to monitoring partitions administered by the monitoring sub-platforms;
s3, broadcasting satellite navigation space-time observation big data monitoring information products to subordinate sites in the monitoring subareas administered by the monitoring subareas;
s4, if the user station wants to switch to the working mode of the mobile acquisition station, submitting an examination application to a monitoring sub-platform of the monitoring partition, and after receiving the application of the user station, judging whether the user station can become the mobile acquisition station or not through the completeness and authenticity examination of basic information by the monitoring sub-platform;
s5, after the user station is switched to a working mode of the mobile acquisition station, executing the function of the mobile acquisition station, and transmitting data signals of corresponding levels to the monitoring sub-platform in real time, wherein the data signals comprise one or more of satellite navigation observation data, resolving results and high-precision position information;
s6, carrying out dimension division on observation data uploaded by the mobile acquisition stations in the monitoring subareas governed by the monitoring subarea platform according to a data dimension division strategy according to space-time information and type information, summarizing the observation data with data of other mobile acquisition stations, and then carrying out processing analysis by the monitoring subarea platform to generate a space-time observation big data monitoring information product of the monitoring subarea and broadcasting the product to all stations in the monitoring subarea;
s7, the monitoring sub-platform carries out periodic inspection on the mobile acquisition station of the monitoring sub-area, and judges whether the mobile acquisition station can continuously maintain the working mode of the acquisition station or not according to the data credibility;
and S8, controlling the main platform to periodically update the site information of the subordinate monitoring subareas of the monitoring subareas.
In step S2, the semi-distributed monitoring sub-platform allocation strategy specifically includes:
the control main platform jointly judges according to the geographical position of the station and the processing pressure of the monitoring sub-platforms, an optimal monitoring sub-platform is allocated to the station, the control main platform belongs to n monitoring sub-platforms, the serial number i of the control main platform is 1,2 and … n, and the monitoring sub-platform allocated to the user station u belongs to:
in formula (1):
iuindicating the serial number of the monitoring sub-platform to which the user station u belongs;
mirepresenting the total number of all stations (including the user station and the mobile acquisition station) under the ith monitoring sub-platform;
DS represents a distance threshold between the subscriber station and the monitoring sub-platform; the matching degree of the monitoring sub-platform and the station is determined by the value of the DS, the satellite navigation service environment of the station and the monitoring sub-platform are reduced due to overlarge value of the DS, the transmission delay is increased, and the monitoring sub-platform matched with the current user station possibly does not exist due to the fact that the DS is too small value.
The monitoring sub-platforms can report the position information of subordinate sites to the control main platform regularly, the control main platform judges whether the sites have moved to the management areas of other monitoring sub-platforms or not according to the position information of the sites, if deviation occurs, the monitoring sub-platforms to which the sites belong are updated, the current monitoring sub-platforms are informed, the sites are deleted from the site set, and the information is added to the monitoring sub-platforms after cross-area.
In step S4, the basic information includes, but is not limited to, receiver type, model, manufacturer, and location information.
In step S4, the determining whether the subscriber station can become a mobile collecting station is as follows:
if the user station becomes the mobile acquisition station through examination, the monitoring sub-platform issues a mode switching instruction, and the user station is switched to a working mode of the mobile acquisition station;
if the information does not pass the audit, for example, the information is incomplete, the operation mode of the user station is continuously kept, and the next audit application can be submitted after the application information is perfected.
In step S6, the data dimension division policy specifically includes:
after the mobile acquisition station is switched to a working mode, the mobile acquisition station uploads satellite navigation observation data, a calculation result and high-precision position information to the monitoring sub-platform in real time, the monitoring sub-platform establishes three dimensions of the observation data according to the time-space information and the type information of the observation data, namely a space dimension, a time dimension and a type dimension, and basic configuration information of the observation data acquired by each mobile acquisition station contains the information of the three dimensions; the minimum units of the space dimension and the time dimension are configured by the monitoring sub-platforms, and after monitoring information is broadcasted to users, the users can set at the user side according to actual use conditions and select to receive the monitoring information covering a certain time period and a certain area space.
In step S7, the determination as to whether the mobile collecting station can continue to maintain the working mode of the collecting station is as follows:
if the mobile collection station passes the inspection, the working mode of the collection station is continuously kept;
if the mobile acquisition station does not pass the check, the mode of the mobile acquisition station is switched to the working mode of the user station, only the function of the user station is executed, and the next application for switching the working mode of the mobile acquisition station can be submitted after the correction.
The mobile acquisition station mode is switched to the user station mode, and the specific strategy is as follows:
the monitoring sub-platform determines whether the mobile acquisition station can maintain the working mode by periodically judging the reliability of observation data uploaded by the mobile acquisition station, wherein the reliability of the observation data refers to the measurement that the observation data uploaded to the monitoring sub-platform by the mobile acquisition station is objective real data, the observation data comprises navigation messages, pseudo ranges and carrier phases, the observation data uploaded by different mobile acquisition stations at the same time and in the same space meet a certain rule, the pseudo range observation quantity and the carrier phase observation quantity are within a certain numerical value interval, and the contents of the navigation messages are consistent. Therefore, whether the data uploaded by a certain flow acquisition station is objective and real can be judged by comparing and checking the same time-space observation data uploaded by different flow acquisition stations.
