CN112924993A - LEO constellation integrity monitoring method and system - Google Patents
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Abstract
The invention discloses a method and a system for monitoring integrity of an LEO constellation, wherein global integrity monitoring of an LEO satellite is realized by utilizing an inter-satellite link of the LEO satellite, area enhanced integrity monitoring of the LEO satellite is jointly completed by utilizing the inter-satellite link of the LEO satellite and observation data of an area ground monitoring station network in an area with an LEO ground monitoring station network, and an early warning terminal carries out corresponding early warning according to a monitoring result, so that the method that only integrity monitoring of a satellite navigation system is carried out but integrity monitoring of the LEO satellite constellation system is not carried out in the prior art is made up, the probability of missing detection of faults of a satellite part, a part of area LEO constellation space section and a transmission section in the LEO constellation space section and the risk of system integrity are effectively reduced, the method and the system have the advantage of short warning time, and the integrity service level of the LEO constellation system is effectively improved.
Description
Technical Field
The invention relates to the field of satellite navigation enhancement service, in particular to a method and a system for monitoring integrity of an LEO constellation.
Background
In recent years, countries continue to propose and start to deploy low-orbit satellite constellations for internet, internet of things, and navigation enhancement services. Especially in the field of navigation enhancement service, research has shown that the positioning accuracy can be effectively improved and the positioning convergence time can be reduced by using LEO/GNSS satellite combined precision positioning, which provides feasibility for applying PPP-RTK/FPPP technology to the fields of high-accuracy and high-dynamic navigation positioning (automatic driving and aviation), but the fields have severe requirements on integrity. The LEO system has the same vulnerability as the GNSS, the error has universality/uncertainty, and the signal is easy to be shielded, which can seriously affect the integrity of the LEO/GNSS and reduce the reliability and usability of the positioning result. There are also many well-established methods and techniques for integrity monitoring of GNSS (global navigation satellite system) systems. Meanwhile, a method for monitoring the integrity of a GNSS system by using a LEO satellite constellation is proposed, a low-orbit networking satellite is used as an integrity monitoring air base station, accurate inter-satellite ranging information among the low-orbit satellites is combined, and a navigation system integrity monitoring method and system based on the networking low-orbit satellite are provided; the system and the method for monitoring the navigation integrity based on the low-orbit constellation are characterized in that firstly, the global monitoring of the navigation constellation is realized through the low-orbit constellation, secondly, the multiple redundant observation of the low-orbit satellite is utilized to reduce the integrity risk, and finally, because the signals are transmitted from the navigation satellite to the low-orbit satellite to a user in a one-way mode, the multiple satellite-ground transmission of the signals in the ground monitoring is avoided, the transmission time delay is reduced, and the alarm time is shortened; however, the prior art does not realize the integrity monitoring of the LEO constellation. Currently, no integrity monitoring method for LEO constellation systems for navigation enhancement services has been found.
Disclosure of Invention
The invention aims to solve the technical problem of monitoring the integrity of an LEO constellation system, and provides a method and a system for monitoring the integrity of the LEO constellation system, which are used for realizing the integrity monitoring of the LEO constellation system by combining a link between LEO satellites and LEO ground monitoring station network data and aims to make up for the integrity monitoring technology of the LEO constellation system which is not used for navigation enhancement service.
The invention is realized by the following technical scheme:
the invention discloses a method for monitoring the integrity of an LEO constellation, which comprises the following steps:
step S1, synchronously establishing inter-satellite links between each LEO satellite in the LEO constellation and N adjacent LEO satellites around to obtain inter-satellite link data corresponding to each LEO satellite, wherein N is greater than 3;
and S2, synchronously processing the corresponding inter-satellite link data of each LEO satellite, monitoring the autonomous integrity of each LEO satellite in the LEO constellation to obtain an autonomous integrity monitoring result of each LEO satellite, and sending the autonomous integrity monitoring result of each LEO satellite to an early warning terminal for early warning.
