CN113381910B - Multi-star coarse timing integrity analysis method and device, computer equipment and medium - Google Patents

Multi-star coarse timing integrity analysis method and device, computer equipment and medium Download PDF

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CN113381910B
CN113381910B CN202110638456.0A CN202110638456A CN113381910B CN 113381910 B CN113381910 B CN 113381910B CN 202110638456 A CN202110638456 A CN 202110638456A CN 113381910 B CN113381910 B CN 113381910B
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CN113381910A (en
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冯璐
吴鹏
杨欣怡
仝海波
黄雅静
陈雨莺
王鹏宇
肖学美
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Changsha University
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Abstract

The invention discloses a multi-star coarse timing integrity analysis method, a multi-star coarse timing integrity analysis device, computer equipment and a medium, wherein the method comprises the following steps of: acquiring the propagation delay of a plurality of satellites, and setting the minimum value in the propagation delay of the plurality of satellites as a standard value; calculating to obtain the difference value of the propagation delay of a plurality of adjacent satellites according to the propagation delay of each satellite and the standard value; comparing the difference value of the propagation delay of a plurality of adjacent satellites with a preset error time range, and grouping the satellites; determining a group with the largest number of satellite particles in the group, and subtracting the maximum value of the propagation delay of the satellite in the group with the largest number of satellite in the group from the minimum value of the propagation delay of the satellite in the group to obtain the difference value of the propagation delay in the group, and when the difference value of the propagation delay in the group does not exceed the preset error time range, obtaining the number of normal satellite particles. And when the difference value between the transmission time delays of all the satellites and the total time delay difference value are smaller than the preset error time range, judging the number of normal satellites and finding out the fault satellite.

Description

Multi-star coarse timing integrity analysis method and device, computer equipment and medium
Technical Field
The invention belongs to the technical field of satellite navigation receiving, and particularly relates to a method, a device, computer equipment and a medium for analyzing the integrity of multi-satellite rough calibration, which can be applied to the development of satellite navigation receiving terminal equipment.
Background
Two conditions are needed for the receiver to realize positioning, namely, the accurate position of each satellite in space and the accurate distance from the receiver to each satellite. The satellite positions can be calculated from ephemeris parameters in the text and the distances from the receiver to the satellites are measured by the receiver. How to obtain more accurate distance measurement values is a key step in navigation positioning.
When the receiver is in cold start, the time of the receiver is unknown, and after a satellite signal is received, an accurate satellite time is obtained, so that a time error range exists due to propagation delay with a local receiver. The traditional autonomous integrity and other methods are that after a receiver completes positioning calculation, the number of received satellites exceeds the requirement of at least four required satellites, and by utilizing the information redundancy characteristic, whether a fault exists can be detected, and the fault satellite can be identified. However, before the receiver can perform positioning, that is, 30s before ephemeris is collected, the method cannot detect the fault, so that a method for performing autonomous integrity analysis before the receiver performs positioning is needed.
Disclosure of Invention
In view of the above technical problems, the present invention provides a multi-satellite coarse timing integrity analysis method, apparatus, computer device and medium that implement autonomous integrity analysis before receiver positioning.
The technical scheme adopted by the invention for solving the technical problems is as follows:
in one embodiment, a multi-star coarse timing integrity analysis method includes the steps of:
step S100: acquiring the propagation delay of a plurality of satellites, and setting the minimum value in the propagation delay of the plurality of satellites as a standard value;
step S200: calculating to obtain the difference value of the propagation delay of a plurality of adjacent satellites according to the propagation delay of each satellite and the standard value;
step S300: comparing the difference value of the propagation delay of a plurality of adjacent satellites with a preset error time range to obtain a comparison result, and grouping the satellites according to the comparison result;
step S400: determining a group with the largest number of satellites in the group, and subtracting the maximum value of the propagation delay of the satellites in the group with the largest number of satellites in the group from the minimum value of the propagation delay of the satellites in the group to obtain an intra-group propagation delay difference value, wherein the number of the normal satellites is obtained when the intra-group propagation delay difference value does not exceed a preset error time range.
