CN112904387B - Method and system for using multi-stage integrity monitoring results - Google Patents
Method and system for using multi-stage integrity monitoring results Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/20—Integrity monitoring, fault detection or fault isolation of space segment
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
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Abstract
The application relates to a positioning technology and discloses a method and a system for using a multi-level integrity monitoring result. The method comprises the following steps: and acquiring continuous multi-stage integrity monitoring results of a certain satellite or a certain correction number, and for any continuous two-stage integrity monitoring results, if the next-stage integrity monitoring result is 'alarm' and the previous-stage integrity monitoring result is not 'alarm', using the reduced satellite or the correction number to participate in positioning calculation within the effective time of the next-stage integrity monitoring result. The embodiment of the application effectively weakens the jumping problem of the positioning result and is beneficial to the application of the positioning result in the automatic control field.
Description
Technical Field
The application relates to a positioning technology, in particular to a using technology of a multi-stage integrity monitoring result.
Background
The user of the GNSS integrity service receives the monitoring results broadcast by the system to determine whether a correction or a satellite can participate in the positioning solution. If the correction number or the monitoring result of a certain satellite is judged to be 'warning', the user generally can not use the correction number or the satellite to participate in positioning calculation.
The high-precision high-integrity service generally adopts multi-level integrity monitoring, algorithms adopted by all monitoring modules are heterogeneous, and time epochs of input data are different. Due to the two differences, the monitoring results at all levels are inconsistent. For example, a first-level monitoring result of a certain satellite is "available", and a second-level monitoring result is "alarm", in which case, if a user determines whether to use the satellite directly according to the monitoring result, the satellite is used for positioning calculation within the time when the first-level monitoring result is valid, and the satellite is not used within the time when the second-level monitoring result is valid, thereby causing the jump of the positioning result. Also, most automatic control systems are not suitable for handling jump inputs.
Disclosure of Invention
The application aims to provide a using method and a using system of a multi-level integrity monitoring result, which effectively weaken the jumping problem of a positioning result and are beneficial to the application of the positioning result in the field of automatic control.
The application discloses a using method of a multi-level integrity monitoring result, which comprises the following steps:
acquiring continuous multi-stage integrity monitoring results of a certain satellite or a certain correction number, and operating any continuous two-stage integrity monitoring result according to the following steps:
and if the latter-stage integrity monitoring result is 'alarm' and the former-stage integrity monitoring result is not 'alarm', using the reduced satellite or the correction number to participate in positioning calculation within the effective time of the latter-stage integrity monitoring result.
In a preferred embodiment, the method further comprises the following steps:
if the last-stage integrity monitoring result is 'unmonitored', calculating the increment of the precision factors before and after the satellite or the correction number is removed;
and if the increment is larger than a preset threshold value, using the reduced satellite or the corrected number to participate in positioning calculation within the effective time of the next-stage integrity monitoring result.
In a preferred embodiment, the method further comprises the following steps:
and if the increment is not larger than the preset threshold, the satellite or the correction number is not used to participate in positioning calculation within the effective time of the next-stage integrity monitoring result.
In a preferred embodiment, the preset threshold is determined according to a pre-agreed positioning result jump threshold.
In a preferred embodiment, the predetermined threshold is according to the formula
Is calculated to obtain, wherein T DOP Is the preset threshold value, T P And the positioning result is a preset positioning result jump threshold, sigma is the ranging error within the effective time of the next-stage integrity monitoring result, and b is a normal number.
In a preferred embodiment, if the last level of integrity monitoring result is the first level of integrity monitoring result of the satellite or the correction number, the last level of integrity monitoring result is defined as "not monitored".
In a preferred embodiment, before the using the reduced-weight satellite or the correction number to participate in positioning solution, the method further includes:
and calculating the weight reduction of the satellite or the correction number according to the previous level integrity risk value and the next level integrity risk value.