Further preferably, for an area with a LEO ground monitoring station network, the method for monitoring the integrity of the LEO constellation further includes the following steps:
step 1, selecting any one LEO satellite in an LEO constellation as a target LEO satellite, judging whether a ground monitoring station network can monitor the target LEO satellite, and if not, directly sending the autonomous integrity monitoring result of the target LEO satellite in the step S2 to an early warning terminal for early warning;
step 2, if the ground monitoring station network can monitor the target LEO satellite, judging the autonomous integrity monitoring result of the target LEO satellite, if the autonomous integrity monitoring result of the target LEO satellite does not pass, directly judging that the target LEO satellite is abnormally unavailable, and sending an LEO satellite abnormal unavailable early warning to an early warning terminal;
step 3, if the autonomous integrity monitoring result of the target LEO satellite passes, selecting one monitoring station which can observe the target LEO satellite from the ground monitoring station network, carrying out integrity monitoring on the target LEO satellite to obtain an integrity monitoring result of the target LEO satellite, and sending the integrity monitoring result of the target LEO satellite to an early warning terminal for early warning;
and 4, using the steps 1-3 for the rest LEO satellites in the LEO constellation until the integrity of all LEO satellites in the LEO constellation is monitored.
In the prior art, for the field of navigation enhancement service of low earth orbit satellite constellation, more attention is paid to integrity monitoring of a navigation system, and no detection method for integrity of an LEO constellation system used for the navigation enhancement service is found, the invention adopts LEO inter-satellite observation link data to carry out autonomous integrity monitoring on LEO satellites, can meet users with general integrity requirements, realizes regional LEO satellite enhancement level integrity monitoring by combining LEO ground monitoring station network observation data and LEO inter-satellite link data together in a region with an LEO ground monitoring station network, can meet users with higher requirements for integrity in the region, improves the integrity service level of the LEO constellation system, simultaneously monitors LEO constellation space parts, LEO signal quality, navigation messages and ranging accuracy in the region with the LEO monitoring station network, and further reduces the probability that a user navigation result is influenced by fault signals, and the application range of LEO satellite navigation enhancement service is expanded.
Further preferably, the step S2 of monitoring the autonomous integrity of each LEO satellite in the LEO constellation includes:
step S21, selecting one LEO satellite S (i) in the LEO constellation and an inter-satellite link formed by the LEO satellite S (j) and one of the surrounding adjacent N LEO satellites;
step S22, calculating inter-satellite link ranging errors se of LEO satellites S (i) and S (j);
step S23, comparing the inter-satellite link ranging error se with a given threshold, if the inter-satellite link ranging error se is smaller than the given threshold, the LEO satellite S (i) is normally available, and the autonomous integrity monitoring result of the LEO satellite is passed;
step S24, if the distance measurement error se of the inter-satellite link is larger than a given threshold, it is indicated that at least one of the states of the LEO satellites S (i) and S (j) in the inter-satellite link is abnormal, and the abnormal identification number of the LEO satellite S (i) is added with 1;
step S25, continuing to use steps S21-S24 for inter-satellite links of the LEO satellite S (i) and the rest LEO satellites in the surrounding adjacent N LEO satellites, judging whether the abnormal identification number of the LEO satellite S (i) is larger than 3, if so, judging that the LEO satellite S (i) is abnormally unavailable, and obtaining the autonomous integrity monitoring result of the LEO satellite as unavailable; and if the judgment result is negative, performing autonomous integrity monitoring on other LEO satellites in the LEO constellation until integrity monitoring on all LEO satellites in the LEO constellation is completed.
Further preferably, the specific step of calculating the inter-satellite link ranging error se in step S22 includes:
s221, calculating an influence value es of ephemeris error of the LEO satellites S (i) and S (j) and receiver clock error on the distance Si-j of the inter-satellite link, wherein the calculation formula is as follows:
es＝(ΔSj-ΔSi)+c(ΔTj-ΔTi)；
wherein (Δ S)j-ΔSi) Denotes the influence of ephemeris error of LEO satellites S (i) and S (j) on the distance measured by the inter-satellite link Si-j, Δ Tj、ΔTiRespectively representing the receiver clock differences of LEO satellites S (j) and S (i), wherein c is the speed of light;
step S222, calculating the total sum em of the relativistic effect of the LEO satellites S (i) and S (j), the influence of the satellite multipath and the antenna phase center deviation on the range finding of the inter-satellite link Si-j;
step S223, calculating inter-satellite link ranging error se of LEO satellites S (i) and S (j), where se is es + em.