Preferably, step S200 includes:
step S210: obtaining the difference value of the propagation delay of each satellite and the standard value according to the propagation delay of each satellite and the standard value;
step S220: and obtaining the difference value of the propagation delay of a plurality of adjacent satellites according to the difference value of the propagation delay of each satellite and the standard value.
Preferably, the difference between the propagation delay of each satellite and the standard value in step S210 is specifically:
Δti＝ti-t0
wherein, Δ tiFor the difference between the propagation delay of each satellite and the standard value, tiFor each satellite propagation delay, t0And the value of i is a positive integer greater than 0.
Preferably, the comparison result includes that the difference between the propagation delays of the adjacent satellites does not exceed a preset error time range and/or the difference between the propagation delays of the adjacent satellites exceeds a preset error time range, and grouping the plurality of satellites according to the comparison result in step S300 specifically includes:
when the difference value of the propagation delay of one adjacent satellite in the difference values of the propagation delay of the adjacent satellites does not exceed a preset error time range, dividing the two corresponding adjacent satellites into a group;
and/or when the difference value of the propagation delay of one adjacent satellite in the difference values of the propagation delays of the plurality of adjacent satellites exceeds a preset error time range, dividing the two corresponding adjacent satellites into two groups.
Preferably, step S400 further comprises:
and when the propagation delay difference value in the group exceeds a preset error time range, outputting the identification information which cannot be judged.
In one embodiment, a multi-satellite rough calibration integrity analysis apparatus, the apparatus comprising:
the propagation delay acquisition module is used for acquiring the propagation delays of a plurality of satellites and setting the minimum value in the propagation delays of the plurality of satellites as a standard value;
the difference value acquisition module is used for calculating the difference values of the propagation delay of a plurality of adjacent satellites according to the propagation delay of each satellite and the standard value;
the grouping module is used for comparing the difference value of the propagation delay of a plurality of adjacent satellites with a preset error time range to obtain a comparison result, and grouping the satellites according to the comparison result;
and the integrity analysis module is used for determining a group with the largest number of satellites in the group, subtracting the maximum value of the propagation delay of the satellite in the group with the largest number of satellites in the group from the minimum value of the propagation delay of the satellite in the group to obtain an intra-group propagation delay difference value, and obtaining the number of normal satellites when the intra-group propagation delay difference value does not exceed a preset error time range.
In an embodiment, a computer device comprises a memory and a processor, the memory storing a computer program, the processor implementing the steps of the above method when executing the computer program.
In an embodiment, a computer-readable storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps of the above-mentioned method.
The method, the device, the computer equipment and the medium for analyzing the integrity of the multi-satellite rough calibration time are used for grouping a plurality of satellites according to the comparison between the difference value of the propagation delay of a plurality of adjacent satellites and a preset error time range, a minority of satellites is used for following the majority principle, the consistency of more satellites is believed to keep the correct possible satellite number to be the majority, a group with the largest satellite number in the group is determined, the difference value of the propagation delay in the group is obtained according to the maximum value of the propagation delay of the satellites in the group and the minimum value of the propagation delay of the satellites in the group, when the difference value between the transmission delay of each satellite and the difference value from the minimum value of the propagation delay in the group to the maximum value of the propagation delay are smaller than the preset error time range, the normal satellite number can be judged, the fault satellite can be found out, before the receiver can be positioned, namely 30s before ephemeris is received, the mutual regularity of the transmission delay of each satellite is utilized, and (4) realizing integrity analysis.
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Fig. 1 is a flowchart of a multi-satellite coarse timing integrity analysis method according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating a difference between the time delay and the standard value when each satellite propagates according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating differences between propagation delays of adjacent satellites according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the grouping of satellites according to an embodiment of the invention;
fig. 5 is a schematic flow chart of a multi-satellite coarse timing integrity analysis method according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the present invention is further described in detail below with reference to the accompanying drawings.
In one embodiment, as shown in fig. 1, a multi-star coarse timing integrity analysis method includes the following steps:
step S100: the propagation delay of a plurality of satellites is obtained, and the minimum value of the propagation delays of the plurality of satellites is set as a standard value, specifically, the difference between the signal receiving time and the signal transmitting time is called satellite signal propagation delay, which refers to the propagation time from the satellite transmitting to the user receiving of the signal and depends on the distance between the user and the satellite. Suppose each satellite propagation delay is tiWill tiArranged from small to large, and the minimum value of the satellite propagation delay is determined as a standard value t0＝min(ti) And the value of i is a positive integer greater than 0.