In a preferred embodiment, the calculating the weight reduction of the satellite or the correction number according to the previous level integrity risk value and the next level integrity risk value further includes:
according to the formula
Calculating a down-weighted weight of the satellite or the correction number, wherein w' and w are the down-weighted weight and the original weight, respectively, P k-1 Is the integrity of the previous stageSexual risk value, P k Is the integrity risk value of the latter stage, K P And (3) representing the standard normal distribution quantile corresponding to the probability P, wherein a and n are normal numbers.
In a preferred embodiment, the method further comprises the following steps:
and if the last-stage integrity monitoring result is available, using the satellite or the correction number to participate in positioning calculation.
In a preferred embodiment, the method further comprises the following steps:
and if the next-stage integrity monitoring result is 'warning' and the previous-stage integrity monitoring result is 'warning', the satellite or the correction number is not used to participate in positioning calculation within the effective time of the next-stage integrity monitoring result.
The application also discloses a system for using the multi-level integrity monitoring results includes:
the acquisition module is used for acquiring a continuous multi-level integrity monitoring result of a certain satellite or a certain correction number;
and the processing module is used for participating in positioning calculation by using the reduced satellite or the correction number within the effective time of the next-stage integrity monitoring result if the next-stage integrity monitoring result is 'warning' and the previous-stage integrity monitoring result is not 'warning' for any two continuous-stage integrity monitoring results.
In a preferred embodiment, the processing module is further configured to calculate an increment of the precision factor before and after the satellite or the correction number is removed if the last-stage integrity monitoring result is "unmonitored", and use the reduced satellite or the correction number to participate in positioning calculation within the time when the last-stage integrity monitoring result is valid if the increment is greater than a preset threshold.
In a preferred embodiment, the processing module is further configured to not use the satellite or the correction number to participate in positioning solution within the time when the subsequent integrity monitoring result is valid if the increase is not greater than the preset threshold.
In a preferred embodiment, the processing module is further configured to determine the preset threshold according to a pre-agreed positioning result transition threshold.
In a preferred embodiment, the processing module is further configured to calculate the formula
Calculating the preset threshold value, wherein T DOP Is the preset threshold value, T P And the positioning result is a preset positioning result jump threshold, sigma is the ranging error within the effective time of the next-stage integrity monitoring result, and b is a normal number.
In a preferred embodiment, the processing module is further configured to determine that the previous level of integrity monitoring result is "unmonitored" if the next level of integrity monitoring result is the first level of integrity monitoring result of the satellite or the correction number.
In a preferred embodiment, the processing module is further configured to calculate a weighted-down weight of the satellite or the correction number according to the previous-stage integrity risk value and the next-stage integrity risk value.
In a preferred embodiment, the processing module is further configured to calculate the formula
Calculating a down-weighted weight of the satellite or the correction number, wherein w' and w are the down-weighted weight and the original weight, respectively, P k-1 And P k Respectively an integrity risk value of the previous stage and an integrity risk value of the subsequent stage, K P And (3) representing the standard normal distribution quantile corresponding to the probability P, wherein a and n are normal numbers.
In a preferred example, the processing module is further configured to use the satellite or the correction number to participate in positioning solution if the latter-stage integrity monitoring result is "available".
In a preferred embodiment, the processing module is further configured to not use the satellite or the correction number to participate in positioning solution within the time when the subsequent level of integrity monitoring result is valid if the subsequent level of integrity monitoring result is "warning" and the previous level of integrity monitoring result is also "warning".
The application also discloses a system for using the multi-level integrity monitoring results includes:
a memory for storing computer executable instructions; and the number of the first and second groups,
a processor for implementing the steps in the method as described hereinbefore when executing the computer-executable instructions.
The present application also discloses a computer-readable storage medium having stored therein computer-executable instructions which, when executed by a processor, implement the steps in the method as described above.