Further preferably, the specific steps of performing integrity monitoring on the target LEO satellite in step 3 are as follows:
step 31, selecting one monitoring station in the LEO ground monitoring station network, wherein the monitoring station can observe a target LEO satellite, and checking the reasonability and consistency of observation data of M receivers in the monitoring station, wherein M is more than or equal to 3;
step 32, selecting two groups of observation data with the best consistency, respectively carrying out integrity analysis on the two groups of observation data from the signal quality, the navigation message and the distance measurement precision, and carrying out consistency inspection on the integrity analysis results of the two groups of observation data;
step 33, if the consistency check result in the step 32 is that the consistency check result passes, determining the integrity of the target LEO satellite by combining the autonomous integrity monitoring result of the target LEO satellite to obtain an integrity monitoring result of the target LEO satellite;
and step 34, if the consistency check result in the step 32 is not passed, jointly performing redundancy judgment on the observation data of other monitoring stations nearby in the LEO ground monitoring station network, and jointly judging the integrity of the target LEO satellite according to the autonomous integrity monitoring result of the target LEO satellite to obtain the integrity monitoring result of the target LEO satellite.
The invention provides an LEO constellation integrity monitoring system for realizing the LEO constellation integrity monitoring method, which comprises an LEO satellite autonomous integrity monitoring module, a ground monitoring station network LEO integrity monitoring module and an early warning terminal, wherein,
the LEO satellite autonomous integrity monitoring module is used for monitoring the autonomous integrity of each LEO satellite in the LEO constellation to obtain an autonomous integrity monitoring result of each LEO satellite;
the LEO integrity monitoring module of the ground monitoring station network is used for monitoring the integrity of a visible LEO satellite in an area with the LEO ground monitoring station network, and combining an autonomous integrity monitoring result corresponding to the visible LEO satellite in the LEO satellite autonomous integrity monitoring module to monitor the integrity of the visible LEO satellite in the area of the LEO ground monitoring station network so as to obtain an integrity monitoring result of the visible LEO satellite;
the early warning terminal is used for receiving the autonomous integrity monitoring results of all LEO satellites of the LEO satellite autonomous integrity monitoring module and the integrity monitoring results of the visual LEO satellites of the ground monitoring station network LEO integrity monitoring module and carrying out early warning according to the received monitoring results.
Preferably, the LEO constellation integrity monitoring system further comprises a judging module, wherein the judging module is used for judging whether the LEO satellite in the LEO satellite autonomous integrity monitoring module is in the ground monitoring station network area;
if the judgment result is yes, marking the corresponding LEO satellite as a visual LEO satellite, and sending the autonomous integrity monitoring result of the visual LEO satellite to the LEO integrity monitoring module of the ground monitoring station network;
and if the judgment result is negative, sending the autonomous integrity monitoring result of the corresponding LEO satellite to the early warning terminal.
Compared with the prior art, the invention has the following advantages and beneficial effects:
the invention relates to a LEO constellation integrity monitoring method, which adopts LEO inter-satellite observation link data to carry out autonomous integrity monitoring on LEO satellites, combines LEO ground monitoring station network observation data and LEO inter-satellite link data to jointly realize enhanced integrity monitoring of LEO satellites in a region with a LEO ground monitoring station network, can meet users with global general integrity requirements based on the integrity monitoring result of the invention, and can simultaneously meet users with higher requirements on the integrity of the region The navigation message and the distance measurement precision are monitored, the probability that the navigation result of a user is influenced by a fault signal is further reduced, and the application range of the LEO satellite navigation enhancement service is expanded.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
FIG. 1 is a flow chart of the present invention for implementing LEO constellation integrity monitoring based on a link between LEO satellites;
FIG. 2 is a flow chart of the present invention for single LEO satellite integrity monitoring based on a link between LEO satellites;
FIG. 3 is a flow chart of the present invention for LEO constellation integrity monitoring based on LEO ground monitoring station network data;
FIG. 4 is a flow chart of the present invention for jointly implementing LEO constellation integrity monitoring based on the link between LEO satellites and the data of the LEO ground monitoring station network;
FIG. 5 is a block diagram of the system of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to one of ordinary skill in the art that: it is not necessary to employ these specific details to practice the present invention. In other instances, well-known structures, circuits, materials, or methods have not been described in detail so as not to obscure the present invention.