Further, for non-numerical observation data such as navigation messages, the reliability of the navigation messages is judged by comparing the consistency of the navigation messages uploaded by different mobile acquisition stations, and the implementation steps are as follows:
1) counting navigation messages uploaded by n mobile acquisition stations in a certain time space (same time and same space), and recording the navigation messages as { M }1，M2，...，Mi，...，Mn}；
2) Navigation message M uploaded by a certain flow acquisition station iiComparing the obtained result with other messages in the same time and space, performing XOR operation according to the bit, if the XOR value is 1, indicating inconsistency, and counting the result and MiRecording the consistent navigation message number as m;
3) setting the confidence threshold value as theta (theta can be equal to 0.9), and if M/(n-1) is equal to or more than theta, considering that the navigation message M uploaded by the flow acquisition station iiAnd if the reliability is not less than theta, the navigation message content is objective and real, otherwise, the navigation message state uploaded by the mobile acquisition station is marked as abnormal.
Further, for numerical observation data such as pseudo-range observation quantity and carrier phase observation quantity, whether the numerical observation data is credible or not is judged by calculating whether the numerical observation data is in a reasonable interval, and the implementation steps are as follows:
a) if n mobile acquisition stations in a time-space total are set, firstly, a pseudo-range observation effective value (namely, the root mean square of pseudo-range observations of all frequency points of all satellites) is calculated for all frequency points of all satellites received by a certain mobile acquisition station i (i is 1,2 … n)Value) CiAnd the effective value P of the carrier observed quantityi；
b) Counting pseudo range observed quantities { C ] of n mobile acquisition stations1，C2，...，Ci，...，CnMean u (C) and standard deviation σ (C), and carrier-phase observation { P }1，P2，...，Pi，...，PnMean u (P) and standard deviation σ (P):
c) statistics of the set of pseudorange observations { C1，C2，...，Ci，...，CnCalculating upper and lower limits T of reasonable valuesCAnd BC，TC＝xC+1.5(xC-yC)，BC＝xC+1.5(xC-yC) Wherein x isCA pseudorange observation representing a pseudorange observation having 1/4 is greater than the observation, yCA pseudorange observation representing a pseudorange observation and having 1/4 less than the observation; the carrier phase observed quantity { P) is obtained in the same way1，P2，...，Pi，...，PnT of }PAnd BP；
d) If the pseudo-range observed quantity of the mobile acquisition station i meets the following conditions:
{|Ci-u(C)|＞3σ(C)}&&{Ci∈(-∞，BC)∪(TC, + ∞), considering the pseudo range observation quantity of the mobile acquisition station not in a reasonable interval as untrusted data, and marking the state as abnormal;
similarly, if the carrier phase observed quantity of the mobile acquisition station i meets the following requirements:
{|Pi-u(P)|＞3σ(P)}&&{Pi∈(-∞，BC)∪(TC, + ∞), the carrier phase observation is considered to be unreliable, and the state is marked as abnormal.
The monitoring sub-platform checks data of the mobile acquisition station at regular intervals (for example, every 60min), if only one of pseudo-range observed quantity, carrier phase observed quantity and navigation message is marked as abnormal data through calculation, the monitoring sub-platform increases checking frequency (for example, once for 10 min) of data uploaded by the corresponding acquisition station, if abnormal data maintaining time exceeds a threshold t (60 min can be taken), the data uploaded by the mobile acquisition station is considered to be unreliable, the mobile acquisition station is not adopted to observe the data and is informed to the mobile acquisition station, the mobile acquisition station can interpret or adjust within a specified time limit (for example, 2 days), and otherwise, the mobile acquisition station is switched to a subscriber station mode.
In step S8, the control center platform periodically updates the station information, specifically:
the monitoring sub-platform reports the location information of subordinate subscriber stations and the mobile acquisition station to the control main platform, the control platform judges whether the subscriber stations or the mobile acquisition station have moved to a monitoring partition of other monitoring sub-platforms or not according to the geographical location information of the station and a semi-distributed monitoring sub-platform distribution strategy, if the subscriber stations or the mobile acquisition station have moved to a monitoring partition of other monitoring sub-platforms, the monitoring sub-platform information of the station is updated, the station is deleted from the current monitoring sub-platform subordinate station set and then added to the monitoring sub-platform subordinate station set after the station is moved, and the subscriber stations or the mobile acquisition station updates the monitoring sub-platform information of the station.
Compared with the prior art, the invention has the beneficial technical effects that:
(1) according to the semi-distributed satellite navigation acquisition monitoring method, after the station is moved and switched to other areas, the optimal monitoring sub-platform is selected according to the geographical position of the station and the processing pressure of the monitoring sub-platform, so that the transmission delay and the processing delay of the observation data are reduced as much as possible, the time-space correlation degree of the observation data monitoring information product is enhanced, and the user experience is improved.