Step S200: and calculating to obtain the difference value of the propagation delay of a plurality of adjacent satellites according to the propagation delay of each satellite and the standard value. Further, step S200 includes: step S210: obtaining the difference value of the propagation delay of each satellite and the standard value according to the propagation delay of each satellite and the standard value; step S220: and obtaining the difference value of the propagation delay of a plurality of adjacent satellites according to the difference value of the propagation delay of each satellite and the standard value.
Specifically, as shown in fig. 2, the difference between the propagation delay of each satellite and the standard value is assumed to be Δ tiThen, then：
Δti＝ti-t0
Wherein, Δ tiFor the difference between the propagation delay of each satellite and the standard value, tiFor each satellite propagation delay, t0Is a standard value.
At under normal conditionsi<20ms is always true, and if a satellite is known to be faulty, Δ t existsi>20 ms. The length of the line segment is assumed to be the length of each satellite propagation delay, and each bin represents 2 ms. As shown in FIG. 3, let diIf the difference value of the propagation delay of two adjacent satellites is obtained, then:
di＝Δti+1-Δti
step S300: and comparing the difference value of the propagation delay of the plurality of adjacent satellites with a preset error time range to obtain a comparison result, and grouping the plurality of satellites according to the comparison result.
Further, the comparison result includes that the difference between the propagation delays of the adjacent satellites does not exceed the preset error time range and/or the difference between the propagation delays of the adjacent satellites exceeds the preset error time range, and grouping the plurality of satellites according to the comparison result in step S300 is specifically represented as: when the difference value of the propagation delay of one adjacent satellite in the difference values of the propagation delay of the adjacent satellites does not exceed a preset error time range, dividing the two corresponding adjacent satellites into a group; and/or when the difference value of the propagation delay of one adjacent satellite in the difference values of the propagation delays of the plurality of adjacent satellites exceeds a preset error time range, dividing the two corresponding adjacent satellites into two groups.
Specifically, after receiving the satellite signal, an accurate satellite time is obtained, and a preset error time range, namely a time uncertainty range, is within 20 ms. When d isi<At 20ms, defining the distance between two satellites, recording the two satellites in the same group, and when d isi>At 20ms, defining the distance between two satellites, recording the two satellites as different groups, namely d for each occurrenceiAnd if the uncertain range is exceeded for 20ms, a new group is added. As can be seen from FIG. 3, d1-d3 are all less than 20ms, d4 is greater than 20ms, then t 0-t 3 are recorded in group a1,t4 into group a2iAnd sequentially judging until all the satellites are grouped.
Further, the preset error time range is determined as follows: under the influence of factors such as atmospheric propagation delay and Sagnac (Sagnac effect) effect, and the like, a receiver cannot guarantee that received signals are clean and stable under various complex application environments (such as weak signals, shielding, rotation, high dynamics and the like), and especially when the signal strength is low or certain interference exists, an error increase or even an error occurs in observed quantity. The local receiver reception time is thus as follows:
Ti＝pi+ti
wherein, TiFor local reception of time, piIs the satellite transmission time, tiIs the signal propagation delay. The Orbit heights of different types of satellites are different, so the propagation delays of the satellites are different, for example, the propagation delay of a MEO (Medium Orbit/middle Orbit earth satellite) satellite is about 70 to 90ms, and the propagation delay of a GEO (geosynchrons Orbit/middle Orbit earth satellite) satellite and an IGSO (incorporated GeoSynchronous Orbit) satellite is about 120 to 140 ms.
Taking the MEO satellite as an example, the local reception time is:
Ti＝pi+ti＝pi+[70，90]＝[pi+80-10,pi+80+10]
the above is the basic principle of single-star coarse timing. As can be appreciated from the above boundary ranges, this method can determine a timing accuracy or range within ± 10ms, i.e., 20 ms.