Throughout the specification, reference to "one embodiment," "an embodiment," "one example," or "an example" means: the particular features, structures, or characteristics described in connection with the embodiment or example are included in at least one embodiment of the invention. Thus, the appearances of the phrases "one embodiment," "an embodiment," "one example" or "an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in any suitable combination and/or sub-combination in one or more embodiments or examples. Further, those of ordinary skill in the art will appreciate that the illustrations provided herein are for illustrative purposes and are not necessarily drawn to scale. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
In the description of the present invention, it is to be understood that the terms "front", "rear", "left", "right", "upper", "lower", "vertical", "horizontal", "high", "low", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and therefore, are not to be construed as limiting the scope of the present invention.
Example 1
As shown in fig. 1, in the method for monitoring integrity of an LEO constellation according to this embodiment, in an area without an LEO ground monitoring station network, autonomous integrity monitoring is performed on an LEO satellite by using data of an observation link between LEO satellites, and an autonomous integrity monitoring result is used as an integrity monitoring result of the LEO constellation satellite, which specifically includes the following steps:
step S1, synchronously establishing inter-satellite links between each LEO satellite in the LEO constellation and N adjacent LEO satellites around to obtain inter-satellite link data corresponding to each LEO satellite, wherein N is greater than 3;
and S2, synchronously processing the corresponding inter-satellite link data of each LEO satellite, monitoring the autonomous integrity of each LEO satellite in the LEO constellation to obtain an autonomous integrity monitoring result of each LEO satellite, and sending the autonomous integrity monitoring result of each LEO satellite to an early warning terminal for early warning.
Specifically, as shown in fig. 2, the specific step of monitoring the autonomous integrity of each LEO satellite in the LEO constellation in step S2 includes:
step S21, selecting one LEO satellite S (i) in the LEO constellation and an inter-satellite link formed by the LEO satellite S (j) and one of the surrounding adjacent N LEO satellites;
step S22, calculating inter-satellite link ranging errors se of LEO satellites S (i) and S (j);
step S23, comparing the inter-satellite link ranging error se with a given threshold, if the inter-satellite link ranging error se is smaller than the given threshold, the LEO satellite S (i) is normally available, and the autonomous integrity monitoring result of the LEO satellite is passed;
step S24, if the distance measurement error se of the inter-satellite link is larger than a given threshold, it is indicated that at least one of the states of the LEO satellites S (i) and S (j) in the inter-satellite link is abnormal, and the abnormal identification number of the LEO satellite S (i) is added with 1;
step S25, continuing to use steps S21-S24 for inter-satellite links of the LEO satellite S (i) and the rest LEO satellites in the surrounding adjacent N LEO satellites, judging whether the abnormal identification number of the LEO satellite S (i) is larger than 3, if so, judging that the LEO satellite S (i) is abnormally unavailable, and obtaining the autonomous integrity monitoring result of the LEO satellite as unavailable; and if the judgment result is negative, performing autonomous integrity monitoring on other LEO satellites in the LEO constellation until integrity monitoring on all LEO satellites in the LEO constellation is completed.