(2) According to the quality monitoring of the observation data, the observation data with problems or large errors can be removed, so that the quality of the observation data of a user is improved, the resolving efficiency and the positioning precision are optimized, and the positioning reliability is enhanced.
(3) The method provides satellite navigation time-frequency service capability information of specified time and space for a user, provides decision support for the user to adaptively select satellite navigation service, and judges whether the observation environment around a station and the influence of the observation environment on positioning precision by analyzing satellite navigation observation data of different time and space, so that operation points with poor observation environment are effectively avoided.
(4) The quality of observation data of the system is evaluated regularly, and the satellite navigation system can be assisted to monitor and optimize in the operation process and analyze and check the abnormity.
Drawings
Fig. 1 is a schematic diagram of a semi-distributed satellite navigation acquisition monitoring system.
Fig. 2 is a flow chart of the operation of the subscriber station-mobile acquisition station.
Fig. 3 is a flow chart of the operation of the monitoring sub-platform.
Fig. 4 is a flow chart of the control of the overall platform operation.
Detailed Description
The invention will be further illustrated with reference to the following specific examples and the accompanying drawings:
fig. 1 is a schematic diagram of a semi-distributed satellite navigation acquisition monitoring system in this embodiment, which includes a main control platform, a sub-monitoring platform, and a station (i.e., a user receiver), where the sub-monitoring platform is connected to a plurality of stations, the sub-monitoring platform and the station constitute a monitoring partition, the main control platform is connected to a plurality of monitoring partitions, and the station includes two operating modes, i.e., a user station and a mobile acquisition station;
controlling the general platform: the scheme needs a total control platform, belongs to a plurality of monitoring sub-platforms and is used for receiving the geographical position information of the site, distributing the monitoring sub-platforms to the site according to a semi-distributed monitoring sub-platform distribution strategy, and after the site is moved and switched to other areas, selecting the optimal monitoring sub-platform according to the geographical position of the site and the processing pressure of the monitoring sub-platforms so as to reduce the transmission delay and the processing delay of observation data, enhance the space-time correlation degree of observation data monitoring information products and improve the user experience;
the monitoring branch platform: the scheme needs a plurality of monitoring sub-platforms, each monitoring sub-platform belongs to a plurality of stations and is used for receiving information such as space-time observation data uploaded by a mobile acquisition station, processing and analyzing the information, constructing and dividing data dimensions and generating monitoring information of space-time observation big data; monitoring information used for requesting satellite navigation space-time observation big data to a subordinate station; the system is used for auditing a mobile acquisition station working mode switching application submitted by a user station and issuing a mode switching instruction; the system is used for periodically checking the mobile acquisition station according to a switching strategy, and switching the mobile acquisition station back to a user station mode if the mobile acquisition station is judged to not meet the requirements of the acquisition station any more;
the subscriber station: according to quality monitoring information of satellite navigation space-time observation big data broadcasted by a monitoring sub-platform, abnormal data are eliminated, the quality of observation data is improved, the resolving efficiency and the positioning precision are optimized, and the positioning reliability is enhanced; after the station is accessed into the monitoring system, the default initial mode is a user station mode, the user station can apply to switch into a mobile acquisition station working mode, and the mobile acquisition station can be executed;
a mobile collection station: the system is formed by switching modes of a user station, achieves the function of satellite navigation data acquisition, and mainly has the functions of data acquisition, signal receiving and uploading, wherein the data signals comprise one or more of satellite navigation observation data, resolving results and high-precision position information, and the data signals are uploaded to a monitoring sub-platform through the existing communication network.