In the embodiments of the present application, compared with the prior art, at least the following differences and effects are included:
the problem of the jump of the positioning results of the front stage and the rear stage caused by the fact that the current integrity monitoring result of any satellite or the correction number is 'alarming' and is different from the previous stage monitoring result is solved through the combined judgment of the multi-stage monitoring results, the problem of the jump of the positioning results caused by directly rejecting the satellite or the correction number is weakened by reducing the weight of the satellite or the correction number in positioning calculation within the effective time of the next stage integrity monitoring result, the positioning result is effectively smoothed, and the application in the automatic control field is facilitated.
Furthermore, the method for reducing the weight is determined by using the performance difference of the two stages of modules, so that the satellite or the correction number after the weight reduction participates in positioning calculation, and the calculation result is more reasonable and reliable.
Further, for the problem of positioning result jump caused by the fact that the current monitoring result of any satellite or corrected number is 'unmonitored', considering that the DOP represents the distribution condition of visible satellites relative to users, the smaller the DOP value is, the better the satellite distribution is, the comparison between the DOP increment without the satellite or the corrected number and a preset threshold is adopted, and when the DOP increment is larger than the preset threshold, the satellite or the corrected number after the weight reduction is used for participating in positioning calculation within the effective time of the next-stage integrity monitoring result, so that the problem of positioning result jump caused by the fact that the current result is 'unmonitored' is solved, and the jump of the positioning result is further effectively weakened.
Meanwhile, the preset threshold value of the DOP increment is determined by utilizing the jump threshold value of the positioning result accepted by the user, so that the comparison result of the DOP increment which rejects the satellite or the corrected number and the preset threshold value is more accurate and reliable.
The present specification describes a number of technical features distributed throughout the various technical aspects, and if all possible combinations of technical features (i.e. technical aspects) of the present specification are listed, the description is made excessively long. In order to avoid this problem, the respective technical features disclosed in the above summary of the invention of the present application, the respective technical features disclosed in the following embodiments and examples, and the respective technical features disclosed in the drawings may be freely combined with each other to constitute various new technical solutions (which are considered to have been described in the present specification) unless such a combination of the technical features is technically infeasible. For example, in one example, the feature a + B + C is disclosed, in another example, the feature a + B + D + E is disclosed, and the features C and D are equivalent technical means for the same purpose, and technically only one feature is used, but not simultaneously employed, and the feature E can be technically combined with the feature C, then the solution of a + B + C + D should not be considered as being described because the technology is not feasible, and the solution of a + B + C + E should be considered as being described.
Drawings
FIG. 1 is a flow chart illustrating a method for using multi-level integrity monitoring results according to a first embodiment of the present application;
fig. 2 is a schematic diagram of a system for using multi-level integrity monitoring results according to a second embodiment of the present application.
Wherein,
201-acquisition module 202-processing module
Detailed Description
In the following description, numerous technical details are set forth in order to provide a better understanding of the present application. However, it will be understood by those skilled in the art that the technical solutions claimed in the present application may be implemented without these technical details and with various changes and modifications based on the following embodiments.
Description of partial concepts:
global Navigation Satellite System (GNSS): the system determines the position of the user by means of ranging signals broadcast by satellites and broadcast messages. GNSS that have been put into use include GPS in the united states, GLONASS in russia, Galileo system in europe, and beidou satellite navigation system in china.
Integrity: and when the error exceeds the alarm threshold, the integrity service sends an alarm to the user in time. The integrity comprises three parts of an alarm threshold, an alarm time and an integrity risk.
Risk of integrity: the probability of not issuing an alarm for errors exceeding the alarm threshold within the alarm time.
And (3) alarm threshold: a threshold for issuing an integrity alarm.
And (3) warning time: the maximum time allowed from the time when the error exceeds the alarm threshold and affects the user to the time when the user receives the alarm information.
Multi-stage integrity monitoring: two or more independent monitoring modules provide integrity monitoring performance superior to a single monitoring module in a combination of series or parallel. Generally, a monitoring module with short time consumption and poor detection performance is located at the first stage, then a monitoring module with long time consumption and good detection performance is located at the second stage, and integrity monitoring results of all stages are generally broadcast at different moments.
Dilution of precision (DOP): and characterizing the distribution of the visible satellites relative to the user. Generally, the smaller the DOP value, the better the satellite distribution.