Step S400: determining a group with the largest number of satellites in the group, obtaining the difference value of the propagation delay in the group according to the maximum value of the propagation delay of the satellites in the group and the minimum value of the propagation delay of the satellites in the group, and obtaining the number of the normal satellites when the difference value of the propagation delay in the group does not exceed a preset error time range. Further, step S400 further includes: and when the propagation delay difference value in the group exceeds a preset error time range, outputting the identification information which cannot be judged.
Specifically, the number of satellites in each group a is compared, and the group with the largest number of satellites is amaxAnd the number is b.
In the present invention, when a fault is identified, using a minority majority-compliant principle, the consistency of a greater number of satellites is believed, i.e., keeping the number of satellites normally possible is the majority, then satellites "farther" from the normal satellites are considered to be faulty. Taking an MEO satellite as an example, as shown in fig. 4, the propagation delay of the MEO satellite is about 70 to 90ms, a region a represents a region less than 70ms, a region B represents a region of 70 to 90ms, so the propagation delay length in a normal region is 20ms, and a region C represents a region greater than 90 ms.
The origin represents the local time calculated by each satellite, and obviously, when the local time is dispersed in the middle interval, the local time is reasonably correct, but when the local time is obviously deviated, the conflict is indicated.
Because the standard value is the satellite with the minimum propagation delay and only the delay difference of the adjacent satellite is judged, a still existsmaxThe medium total delay difference, i.e. the difference between the maximum propagation delay and the minimum propagation delay, exceeds the uncertainty range by 20ms, so the group a to be foundmaxAnd judging again. Suppose group amaxThe maximum value and the minimum value of the middle propagation delay are respectively tmaxAnd tminAnd then:
Y＝tmax-tmin
in the formula, Y represents the difference between the maximum value and the minimum value of the propagation delay in the group.
As shown in fig. 5, when Y does not exceed the uncertainty range (taking the uncertainty range of 20ms as an example), that is, when both the difference between the transmission delays of the satellites and the total delay difference, that is, the difference between the minimum value of the propagation delay and the maximum value of the propagation delay in the region, are less than 20ms, the number of normal satellites can be determined, and a faulty satellite can be found out, so that the correct number b of satellites can be obtained correspondingly, which corresponds to the faulty satellites in regions a and C in fig. 4, otherwise, when Y exceeds the uncertainty range of 20ms, it cannot be determined, and an identifier that cannot be determined is given.
In one embodiment, the correspondence test data is as shown in the following table, with maximum and minimum values correspondingGroup amaxThe difference value between the maximum value and the minimum value in the first group and the second group is less than 20ms, so that a normal satellite and a fault satellite can be judged, the error data is the transmission delay of the fault satellite, the difference value between the maximum value and the minimum value in the third group is greater than 20ms, so that the judgment cannot be made, the transmission delay of the fault satellite cannot be obtained, and an identifier which cannot be judged is output.
Test results
Figure BDA0003106150750000061
Figure BDA0003106150750000071
According to the method for analyzing the integrity of the multi-satellite coarse calibration time, before the receiver can be positioned, namely 30s before ephemeris is collected, the number of normal satellites can be judged by utilizing the mutual rules of transmission time delay among the satellites, and the fault satellite can be found out.
In one embodiment, the device for analyzing the integrity of the multi-satellite rough calibration time comprises a propagation delay acquisition module, a difference acquisition module, a grouping module and an integrity analysis module, wherein the propagation delay acquisition module is used for acquiring the propagation delays of a plurality of satellites and setting the minimum value of the propagation delays of the plurality of satellites as a standard value; the difference value acquisition module is used for calculating the difference values of the propagation delay of a plurality of adjacent satellites according to the propagation delay of each satellite and the standard value; the grouping module is used for comparing the difference value of the propagation delay of a plurality of adjacent satellites with a preset error time range to obtain a comparison result, and grouping the satellites according to the comparison result; and the integrity analysis module is used for determining a group with the largest number of satellites in the group, subtracting the maximum value of the propagation delay of the satellite in the group with the largest number of satellites in the group from the minimum value of the propagation delay of the satellite in the group to obtain an intra-group propagation delay difference value, and obtaining the number of normal satellites when the intra-group propagation delay difference value does not exceed a preset error time range.