The embodiment also provides a semi-distributed satellite navigation acquisition monitoring method, which comprises the following steps:
step 1, after a station is accessed into a monitoring system, initially defaulting to a user station mode, and sending a positioning result to a control overall platform through a communication network;
step 2, the control main platform distributes the affiliated monitoring sub-platform to the user station for the first time according to the semi-distributed monitoring sub-platform distribution strategy, namely the user station and the monitoring sub-platform are optimally matched and belong to the monitoring subareas governed by the monitoring sub-platform;
step 3, broadcasting satellite navigation space-time observation big data monitoring information products to subordinate sites in the monitoring subareas administered by the monitoring subareas;
step 4, if the user station wants to switch to the working mode of the mobile acquisition station, submitting an audit application to a monitoring sub-platform of the monitoring partition, and after the monitoring sub-platform receives the application of the user station, judging whether the user station can become the mobile acquisition station or not through the completeness and authenticity check of basic information (including but not limited to receiver type, model, manufacturer and position information);
if the user station becomes the mobile acquisition station through examination and verification, the monitoring sub-platform issues a mode switching instruction, and the user station is switched to a working mode of the mobile acquisition station;
if the information does not pass the audit, for example, the information is incomplete, the operation mode of the user station is continuously kept, and the next audit application can be submitted after the application information is perfected;
step 5, after the user station is switched to a working mode of the mobile acquisition station, executing the function of the mobile acquisition station, and transmitting data signals of corresponding levels to the monitoring sub-platform in real time, wherein the data signals comprise one or more of satellite navigation observation data, resolving results and high-precision position information;
step 6, the monitoring sub-platform divides the dimension of the observation data uploaded by the mobile acquisition stations in the monitoring subareas governed by the monitoring sub-platform according to the data dimension division strategy, and after the dimension division is summarized with the data of other mobile acquisition stations, the observation data is processed and analyzed by the monitoring sub-platform to generate a space-time observation big data monitoring information product of the monitoring subareas and broadcast the product to all the stations in the monitoring subareas;
step 7, the monitoring sub-platform carries out periodic inspection on the mobile acquisition station of the monitoring sub-area, and judges whether the mobile acquisition station can continuously maintain the working mode of the acquisition station or not according to the data credibility;
if the mobile collection station passes the test, the working mode of the collection station is continuously kept;
if the mobile acquisition station does not pass the inspection, the mode of the mobile acquisition station is switched to a working mode of a user station, only the function of the user station is executed, and the next mobile acquisition station working mode switching application can be submitted after correction;
step 8, the control main platform periodically updates the site information of subordinate monitoring partitions of the monitoring sub-platforms, the monitoring sub-platforms report the location information of subordinate user stations and the mobile acquisition stations to the control main platform, the control main platform judges whether the user stations or the mobile acquisition stations move to be over-area to the monitoring partitions of other monitoring sub-platforms or not according to the geographical location information of the sites and a semi-distributed monitoring sub-platform distribution strategy, and if the deviation occurs, the monitoring sub-platform information of the sites is updated; and deleting the station from the current monitoring sub-platform subordinate station set, then adding the station into the cross-region monitoring sub-platform subordinate station set, and updating the self-owned monitoring sub-platform information by the user station or the mobile acquisition station.
The specific scheme of the semi-distributed monitoring sub-platform distribution strategy is as follows:
the control main platform jointly judges according to the geographical position of the station and the processing pressure of the monitoring sub-platforms, an optimal monitoring sub-platform is allocated to the station, the control main platform belongs to n monitoring sub-platforms, the serial number i of the control main platform is 1,2 and … n, and the monitoring sub-platform allocated to the user station u belongs to:
in formula (1):
iuindicating the serial number of the monitoring sub-platform to which the user station u belongs;
mirepresenting the total number of all stations (including the user station and the mobile acquisition station) under the ith monitoring sub-platform;
DS represents a distance threshold between the subscriber station and the monitoring sub-platform; the matching degree of the monitoring sub-platform and the station is determined by the value of the DS, the satellite navigation service environment of the station and the monitoring sub-platform are reduced due to overlarge value of the DS, the transmission delay is increased, and the monitoring sub-platform matched with the current user station possibly does not exist due to the fact that the DS is too small value. In the actual operation process, the DS may be set to 100km first, and if a monitoring sub-platform is found, the monitoring sub-platform is paired, and if no reference station capable of being paired is found, the DS is increased by 50km until a paired monitoring sub-platform is found, wherein the DS is accumulated to 500km at most.
The monitoring sub-platforms can report the position information of subordinate sites to the control main platform regularly, the control main platform judges whether the sites have moved to the management areas of other monitoring sub-platforms or not according to the position information of the sites, if deviation occurs, the monitoring sub-platforms to which the sites belong are updated, the current monitoring sub-platforms are informed, the sites are deleted from the site set, and the information is added to the monitoring sub-platforms after cross-area.
The specific scheme of the mode switching strategy of the mobile acquisition station is as follows:
the station accessed to the scheme at least needs to have a user station mode, has a function of receiving monitoring information broadcasted by the monitoring sub-platform, and does not have an observation data acquisition and uploading function;
if a mobile collection station is desired, two working modes are needed: the mobile collection station has the advantages that firstly, the mobile collection station is in a common user station mode, and secondly, the mobile collection station is in a working mode, so that the mobile collection station not only has the function of receiving monitoring information broadcasted by a monitoring sub-platform, but also has the function of collecting and uploading observation data;
(1) user station mode switching to mobile acquisition station mode
The station initial default working mode is a user station mode, if the station initial default working mode is expected to be switched to an instant acquisition mode, basic information (including but not limited to receiver type, model, manufacturer and position information) needs to be submitted to a monitoring sub-platform, after the monitoring sub-platform checks the integrity and authenticity of the submitted information, if the checking is passed, a mode switching instruction is issued to the user station, and the station initial default working mode can be switched to a mobile acquisition station working mode;
(2) mode switching from mobile acquisition station to user station
The monitoring sub-platform determines whether the mobile collection station can maintain the working mode by periodically judging the credibility of observation data uploaded by the mobile collection station, wherein the credibility of the observation data refers to the measurement that the observation data uploaded to the monitoring sub-platform by the mobile collection station is objective real data, the observation data comprises navigation messages, pseudo ranges and carrier phases, the observation data uploaded by different mobile collection stations at the same time and in the same space (see the 'dimension division strategy of the observation data') should satisfy a certain rule, and the pseudo range observation quantity and the carrier phase observation quantity should be within a certain numerical value interval and the navigation messages should be consistent. Therefore, whether the data uploaded by a certain flow acquisition station is objective and real can be judged by comparing and checking the same time-space observation data uploaded by different flow acquisition stations.