To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
High-precision high-integrity services generally employ multi-level integrity monitoring, i.e., two or more independent monitoring modules are combined in series or in parallel to obtain integrity monitoring performance superior to that of a single monitoring module. For example, if the time consumption of the monitoring module a, the monitoring module B, and the monitoring module C increases in sequence, the monitoring module a, the monitoring module B, and the monitoring module C may be sequentially combined in series, and the integrity service may broadcast the monitoring results of the monitoring module a, the monitoring module B, and the monitoring module C in sequence in time. The user receives the monitoring results of the module A, the module B and the module C at the moments of TA, TB and TC respectively, the monitoring result of the module A is used between the TA and the TB, the monitoring result of the module B is used between the TB and the TC, and the monitoring result of the module C is used after the TC.
Because the algorithms of the multi-stage monitoring modules are different and the input data may also be different, the monitoring results of the modules are inconsistent. Continuing with the above example, if the monitoring results of the modules a, B, and C for a certain satellite are "available", "alarm", "available", and the monitoring results for other satellites are "available", respectively. According to the monitoring result, the user does not use the satellite to participate in positioning calculation between the TB and the TC, and the number of satellites between the TA and the TB and the number of satellites behind the TC are one more than that between the TB and the TC. In the environments of cities, canyons and the like, the number of satellites which can be tracked by a user is small, the existence of 1 satellite can cause obvious jump of a positioning result, and the positioning result of continuous high-frequency jump is difficult to process by automatic control systems such as automatic driving and the like.
In order to solve the above problem, a first embodiment of the present application proposes a method for using a multi-level integrity monitoring result, which has a flow chart shown in fig. 1, and includes the following steps:
in step 101, a continuous multi-level integrity monitoring result of a certain satellite or a certain number of corrections is obtained.
Then, step 102 is performed to judge whether the subsequent integrity monitoring result is "alarm" or not for any two consecutive integrity monitoring results.
Specifically, the integrity monitoring result of a certain satellite or a certain number of corrections obtained in step 101 may include two or more consecutive stages. For example, but not limited to, if a satellite has a first level integrity monitoring result, a second level integrity monitoring result, and a third level integrity monitoring result, then the subsequent steps may be performed on the first level and the second level, and the second level and the third level, respectively, sequentially or simultaneously; when the subsequent step operation is performed on the first stage and the second stage, the first stage represents a previous stage and the second stage represents a subsequent stage; when the subsequent steps are performed on the second stage and the third stage, the second stage is represented as a previous stage and the third stage is represented as a subsequent stage.
If the last level integrity monitoring result is "alarm", then step 103 is entered to continuously determine whether the last level integrity monitoring result is "alarm".
If the previous stage integrity monitoring result is not "alarm", then step 104 is entered, and the reduced satellite or the correction number is used to participate in positioning calculation within the effective time of the next stage integrity monitoring result.
For convenience of description, the integrity monitoring result of a certain satellite or a certain modified number is divided into three status results of "available", "alarm" and "unmonitored", and other descriptions the same as or similar to the integrity monitoring result are within the scope of the present specification. Moreover, the above "the previous level integrity monitoring result is not" alarm' "may also be understood as: the previous level integrity monitoring result may be "available" or "unmonitored".
Optionally, the method further comprises the steps of:
if the last integrity monitoring result is "alarm" and the previous integrity monitoring result is also "alarm", then step 105 is entered, and the satellite or the correction number is not used to participate in the positioning calculation within the effective time of the last integrity monitoring result.
Optionally, the method further comprises the steps of:
if the latter stage integrity monitoring result is judged not to be 'alarm' in the step 102, the method enters a step 106, and whether the latter stage integrity monitoring result is 'available' is judged; if the last level integrity monitoring result is not available (i.e., "unmonitored"), then go to step 107, and calculate the increment of the precision factor before and after the satellite or the correction number is removed; then step 108 is entered to judge whether the increment is larger than a preset threshold value; if the increment is larger than the preset threshold, step 104 is entered, and the reduced satellite or the correction number is used to participate in positioning calculation within the effective time of the next level integrity monitoring result.