Specifically, the specific step of calculating the inter-satellite link ranging error se in step S22 includes:
s221, calculating an influence value es of ephemeris error of the LEO satellites S (i) and S (j) and receiver clock error on the distance Si-j of the inter-satellite link, wherein the calculation formula is as follows:
es＝(ΔSj-ΔSi)+c(ΔTj-ΔTi)；
wherein (Δ S)j-ΔSi) Shows the influence of ephemeris error of LEO satellites S (i) and S (j) on the distance measurement of the intersatellite link Si-j，ΔTj、ΔTiRespectively representing the receiver clock differences of LEO satellites S (j) and S (i), wherein c is the speed of light;
step S222, calculating the total sum em of the relativistic effect of the LEO satellites S (i) and S (j), the influence of the satellite multipath and the antenna phase center deviation on the range finding of the inter-satellite link Si-j;
step S223, calculating inter-satellite link ranging error se of LEO satellites S (i) and S (j), where se is es + em.
It can be understood that, in the prior art, for the field of the navigation enhancement service of the low earth orbit satellite constellation, much attention is paid to integrity monitoring of a navigation system, and no detection method for integrity of an LEO constellation system for the navigation enhancement service is found yet.
Example 2
As shown in fig. 3, a difference between this embodiment 2 and embodiment 1 is that, in an area with a LEO ground monitoring station network, LEO ground monitoring station network observation data and LEO inter-satellite link data are combined to jointly implement LEO satellite enhanced integrity monitoring in the area, and the specific steps include:
step 1, synchronously establishing inter-satellite links between each LEO satellite in an LEO constellation and N adjacent LEO satellites around to obtain inter-satellite link data corresponding to each LEO satellite, wherein N is greater than 3;
step 2, synchronously processing the corresponding inter-satellite link data of each LEO satellite, monitoring the autonomous integrity of each LEO satellite in the LEO constellation, and obtaining the autonomous integrity monitoring result of each LEO satellite according to the inter-satellite link;
step 3, selecting any one LEO satellite in the LEO constellation as a target LEO satellite, judging whether the ground monitoring station network can monitor the target LEO satellite, and if not, directly sending the autonomous integrity monitoring result of the target LEO satellite obtained in the step 2 to an early warning terminal for early warning;
step 4, if the ground monitoring station network can monitor the target LEO satellite, judging the autonomous integrity monitoring result of the target LEO satellite obtained in the step 2, if the autonomous integrity monitoring result of the target LEO satellite does not pass, directly judging that the target LEO satellite is abnormally unavailable, and sending an LEO satellite abnormal unavailable early warning to an early warning terminal;
step 5, if the autonomous integrity monitoring result of the target LEO satellite passes, selecting one monitoring station which can observe the target LEO satellite from the ground monitoring station network, carrying out integrity monitoring on the target LEO satellite to obtain an integrity monitoring result of the target LEO satellite, and sending the integrity monitoring result of the target LEO satellite to an early warning terminal for early warning;
and 6, using the steps 1-3 for the rest LEO satellites in the LEO constellation until the integrity of all LEO satellites in the LEO constellation is monitored.
Specifically, the specific step of monitoring the autonomous integrity of each LEO satellite in the LEO constellation in step 2 includes:
step 21, selecting one LEO satellite s (i) in the LEO constellation and an inter-satellite link formed by the LEO satellite s (j) and one of the neighboring N LEO satellites;
step 22, calculating an inter-satellite link ranging error se of an LEO satellite S (i) and an LEO satellite S (j);
step 23, comparing the inter-satellite link ranging error se with a given threshold, if the inter-satellite link ranging error se is smaller than the given threshold, the LEO satellite S (i) is normally available, and the autonomous integrity monitoring result of the LEO satellite is passed;
step 24, if the inter-satellite link ranging error se is greater than a given threshold, it is indicated that at least one of states of the LEO satellites s (i) and s (j) in the inter-satellite link is abnormal, and the abnormal identification number of the LEO satellite s (i) is added by 1;
step 25, continuing to use the steps 21-24 for the inter-satellite links of the LEO satellite S (i) and the rest LEO satellites in the surrounding adjacent N LEO satellites, judging whether the abnormal identification number of the LEO satellite S (i) is more than 3, if so, judging that the LEO satellite S (i) is abnormal and unavailable, and obtaining the autonomous integrity monitoring result of the LEO satellite as unavailable; and if the judgment result is negative, performing autonomous integrity monitoring on other LEO satellites in the LEO constellation until integrity monitoring on all LEO satellites in the LEO constellation is completed.