Aiming at non-numerical observation data such as navigation messages, the reliability of the navigation messages is judged by comparing the consistency of the navigation messages uploaded by different mobile acquisition stations, and the implementation steps are as follows:
1) counting navigation messages uploaded by n mobile acquisition stations in a certain time space (same time and same space), and recording the navigation messages as { M }1，M2，...，Mi，...，Mn}；
2) Navigation message M uploaded by a certain flow acquisition station iiComparing the obtained result with other messages in the same time and space, performing XOR operation according to the bit, if the XOR value is 1, indicating inconsistency, and counting the result and MiRecording the consistent navigation message number as m;
3) setting the confidence threshold value as theta (theta can be equal to 0.9), and if M/(n-1) is equal to or more than theta, considering that the navigation message M uploaded by the flow acquisition station iiAnd if the reliability is not less than theta, the navigation message content is objective and real, otherwise, the navigation message state uploaded by the mobile acquisition station is marked as abnormal.
Aiming at numerical observation data such as pseudo-range observation quantity and carrier phase observation quantity, whether the numerical observation data is credible or not is judged by calculating whether the numerical observation data is in a reasonable interval or not, and the implementation steps are as follows:
a) a certain mobile acquisition station i (i is 1,2 … n) receives all frequency points of all satellites, and calculates a pseudo-range observation effective value (namely, a root mean square value of pseudo-range observations of all frequency points of all satellites) CiAnd the effective value P of the carrier observed quantityi；
b) Counting pseudo range observed quantities { C ] of n mobile acquisition stations1，C2，...，Ci，...，CnMean u (C) and standard deviation σ (C), and carrier-phase observation { P }1，P2，...，Pi，...，PnMean u (P) and standard deviation σ (P):
c) statistics of the set of pseudorange observations { C1，C2，...，Ci，...，CnCalculating upper and lower limits T of reasonable valuesCAnd BC，TC＝xC+1.5(xc-yC)，BC＝xC+1.5(xC-yC) Wherein x isCA pseudorange observation representing a pseudorange observation having 1/4 is greater than the observation, yCA pseudorange observation representing a pseudorange observation and having 1/4 less than the observation; the carrier phase observed quantity { P) is obtained in the same way1，P2，...，Pi，...，PnT of }PAnd BP；
d) If the pseudo-range observed quantity of the mobile acquisition station i meets the following conditions:
{|Ci-u(C)|＞3σ(C)}＆&{Ci∈(-∞，BC)∪(TC, + ∞), considering the pseudo range observation quantity of the mobile acquisition station not in a reasonable interval as untrusted data, and marking the state as abnormal;
similarly, if the carrier phase observed quantity of the mobile acquisition station i meets the following requirements:
{|Pi-u(P)|＞3σ(P)}&&{Pi∈(-∞BC)∪(TC, + ∞) } thenConsidering that the carrier phase observed quantity is not credible, and marking the state of the carrier phase observed quantity as abnormal;
in summary, the monitoring sub-platform periodically (for example, every 60min) performs a check on data of the mobile acquisition station, if one of the pseudo-range observed quantity, the carrier phase observed quantity and the navigation message is marked as abnormal data through calculation, the monitoring sub-platform increases a check frequency (for example, once for 10 min) of data uploaded by the corresponding acquisition station, if a retention time of the abnormal data exceeds a threshold t (60 min can be taken), the data uploaded by the mobile acquisition station is considered to be unreliable, the mobile acquisition station is no longer used to observe the data and is notified to the mobile acquisition station, the mobile acquisition station can interpret or adjust within a specified time limit (for example, 2 days), otherwise, the mobile acquisition station is switched to the subscriber station mode.