Generally, the predetermined threshold of the DOP increase amount has no general constant because the predetermined positioning result jump thresholds allowed by different user scenarios are different. Alternatively, the preset threshold may be determined according to a pre-agreed positioning result jump threshold, provided that the ranging error is not changed in a short time, where the pre-agreed positioning result jump threshold is determined based on a positioning result jump size acceptable to the user.
There are various specific implementation manners for determining the preset threshold according to the predetermined positioning result jump threshold. In one embodiment, the preset threshold may be according to a formula
Is calculated to obtain, wherein T DOP Is the preset threshold value, the T P And sigma is the current ranging error for a predetermined positioning result jump threshold. In another embodiment, the above formula can be used
On the basis of a reasonable variation, e.g. by adding a constant factor, i.e. the predetermined threshold value can be formulated
And calculating, wherein b is a normal number. In other embodiments, other reasonable variations may be made for the purpose of calculating the preset threshold.
Optionally, before the step 104, the following step a is further included:
in step a, the reduced weight of the satellite or the correction is calculated according to the previous stage integrity risk value and the next stage integrity risk value.
The specific implementation manner of the step A is various, because the performances of the two stages of modules of different integrity monitoring systems are different, and the weight reduction proportion should reflect the poor performance of the two stages of modulesAnd so there is no general constant for the weight reduction ratio. In one embodiment, this step a is further implemented as: according to the formula
Calculating a down-weighted weight of the satellite or the correction number, wherein w' and w are the down-weighted weight and the original weight, P k-1 Is the integrity risk value of this previous stage, P k As the integrity risk value of this latter stage, K P And (4) representing the standard normal distribution quantile corresponding to the probability P. In another embodiment, the formula is as described in the previous embodiment
The square is used as the coefficient for reducing the weight, or the cube-like high power can be used as an alternative, for example, the step a can be further implemented as: according to the formula
And calculating the weight reduction of the satellite or the correction number, wherein n is a normal number. In yet another embodiment, the step a may be further implemented as: according to the formula
And calculating the weight reduction of the satellite or the correction number, wherein a is a normal number. It is noted that all are based on pairs
The manner of changing to lower the weighting factor is within the scope of the present description.
Optionally, if the latter-stage integrity monitoring result is the first-stage integrity monitoring result of the satellite or the correction number and the former-stage integrity monitoring result thereof does not actually exist, the former-stage integrity monitoring result of the first-stage integrity monitoring result is defined as "not monitored".
Optionally, the method further comprises the steps of:
if the increment is not larger than the preset threshold, step 105 is performed, and the satellite or the correction number is not used to participate in the positioning calculation within the effective time of the next-stage integrity monitoring result.
Optionally, the method further comprises the steps of:
if the latter-stage integrity monitoring result is determined to be "available" in step 106, step 109 is entered, and the satellite or the correction number is used to participate in positioning calculation within the time when the latter-stage integrity monitoring result is valid.
It should be noted that: in this embodiment, the specific calculation methods in the "using the reduced satellite or the correction number to participate in positioning calculation" in the step 104 and the "using the satellite or the correction number to participate in positioning calculation" in the step 109 may refer to processing according to a method provided by a server or a terminal, and the processing method is generally given in the form of a service user manual, and the specific calculation methods are not limited by the present invention.
The second embodiment of the present application provides a system for using multi-level integrity monitoring results, which has a structure as shown in fig. 2 and includes an obtaining module and a processing module.
Specifically, the obtaining module 201 is configured to obtain a continuous multi-level integrity monitoring result of a certain satellite or a certain correction number.
The processing module 202 is configured to, for any two consecutive levels of integrity monitoring results, if a subsequent level of integrity monitoring result is "alarm" and a previous level of integrity monitoring result is not "alarm", use the reduced satellite or the correction number to participate in positioning calculation within the time when the subsequent level of integrity monitoring result is valid.