For the specific limitations of the multi-satellite rough calibration integrity analysis apparatus, reference may be made to the above limitations of the multi-satellite rough calibration integrity analysis method, which are not described herein again. All or part of the modules in the multi-satellite rough calibration integrity analysis device can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device includes a memory storing a computer program and a processor that, when executing the computer program, performs the steps of a multi-star coarse timing integrity method.
In one embodiment, a computer readable storage medium has stored thereon a computer program which, when executed by a processor, performs the steps of a multi-star coarse timing integrity method.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-readable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein. The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks. These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks. These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The method, the device, the computer equipment and the medium for analyzing the integrity of the multi-star rough time calibration provided by the invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the core concepts of the present invention. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.

Claims (8)

1. The multi-star rough time correction integrity analysis method is characterized by comprising the following steps of:
step S100: acquiring propagation delays of a plurality of satellites, and setting the minimum value in the propagation delays of the plurality of satellites as a standard value;
step S200: calculating to obtain the difference value of the propagation delay of a plurality of adjacent satellites according to the propagation delay of each satellite and the standard value;
step S300: comparing the difference value of the propagation delay of a plurality of adjacent satellites with a preset error time range to obtain a comparison result, and grouping the satellites according to the comparison result;
step S400: determining a group with the largest number of satellite particles in the group, and subtracting the maximum value of the propagation delay of the satellite in the group with the largest number of satellite in the group from the minimum value of the propagation delay of the satellite in the group to obtain an intra-group propagation delay difference value, and when the intra-group propagation delay difference value does not exceed the preset error time range, obtaining the number of normal satellites.
2. The method according to claim 1, wherein step S200 comprises:
step S210: obtaining the difference value between the propagation delay of each satellite and the standard value according to the propagation delay of each satellite and the standard value;
step S220: and obtaining the difference value of the propagation delay of a plurality of adjacent satellites according to the difference value of the propagation delay of each satellite and the standard value.
3. The method according to claim 2, wherein the difference between the propagation delay of each satellite and the standard value in step S210 is specifically:
Δti＝ti-t0
wherein, Δ tiFor the difference between the propagation delay of each satellite and the standard value, tiFor each satellite propagation delay, t0And the value of i is a positive integer greater than 0.
4. The method according to claim 1, wherein the comparison result comprises that the difference between the propagation delays of the adjacent satellites does not exceed a preset error time range and/or the difference between the propagation delays of the adjacent satellites exceeds a preset error time range, and grouping the plurality of satellites according to the comparison result in step S300 is embodied as:
when the difference value of the propagation delay of one adjacent satellite in the difference values of the propagation delay of the adjacent satellites does not exceed a preset error time range, dividing the two corresponding adjacent satellites into a group;
and/or when the difference value of the propagation delay of one adjacent satellite in the difference values of the propagation delays of the plurality of adjacent satellites exceeds a preset error time range, dividing the two corresponding adjacent satellites into two groups.
5. The method of claim 1, wherein step S400 further comprises:
and when the propagation delay difference value in the group exceeds the preset error time range, outputting the identification information which cannot be judged.
6. Multi-star rough timing integrity analysis device, characterized in that the device comprises:
the propagation delay acquisition module is used for acquiring the propagation delays of a plurality of satellites and setting the minimum value in the propagation delays of the plurality of satellites as a standard value;
a difference value acquisition module, configured to calculate, according to the propagation delay of each satellite and the standard value, a difference value between propagation delays of multiple adjacent satellites;
the grouping module is used for comparing the difference value of the propagation delay of a plurality of adjacent satellites with a preset error time range to obtain a comparison result, and grouping the satellites according to the comparison result;
and the integrity analysis module is used for determining a group with the largest number of satellites in the group, subtracting the maximum value of the propagation delay of the satellite in the group with the largest number of satellites in the group from the minimum value of the propagation delay of the satellite in the group to obtain an intra-group propagation delay difference value, and obtaining the number of normal satellites when the intra-group propagation delay difference value does not exceed the preset error time range.
7. Computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor realizes the steps of the method of any of claims 1 to 5 when executing the computer program.
8. Computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.
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