Specifically, the specific step of calculating the inter-satellite link ranging error se in step 22 includes:
221. calculating the influence value es of ephemeris error of LEO satellites S (i) and S (j) and receiver clock error on the distance Si-j of the inter-satellite link, wherein the calculation formula is as follows:
es＝(ΔSj-ΔSi)+c(ΔTj-ΔTi)；
wherein (Δ S)j-ΔSi) Denotes the influence of ephemeris error of LEO satellites S (i) and S (j) on the distance measured by the inter-satellite link Si-j, Δ Tj、ΔTiRespectively representing the receiver clock differences of LEO satellites S (j) and S (i), wherein c is the speed of light;
step 222, calculating the total sum em of the relativistic effect of the LEO satellites S (i) and S (j), the influence of the satellite multipath and the antenna phase center deviation on the range finding of the inter-satellite link Si-j;
step 223, calculating inter-satellite link ranging error se of LEO satellites s (i) and s (j), where se is es + em.
Specifically, as shown in fig. 4, the specific steps of performing integrity monitoring on the target LEO satellite in step 6 are as follows:
step 61, selecting one monitoring station in the LEO ground monitoring station network, wherein the monitoring station can observe a target LEO satellite, and checking the reasonability and consistency of observation data of M receivers in the monitoring station, wherein M is more than or equal to 3, and M is 3 in the embodiment;
step 62, selecting two groups of observation data with the best consistency, respectively carrying out integrity analysis on the two groups of observation data from the signal quality, the navigation message and the distance measurement precision, and carrying out consistency inspection on the integrity analysis results of the two groups of observation data;
step 63, if the consistency check result in the step 62 is passed, determining the integrity of the target LEO satellite by combining the autonomous integrity monitoring result of the target LEO satellite to obtain an integrity monitoring result of the target LEO satellite;
and step 64, if the consistency check result in the step 62 is not passed, jointly carrying out redundancy judgment on the observation data of other monitoring stations nearby in the LEO ground monitoring station network, and jointly judging the integrity of the target LEO satellite according to the autonomous integrity monitoring result of the target LEO satellite to obtain the integrity monitoring result of the target LEO satellite.
It can be understood that, in the area with the LEO ground monitoring station network in embodiment 2, the LEO ground monitoring station network data is combined with the link data between LEO satellites to jointly implement regional LEO satellite regional enhanced integrity monitoring, which can meet the requirement of the region on the integrity of users, and in the area with the LEO monitoring station network, the LEO constellation space portion, the LEO signal quality, the navigation message and the distance measurement accuracy can be monitored at the same time, thereby further reducing the probability that the user navigation result is affected by the fault signal, and expanding the application range of the LEO satellite navigation enhanced service.
Example 3
As shown in fig. 5, this embodiment 3 provides a LEO constellation integrity monitoring system for implementing the LEO constellation integrity monitoring method of the above embodiment 1 or 2, which includes a LEO satellite autonomous integrity monitoring module, a ground monitoring station network LEO integrity monitoring module, a determining module, and an early warning terminal, wherein,
the LEO satellite autonomous integrity monitoring module is used for monitoring the autonomous integrity of each LEO satellite in the LEO constellation to obtain an autonomous integrity monitoring result of each LEO satellite;
the LEO integrity monitoring module of the ground monitoring station network is used for monitoring the integrity of a visible LEO satellite in an area with the LEO ground monitoring station network, and combining an autonomous integrity monitoring result corresponding to the visible LEO satellite in the LEO satellite autonomous integrity monitoring module to monitor the integrity of the visible LEO satellite in the area of the LEO ground monitoring station network so as to obtain an integrity monitoring result of the visible LEO satellite;
the early warning terminal is used for receiving the autonomous integrity monitoring results of all LEO satellites of the LEO satellite autonomous integrity monitoring module and the integrity monitoring results of the visual LEO satellites of the ground monitoring station network LEO integrity monitoring module and carrying out early warning according to the received monitoring results.