The method comprises the following steps of observing a dimension division strategy of data, wherein the specific implementation process comprises the following steps:
after the mobile collection station is switched to a working mode of the mobile collection station, the mobile collection station uploads satellite navigation observation data, a calculation result, high-precision position information (if any) and other information to the monitoring sub-platform in real time, the monitoring sub-platform establishes three dimensions of the observation data according to space-time information and type information of the observation data, namely space dimensions, time dimensions and type dimensions, basic configuration information of the observation data collected by each mobile collection station contains the information of the three dimensions, wherein the minimum unit of the space and the time dimensions is configured by the monitoring sub-platform, after the monitoring information is broadcast to a user, the user can set at a user end according to actual use conditions, and the monitoring information covering a certain time period and a certain area space is selected to be received, and the detailed scheme is as follows:
(1) spatial dimension SPACE
Dividing a three-dimensional geographic position SPACE into grid information of x, y, z (unit: meter) according to longitude and latitude height information by taking position information as a basis, dividing observation data uploaded by a mobile collection station in the same grid SPACE into the same SPACE dimension, and marking the SPACE dimension Value of the observation data as SPACE [ Value ]. The monitoring sub-platform can configure grid parameters x, y and z into 10 meters, namely, the minimum unit of a three-dimensional grid space of a space dimension is 5 × 10 (unit: meter), the monitoring sub-platform broadcasts observation data with the space as the minimum unit to a user, and in the actual use process of the user, if the user wants to acquire observation data monitoring information with a wider coverage range as a reference, the user can multiply the minimum unit of the space dimension of the observation data upwards at a user end, namely, the space range is modified into 5n × 5m × 10l (unit: meter), wherein n, m and l are positive integers, and the space covering a certain area is selected to acquire the observation data monitoring information of the corresponding space.
(2) TIME dimension TIME
The method comprises the steps of dividing TIME into different TIME periods with the length of t by taking TIME information as a basis and taking t (unit: second) as a reference, dividing observation data collected by a mobile collection station in the same TIME period into the same TIME, and marking a TIME dimension Value of the mobile collection station as TIME [ Value ]. The monitoring sub-platform can configure t as 1 second, namely the minimum unit of the time dimension of the observation data is 1 second, the monitoring sub-platform broadcasts the observation data with the time as the minimum unit to a user, and in the actual use process, if the user wants to acquire the observation data monitoring information of the time period of factory replacement, the user can multiply the minimum unit of the time dimension of the observation data at the user terminal upwards, namely, the time range is modified to be 1 x n, wherein n is a positive integer, the time period covering a certain period is selected, and the observation data monitoring information of the corresponding period is acquired.
(3) Type dimension ACC
And dividing the observation data into a high-precision observation data type and a common observation data type according to whether the mobile acquisition station has high-precision positioning capability, wherein the high-precision observation data type and the common observation data type are respectively marked as ACC [ hig ] and ACC [ gen ]. If the mobile acquisition station does not have the high-precision positioning function, only the satellite navigation observation data and the calculation result need to be uploaded to the monitoring sub-platform, and the observation data is marked as common observation data ACC [ gen ]; if the real-time acquisition has a high-precision positioning function, satellite navigation observation data and a calculation result and high-precision position data can be uploaded to the monitoring sub-platform, and the observation data is marked as high-precision observation data ACC [ hig ].
The invention provides a semi-distributed satellite navigation acquisition monitoring technology, which is based on a semi-distributed monitoring sub-platform distribution strategy, a mode that a user station-mobile acquisition station can be dynamically switched and an observation dimension division strategy, and after a station is moved and switched to other areas, an optimal monitoring sub-platform is selected according to the geographical position of the station and the processing pressure of the monitoring sub-platform, so that the transmission delay and the processing delay of observation data are reduced as much as possible, the space-time correlation degree of an observation data monitoring information product is enhanced, and the user experience is improved.
Claims (10)
1. A semi-distributed satellite navigation acquisition monitoring system is characterized by comprising a control main platform, monitoring sub-platforms and stations, wherein the monitoring sub-platforms are connected with a plurality of stations, the monitoring sub-platforms and the stations form monitoring partitions, the control main platform is connected with a plurality of monitoring partitions, and the stations comprise two working modes of user stations and mobile acquisition stations;
the control main platform is used for receiving geographic position information of a station, distributing the monitoring sub-platform to the station according to a semi-distributed monitoring sub-platform distribution strategy, and after the station is moved and switched to other areas, selecting the optimal monitoring sub-platform according to the geographic position of the station and the processing pressure of the monitoring sub-platform so as to reduce the transmission delay and the processing delay of observation data, enhance the space-time correlation degree of an observation data monitoring information product and improve the user experience;
the monitoring sub-platform is used for receiving information such as space-time observation data uploaded by the mobile acquisition station, processing and analyzing the information, constructing and dividing data dimensions and generating monitoring information of large space-time observation data; monitoring information used for requesting satellite navigation space-time observation big data to a subordinate station; the system is used for auditing a mobile acquisition station working mode switching application submitted by a user station and issuing a mode switching instruction; the system is used for periodically checking the mobile acquisition station according to a switching strategy, and switching the mobile acquisition station back to a user station mode if the mobile acquisition station is judged to not meet the requirements of the acquisition station any more;
the user station eliminates abnormal data according to quality monitoring information of satellite navigation space-time observation big data broadcasted by a monitoring sub-platform, improves the quality of observation data, optimizes resolving efficiency and positioning precision, and enhances positioning reliability; after the station is accessed into the monitoring system, the default initial mode is a user station mode, the user station can apply to switch into a mobile acquisition station working mode, and the mobile acquisition station can be executed;
the mobile acquisition station is switched from a user station through modes to realize the satellite navigation data acquisition function, the main functions are data acquisition, signal receiving and uploading, the data signals comprise one or more of satellite navigation observation data, resolving results and high-precision position information, and the data signals are uploaded to the monitoring sub-platform through the existing communication network.