Optionally, the processing module 202 is further configured to not use the satellite or the correction number to participate in positioning solution during the validation time of the subsequent level integrity monitoring result if the subsequent level integrity monitoring result is "alarm" and the previous level integrity monitoring result is also "alarm".
Optionally, the processing module 202 is further configured to participate in positioning solution using the satellite or the correction number if the last level integrity monitoring result is "available".
Optionally, the processing module 202 is further configured to calculate an increment of the precision factor before and after the satellite or the correction number is removed if the last-stage integrity monitoring result is "unmonitored", and use the reduced satellite or the correction number to participate in positioning calculation within the validation time of the last-stage integrity monitoring result if the increment is greater than a preset threshold.
Optionally, the processing module 202 is further configured to not use the satellite or the correction number to participate in positioning solution within the validation time of the next-stage integrity monitoring result if the increase is not greater than the preset threshold.
Alternatively, considering that the jump amount of the positioning result can be generally estimated by the product of DOP and the ranging error, the processing module 202 is further configured to determine the preset threshold according to the predetermined jump threshold of the positioning result, assuming that the ranging error is not changed in a short time.
There are various specific implementation manners for the processing module 202 to determine the preset threshold according to the predetermined positioning result jump threshold. In one embodiment, the processing module 202 is further configured to formulate a formula
Calculating the preset threshold value, wherein T DOP Is the preset threshold value, the T P And sigma is the ranging error within the effective time of the next-stage integrity monitoring result, which is a predetermined positioning result jump threshold. In another embodiment, the above formula can be used
On the basis of a reasonable variation, e.g. adding a constant factor, i.e. the processing module 202 is also arranged to formulate
The preset threshold is calculated, where b is a normal number. In other embodiments, other reasonable variations may be made for the purpose of calculating the preset threshold.
Optionally, the processing module 202 is further configured to calculate a weight reduction of the satellite or the correction number according to the previous stage integrity risk value and the next stage integrity risk value.
Specifically, there are various specific methods for the processing module to calculate the weight reduction of the satellite or the correction number according to the previous level integrity risk value and the next level integrity risk value. In one embodiment, the processing module may be based on a formula
Calculating a down-weighted weight of the satellite or the correction number, wherein w' and w are the down-weighted weight and the original weight, P k-1 Is the integrity risk value of this previous stage, P k As the integrity risk value of this latter stage, K P And (4) representing the standard normal distribution quantile corresponding to the probability P. In another embodiment, the formula of the above embodiment
The square is used as the coefficient for reducing the weight, the cubic high power can be used as an alternative in the embodiment, for example, the processing module can also use a formula
And calculating the weight reduction of the satellite or the correction number, wherein n is a normal number. In yet another embodiment, the processing module may be further based on a formula
And calculating the weight reduction of the satellite or the correction number, wherein a is a normal number. It is to be noted that all are based on pairs
The way of varying to lower the weighting factor is within the scope of the present description.
Optionally, the processing module 202 is further configured to determine that the previous stage integrity monitoring result is "not monitored" if the next stage integrity monitoring result is the first stage integrity monitoring result of the satellite or the correction number.
The first embodiment is a method embodiment corresponding to the present embodiment, and the technical details in the first embodiment may be applied to the present embodiment, and the technical details in the present embodiment may also be applied to the first embodiment.
It should be noted that, those skilled in the art should understand that the implementation functions of the modules shown in the embodiment of the system for using the multi-stage integrity monitoring results can be understood by referring to the related description of the method for using the multi-stage integrity monitoring results. The functions of the modules shown in the embodiment of the system for using the multi-level health monitoring results can be realized by a program (executable instructions) running on a processor, and can also be realized by a specific logic circuit. The usage system of the multi-level integrity monitoring result in the embodiment of the present application, if implemented in the form of a software functional module and sold or used as an independent product, may also be stored in a computer-readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present application may be essentially implemented or portions thereof contributing to the prior art may be embodied in the form of a software product stored in a storage medium, and including several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read Only Memory (ROM), a magnetic disk, or an optical disk. Thus, embodiments of the present application are not limited to any specific combination of hardware and software.