The judging module is used for judging whether the LEO satellite in the LEO satellite autonomous integrity monitoring module is in the ground monitoring station network area;
if the judgment result is yes, marking the corresponding LEO satellite as a visual LEO satellite, and sending the autonomous integrity monitoring result of the visual LEO satellite to the LEO integrity monitoring module of the ground monitoring station network;
and if the judgment result is negative, sending the autonomous integrity monitoring result of the corresponding LEO satellite to the early warning terminal.
The specific process of the method is the same as that of embodiments 1 and 2, and is not described herein.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (7)
1. A LEO constellation integrity monitoring method is characterized by comprising the following steps:
step S1, synchronously establishing inter-satellite links between each LEO satellite in the LEO constellation and N adjacent LEO satellites around to obtain inter-satellite link data corresponding to each LEO satellite, wherein N is greater than 3;
and S2, synchronously processing the corresponding inter-satellite link data of each LEO satellite, monitoring the autonomous integrity of each LEO satellite in the LEO constellation to obtain an autonomous integrity monitoring result of each LEO satellite, and sending the autonomous integrity monitoring result of each LEO satellite to an early warning terminal for early warning.
2. The LEO constellation integrity monitoring method of claim 1, wherein for an area with a network of LEO ground monitoring stations, the method further comprises the steps of:
step 1, selecting any one LEO satellite in an LEO constellation as a target LEO satellite, judging whether a ground monitoring station network can monitor the target LEO satellite, and if not, directly sending the autonomous integrity monitoring result of the target LEO satellite in the step S2 to an early warning terminal for early warning;
step 2, if the ground monitoring station network can monitor the target LEO satellite, judging the autonomous integrity monitoring result of the target LEO satellite, if the autonomous integrity monitoring result of the target LEO satellite does not pass, directly judging that the target LEO satellite is abnormally unavailable, and sending an LEO satellite abnormal unavailable early warning to an early warning terminal;
step 3, if the autonomous integrity monitoring result of the target LEO satellite passes, selecting one monitoring station which can observe the target LEO satellite from the ground monitoring station network, carrying out integrity monitoring on the target LEO satellite to obtain an integrity monitoring result of the target LEO satellite, and sending the integrity monitoring result of the target LEO satellite to an early warning terminal for early warning;
and 4, using the steps 1-3 for the rest LEO satellites in the LEO constellation until the integrity of all LEO satellites in the LEO constellation is monitored.
3. The method of claim 1, wherein the step S2 of monitoring autonomous integrity of each LEO satellite in the LEO constellation includes:
step S21, selecting one LEO satellite S (i) in the LEO constellation and an inter-satellite link formed by the LEO satellite S (j) and one of the surrounding adjacent N LEO satellites;
step S22, calculating inter-satellite link ranging errors se of LEO satellites S (i) and S (j);
step S23, comparing the inter-satellite link ranging error se with a given threshold, if the inter-satellite link ranging error se is smaller than the given threshold, the LEO satellite S (i) is normally available, and the autonomous integrity monitoring result of the LEO satellite is passed;
step S24, if the distance measurement error se of the inter-satellite link is larger than a given threshold, it is indicated that at least one of the states of the LEO satellites S (i) and S (j) in the inter-satellite link is abnormal, and the abnormal identification number of the LEO satellite S (i) is added with 1;
step S25, continuing to use steps S21-S24 for inter-satellite links of the LEO satellite S (i) and the rest LEO satellites in the surrounding adjacent N LEO satellites, judging whether the abnormal identification number of the LEO satellite S (i) is larger than 3, if so, judging that the LEO satellite S (i) is abnormally unavailable, and obtaining the autonomous integrity monitoring result of the LEO satellite as unavailable; and if the judgment result is negative, performing autonomous integrity monitoring on other LEO satellites in the LEO constellation until integrity monitoring on all LEO satellites in the LEO constellation is completed.