2. A semi-distributed satellite navigation acquisition monitoring method is characterized by comprising the following steps:
s1, after a station is accessed into a monitoring system, initially defaulting to a user station mode, and sending a positioning result to a control overall platform through a communication network;
s2, the control main platform distributes the affiliated monitoring sub-platforms to the user stations for the first time according to a semi-distributed monitoring sub-platform distribution strategy, namely the user stations and the monitoring sub-platforms are optimally matched and belong to monitoring partitions administered by the monitoring sub-platforms;
s3, broadcasting satellite navigation space-time observation big data monitoring information products to subordinate sites in the monitoring subareas administered by the monitoring subareas;
s4, if the user station wants to switch to the working mode of the mobile acquisition station, submitting an examination application to a monitoring sub-platform of the monitoring partition, and after receiving the application of the user station, judging whether the user station can become the mobile acquisition station or not through the completeness and authenticity examination of basic information by the monitoring sub-platform;
s5, after the user station is switched to a working mode of the mobile acquisition station, executing the function of the mobile acquisition station, and transmitting data signals of corresponding levels to the monitoring sub-platform in real time, wherein the data signals comprise one or more of satellite navigation observation data, resolving results and high-precision position information;
s6, carrying out dimension division on observation data uploaded by the mobile acquisition stations in the monitoring subareas governed by the monitoring subarea platform according to a data dimension division strategy according to space-time information and type information, summarizing the observation data with data of other mobile acquisition stations, and then carrying out processing analysis by the monitoring subarea platform to generate a space-time observation big data monitoring information product of the monitoring subarea and broadcasting the product to all stations in the monitoring subarea;
s7, the monitoring sub-platform carries out periodic inspection on the mobile acquisition station of the monitoring sub-area, and judges whether the mobile acquisition station can continuously maintain the working mode of the acquisition station or not according to the data credibility;
and S8, controlling the main platform to periodically update the site information of the subordinate monitoring subareas of the monitoring subareas.
3. The semi-distributed satellite navigation acquisition monitoring method according to claim 2, wherein in step S2, the semi-distributed monitoring sub-platform allocation strategy specifically includes:
the control main platform jointly judges according to the geographical position of the station and the processing pressure of the monitoring sub-platforms, an optimal monitoring sub-platform is allocated to the station, the control main platform belongs to n monitoring sub-platforms, the serial number i of the control main platform is 1,2 and … n, and the monitoring sub-platform allocated to the user station u belongs to:
iu＝arg mini∈γ(mi) γ ═ satisfies Δ Di< monitoring of DS set of sub-platforms } (1)
In formula (1):
iuindicating the serial number of the monitoring sub-platform to which the user station u belongs;
arg mini∈γ(mi) Represents that m is in the condition of i epsilon gammaiThe value of i is the minimum value;
mirepresenting the total number of all stations (including the user station and the mobile acquisition station) under the ith monitoring sub-platform;
DS represents a distance threshold between the subscriber station and the monitoring sub-platform; the matching degree of the monitoring sub-platform and the station is determined by the value of the DS, the satellite navigation service environment of the station and the monitoring sub-platform are reduced due to overlarge value of the DS, the transmission delay is increased, and the monitoring sub-platform matched with the current user station possibly does not exist due to the fact that the DS is too small value.
4. The method for acquiring and monitoring semi-distributed satellite navigation according to claim 2, wherein in step S4, the determining whether the user station can become a mobile acquisition station is implemented by following specific strategies:
if the user station becomes the mobile acquisition station through examination, the monitoring sub-platform issues a mode switching instruction, and the user station is switched to a working mode of the mobile acquisition station;
if the information does not pass the audit, for example, the information is incomplete, the operation mode of the user station is continuously kept, and the next audit application can be submitted after the application information is perfected.
5. The semi-distributed satellite navigation acquisition monitoring method according to claim 2, wherein in step S6, the data dimension division strategy specifically is:
after the mobile acquisition station is switched to a working mode, the mobile acquisition station uploads satellite navigation observation data, a calculation result and high-precision position information to the monitoring sub-platform in real time, the monitoring sub-platform establishes three dimensions of the observation data according to the time-space information and the type information of the observation data, namely a space dimension, a time dimension and a type dimension, and basic configuration information of the observation data acquired by each mobile acquisition station contains the information of the three dimensions; the minimum units of the space dimension and the time dimension are configured by the monitoring sub-platforms, and after monitoring information is broadcasted to users, the users can set at the user side according to actual use conditions and select to receive the monitoring information covering a certain time period and a certain area space.
6. The method for acquiring and monitoring semi-distributed satellite navigation according to claim 2, wherein in step S7, the determination of whether the mobile acquisition station can continue to maintain the operation mode of the acquisition station is made by following specific strategies:
if the mobile collection station passes the inspection, the working mode of the collection station is continuously kept;
if the mobile acquisition station does not pass the check, the mode of the mobile acquisition station is switched to the working mode of the user station, only the function of the user station is executed, and the next application for switching the working mode of the mobile acquisition station can be submitted after the correction.