Accordingly, the present application also provides a computer-readable storage medium, in which computer-executable instructions are stored, and when the computer-executable instructions are executed by a processor, the computer-executable instructions implement the method embodiments of the present application. Computer-readable storage media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable storage medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
In addition, the embodiment of the present application further provides a system for using the multi-level integrity monitoring result, which includes a memory for storing computer executable instructions, and a processor; the processor is configured to implement the steps of the method embodiments described above when executing the computer-executable instructions in the memory. The Processor may be a Central Processing Unit (CPU), other general-purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), or the like. The aforementioned memory may be a read-only memory (ROM), a Random Access Memory (RAM), a Flash memory (Flash), a hard disk, or a solid state disk. The steps of the method disclosed in the embodiments of the present invention may be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in the processor.
It is noted that, in the present patent application, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, the use of the verb "comprise a" to define an element does not exclude the presence of another, same element in a process, method, article, or apparatus that comprises the element. In the present patent application, if it is mentioned that a certain action is executed according to a certain element, it means that the action is executed according to at least the element, and two cases are included: performing the action based only on the element, and performing the action based on the element and other elements. The expression of a plurality of, a plurality of and the like includes 2, 2 and more than 2, more than 2 and more than 2.
All documents mentioned in this application are to be considered as being incorporated in their entirety into the disclosure of this application so as to be subject to modification as necessary. It should be understood that the above description is only a preferred embodiment of the present disclosure, and is not intended to limit the scope of the present disclosure. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of one or more embodiments of the present disclosure should be included in the scope of protection of one or more embodiments of the present disclosure.
Claims (20)
1. A method for using a multi-level integrity monitoring result, comprising:
acquiring continuous multi-stage integrity monitoring results of a certain satellite or a certain correction number, and operating any continuous two-stage integrity monitoring result according to the following steps:
if the latter-stage integrity monitoring result is 'alarm' and the former-stage integrity monitoring result is not 'alarm', the reduced satellite or the correction number is used to participate in positioning calculation within the effective time of the latter-stage integrity monitoring result;
if the last-stage integrity monitoring result is 'unmonitored', calculating the increment of the precision factors before and after the satellite or the correction number is removed; and if the increment is larger than a preset threshold value, using the reduced satellite or the corrected number to participate in positioning calculation within the effective time of the next-stage integrity monitoring result.
2. The method of using multi-level integrity monitoring results as recited in claim 1, further comprising:
and if the increment is not larger than the preset threshold, the satellite or the correction number is not used to participate in positioning calculation within the effective time of the next-stage integrity monitoring result.
3. The method of using multi-level integrity monitoring results as claimed in claim 1, wherein the predetermined threshold is determined according to a pre-agreed positioning result jump threshold.
4. The method of using multi-level integrity monitoring results as claimed in claim 3, wherein the predetermined threshold is based on a formula
Is calculated to obtain, wherein T DOP Is the preset threshold value, T P And the position result is a predetermined positioning result jump threshold value, sigma is the distance measurement error within the effective time of the next-stage integrity monitoring result, and b is a normal number.
5. The method of claim 1, wherein the previous level of integrity monitoring result is defined as "not monitored" if the subsequent level of integrity monitoring result is a first level of integrity monitoring result of the satellite or the correction number.
6. The method of using multi-level integrity monitoring results as claimed in any one of claims 1-5, wherein the using the reduced weight satellite or the correction number before participating in positioning solution further comprises:
and calculating the weight reduction of the satellite or the correction number according to the previous-level integrity risk value and the next-level integrity risk value.