4. The LEO constellation integrity monitoring method of claim 3, wherein the specific step of calculating the inter-satellite link ranging error se in step S22 includes:
s221, calculating an influence value es of ephemeris error of the LEO satellites S (i) and S (j) and receiver clock error on the distance Si-j of the inter-satellite link, wherein the calculation formula is as follows:
es＝(ΔSj-ΔSi)+c(ΔTj-ΔTi)；
wherein (Δ S)j-ΔSi) Denotes the influence of ephemeris error of LEO satellites S (i) and S (j) on the distance measured by the inter-satellite link Si-j, Δ Tj、ΔTiRespectively representing the receiver clock differences of LEO satellites S (j) and S (i), wherein c is the speed of light;
step S222, calculating the total sum em of the relativistic effect of the LEO satellites S (i) and S (j), the influence of the satellite multipath and the antenna phase center deviation on the range finding of the inter-satellite link Si-j;
step S223, calculating inter-satellite link ranging error se of LEO satellites S (i) and S (j), where se is es + em.
5. The LEO constellation integrity monitoring method of claim 2, wherein the step 3 of performing integrity monitoring on the target LEO satellite specifically comprises the steps of:
step 31, selecting one monitoring station in the LEO ground monitoring station network, wherein the monitoring station can observe a target LEO satellite, and checking the reasonability and consistency of observation data of M receivers in the monitoring station, wherein M is more than or equal to 3;
step 32, selecting two groups of observation data with the best consistency, respectively carrying out integrity analysis on the two groups of observation data from the signal quality, the navigation message and the distance measurement precision, and carrying out consistency inspection on the integrity analysis results of the two groups of observation data;
step 33, if the consistency check result in the step 32 is that the consistency check result passes, determining the integrity of the target LEO satellite by combining the autonomous integrity monitoring result of the target LEO satellite to obtain an integrity monitoring result of the target LEO satellite;
and step 34, if the consistency check result in the step 32 is not passed, jointly performing redundancy judgment on the observation data of other monitoring stations nearby in the LEO ground monitoring station network, and jointly judging the integrity of the target LEO satellite according to the autonomous integrity monitoring result of the target LEO satellite to obtain the integrity monitoring result of the target LEO satellite.
6. An LEO constellation integrity monitoring system for realizing the LEO constellation integrity monitoring method of any one of claims 1-5, which is characterized by comprising an LEO satellite autonomous integrity monitoring module, a ground monitoring station network LEO integrity monitoring module and an early warning terminal, wherein,
the LEO satellite autonomous integrity monitoring module is used for monitoring the autonomous integrity of each LEO satellite in the LEO constellation to obtain an autonomous integrity monitoring result of each LEO satellite;
the LEO integrity monitoring module of the ground monitoring station network is used for monitoring the integrity of a visible LEO satellite in an area with the LEO ground monitoring station network, and combining an autonomous integrity monitoring result corresponding to the visible LEO satellite in the LEO satellite autonomous integrity monitoring module to monitor the integrity of the visible LEO satellite in the area of the LEO ground monitoring station network so as to obtain an integrity monitoring result of the visible LEO satellite;
the early warning terminal is used for receiving the autonomous integrity monitoring results of all LEO satellites of the LEO satellite autonomous integrity monitoring module and the integrity monitoring results of the visual LEO satellites of the ground monitoring station network LEO integrity monitoring module and carrying out early warning according to the received monitoring results.
7. The LEO constellation integrity monitoring system of claim 6, further comprising a determining module, wherein the determining module is configured to determine whether a LEO satellite in the LEO satellite autonomous integrity monitoring module is within a ground monitoring station network area;
if the judgment result is yes, marking the corresponding LEO satellite as a visual LEO satellite, and sending the autonomous integrity monitoring result of the visual LEO satellite to the LEO integrity monitoring module of the ground monitoring station network;
and if the judgment result is negative, sending the autonomous integrity monitoring result of the corresponding LEO satellite to the early warning terminal.
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