7. The method for monitoring semi-distributed satellite navigation collection according to claim 6, wherein the mobile collection station mode is switched to the user station mode, and the specific strategy is as follows:
the monitoring sub-platform determines whether the mobile acquisition station can maintain the working mode by periodically judging the reliability of observation data uploaded by the mobile acquisition station, wherein the reliability of the observation data refers to the measurement that the observation data uploaded to the monitoring sub-platform by the mobile acquisition station is objective real data, the observation data comprises navigation messages, pseudo ranges and carrier phases, the observation data uploaded by different mobile acquisition stations at the same time and in the same space meet a certain rule, wherein the pseudo range observation quantity and the carrier phase observation quantity are within a certain numerical value interval, and the contents of the navigation messages are consistent; therefore, whether the data uploaded by a certain flow acquisition station is objective and real can be judged by comparing and checking the same time-space observation data uploaded by different flow acquisition stations.
8. The semi-distributed satellite navigation acquisition monitoring method according to claim 7, wherein for non-numerical observation data such as navigation messages, the reliability of the non-numerical observation data is judged by comparing the consistency of the navigation messages uploaded by different mobile acquisition stations, and the implementation steps are as follows:
1) counting navigation messages uploaded by n mobile acquisition stations in a certain time space (same time and same space), and recording the navigation messages as { M }1，M2，...，Mi，...，Mn}；
2) Navigation electricity uploaded by a certain flow acquisition station iText MiComparing the obtained result with other messages in the same time and space, performing XOR operation according to the bit, if the XOR value is 1, indicating inconsistency, and counting the result and MiRecording the consistent navigation message number as m;
3) setting the confidence threshold value as theta (theta can be equal to 0.9), and if M/(n-1) is equal to or more than theta, considering that the navigation message M uploaded by the flow acquisition station iiAnd if the reliability is not less than theta, the navigation message content is objective and real, otherwise, the navigation message state uploaded by the mobile acquisition station is marked as abnormal.
9. The semi-distributed satellite navigation acquisition monitoring method according to claim 7, wherein for numerical observation data such as pseudo-range observation quantity and carrier phase observation quantity, whether the numerical observation data is credible or not is judged by calculating whether the numerical observation data is in a reasonable interval, and the implementation steps are as follows:
a) a certain mobile acquisition station i (i is 1,2 … n) receives all frequency points of all satellites, and calculates a pseudo-range observation effective value (namely, a root mean square value of pseudo-range observations of all frequency points of all satellites) CiAnd the effective value P of the carrier observed quantityi；
b) Counting pseudo range observed quantities { C ] of n mobile acquisition stations1，C2，...，Ci，...，CnMean u (C) and standard deviation σ (C), and carrier-phase observation { P }1，P2，...，Pi，...，PnMean u (P) and standard deviation σ (P):
c) statistics of the set of pseudorange observations { C1，C2，...，Ci，...，CnCalculating upper and lower limits T of reasonable valuesCAnd BC，TC＝xC+1.5(xC-yC)，BC＝xC+1.5(xC-yC) Wherein x isCIndicating some pseudorange observation and having 1/4 pseudorangesThe observed quantity is greater than the observed quantity, yCA pseudorange observation representing a pseudorange observation and having 1/4 less than the observation; the carrier phase observed quantity { P) is obtained in the same way1，P2，...，Pi，...，PnT of }PAnd BP；
d) If the pseudo-range observed quantity of the mobile acquisition station i meets the following conditions:
{|Ci-u(C)|＞3σ(C)}&&{Ci∈(-∞，BC)∪(TC, + ∞), considering the pseudo range observation quantity of the mobile acquisition station not in a reasonable interval as untrusted data, and marking the state as abnormal;
similarly, if the carrier phase observed quantity of the mobile acquisition station i meets the following requirements:
{|Pi-u(P)|＞3σ(P)}&&{Pi∈(-∞，BC)∪(TC, + ∞), the carrier phase observation is considered to be unreliable, and the state is marked as abnormal.
10. The semi-distributed satellite navigation acquisition monitoring method according to claim 2, wherein in step S8, the control center platform periodically updates station information, specifically:
the monitoring sub-platform reports the location information of subordinate subscriber stations and the mobile acquisition station to the control main platform, the control platform judges whether the subscriber stations or the mobile acquisition station have moved to a monitoring partition of other monitoring sub-platforms or not according to the geographical location information of the station and a semi-distributed monitoring sub-platform distribution strategy, if the subscriber stations or the mobile acquisition station have moved to a monitoring partition of other monitoring sub-platforms, the monitoring sub-platform information of the station is updated, the station is deleted from the current monitoring sub-platform subordinate station set and then added to the monitoring sub-platform subordinate station set after the station is moved, and the subscriber stations or the mobile acquisition station updates the monitoring sub-platform information of the station.
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