7. The method of using multi-level integrity monitoring results of claim 6, wherein said calculating a down-weighted weight of the satellite or the correction number as a function of the previous level integrity risk value and the next level integrity risk value further comprises:
according to the formula
Calculating a down-weighted weight of the satellite or the correction number, wherein w' and w are the down-weighted weight and the original weight, respectively, P k-1 Is the integrity risk value of the previous stage, P k Is the integrity risk value of the latter stage, K P And (3) representing the standard normal distribution quantile corresponding to the probability P, wherein a and n are normal numbers.
8. The method of using multi-level integrity monitoring results as recited in claim 1, further comprising:
and if the last-stage integrity monitoring result is available, using the satellite or the correction number to participate in positioning calculation.
9. The method of using multi-level integrity monitoring results of claim 1, further comprising:
and if the next-stage integrity monitoring result is 'warning' and the previous-stage integrity monitoring result is 'warning', the satellite or the correction number is not used to participate in positioning calculation within the effective time of the next-stage integrity monitoring result.
10. A system for using multi-level integrity monitoring results, comprising:
the acquisition module is used for acquiring a continuous multi-level integrity monitoring result of a certain satellite or a certain correction number;
the processing module is used for participating in positioning calculation by using the reduced satellite or the corrected number within the effective time of the next-stage integrity monitoring result if the next-stage integrity monitoring result is 'warning' and the previous-stage integrity monitoring result is not 'warning' for any two continuous-stage integrity monitoring results; if the latter stage integrity monitoring result is 'unmonitored', calculating the increment of the precision factors before and after the satellite or the correction number is removed, and if the increment is larger than a preset threshold value, using the reduced satellite or the correction number to participate in positioning calculation within the effective time of the latter stage integrity monitoring result.
11. The system for using multi-level integrity monitoring results of claim 10, wherein the processing module is further configured to not use the satellite or the correction number to participate in positioning solution during the validation time of the subsequent level integrity monitoring result if the increment is not greater than the preset threshold.
12. The system for using multi-level integrity monitoring results of claim 10, wherein the processing module is further configured to determine the preset threshold according to a pre-agreed positioning result jump threshold.
13. The system for using multi-level integrity monitoring results of claim 12, wherein the processing module is further configured to use the results according to a formula
Calculating the preset threshold value, wherein T DOP Is the preset threshold value, T P And the positioning result is a preset positioning result jump threshold, sigma is the ranging error within the effective time of the next-stage integrity monitoring result, and b is a normal number.
14. The system for using multi-level integrity monitoring results of claim 10, wherein the processing module is further configured to qualify the previous level of integrity monitoring result as "not monitored" if the subsequent level of integrity monitoring result is the first level of integrity monitoring result of the satellite or the correction number.
15. The system for using multilevel integrity monitoring results of any of claims 10-14, wherein the processing module is further configured to calculate a down-weighted weight of the satellite or the correction number based on the previous level integrity risk value and the next level integrity risk value.
16. The system for using multi-level integrity monitoring results of claim 15, wherein the processing module is further configured to use the results according to a formula
Calculating a down-weighted weight of the satellite or the correction number, wherein w' and w are the down-weighted weight and the original weight, respectively, P k-1 And P k Respectively an integrity risk value of the previous stage and an integrity risk value of the subsequent stage, K P And (3) representing the standard normal distribution quantile corresponding to the probability P, wherein a and n are normal numbers.
17. The system for using multi-level integrity monitoring results of claim 10, wherein the processing module is further configured to use the satellite or the correction number to participate in a positioning solution if the post-level integrity monitoring result is "available".
18. The system for using multi-level integrity monitoring results of claim 10, wherein the processing module is further configured to not use the satellite or the correction number to participate in positioning solution during the validation time of the next level integrity monitoring result if the next level integrity monitoring result is "alarm" and the previous level integrity monitoring result is also "alarm".
19. A system for using multi-level integrity monitoring results, comprising:
a memory for storing computer executable instructions; and the number of the first and second groups,
a processor for implementing the steps in the method of any one of claims 1 to 9 when executing the computer-executable instructions.
20. A computer-readable storage medium having stored thereon computer-executable instructions which, when executed by a processor, implement the steps of the method of any one of claims 1 to 9.
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