CN113484881B - Autonomous judging system and method for correctness of navigation message - Google Patents
Autonomous judging system and method for correctness of navigation message Download PDFInfo
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- CN113484881B CN113484881B CN202110740660.3A CN202110740660A CN113484881B CN 113484881 B CN113484881 B CN 113484881B CN 202110740660 A CN202110740660 A CN 202110740660A CN 113484881 B CN113484881 B CN 113484881B
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- 238000002347 injection Methods 0.000 claims abstract description 57
- 239000007924 injection Substances 0.000 claims abstract description 57
- 238000012545 processing Methods 0.000 claims description 10
- 230000007774 longterm Effects 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 2
- 230000008569 process Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 8
- 239000000463 material Substances 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 238000012937 correction Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
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Classifications
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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
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
- G01S19/258—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to the satellite constellation, e.g. almanac, ephemeris data, lists of satellites in view
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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
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
- G01S19/256—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to timing, e.g. time of week, code phase, timing offset
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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
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/27—Acquisition or tracking or demodulation of signals transmitted by the system creating, predicting or correcting ephemeris or almanac data within the receiver
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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
- G01S19/38—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
- G01S19/52—Determining velocity
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Power Engineering (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses an autonomous judging system and method for the correctness of a navigation message, which comprises the steps of firstly writing data in a navigation message injection module into a navigation message comparison module, then storing received navigation messages injected on the ground into the navigation message injection module, and comparing the navigation message comparison module with a group of navigation messages at corresponding moments in the navigation message injection module: if the comparison result meets the preset requirement, updating a group of navigation messages at corresponding moments in the navigation message injection module to the navigation message broadcasting module for broadcasting; if the comparison result does not meet the preset requirement, directly broadcasting the data in the navigation message broadcasting module and sending out an alarm.
Description
Technical Field
The invention relates to the technical field of aerospace, in particular to an autonomous judging system and method for correctness of a navigation message.
Background
The satellite navigation system is a system for positioning, speed measurement and time service based on satellites, and a user can receive navigation message signals broadcast by a plurality of satellites and calculate information such as position and speed of the user according to the navigation message signals. For example, the Beidou No. three global navigation and positioning system in China is a satellite navigation system, and can provide navigation service for users in the global scope.
As a key in a satellite navigation system, the accuracy and correctness of the navigation satellite message directly determine the performance of the satellite navigation system, so how to ensure the correctness of the navigation message is important.
Currently, navigation satellites are generally provided with a navigation signal integrity monitoring load, which is used for autonomously monitoring the correctness of downlink navigation signals and the health performance of a satellite-borne time-frequency system, and sending a navigation signal unavailable alarm to a user when an abnormality occurs. However, at present, the correctness of the navigation message information broadcasted by the navigation satellite is ensured only by means of coding the navigation message when the operation control center uploads the message, checking the data of the information frame of the uploaded navigation message by the satellite, and the like.
This way there is a certain risk: because of the harshness of the space environment in which the satellite is positioned, the navigation task processing unit of the in-orbit satellite can be influenced by the space environment, errors occur in the process of receiving, processing and storing the navigation message, and the downloaded navigation message has larger deviation; in addition, when the ground operation control center injects the navigation message, if the accuracy deviation is large or wrong, the navigation message is difficult to find.
Disclosure of Invention
Aiming at part or all of the problems in the prior art, one aspect of the invention provides an autonomous judging system for correctness of a navigation message, comprising:
the navigation message comparison module is used for storing the reference data of the navigation message;
the navigation message injection module is used for storing the navigation message injected from the ground;
The navigation message broadcasting module is used for storing the navigation message to be broadcasted; and
The control module is connected with the navigation message comparison module, the navigation message injection module and the navigation message broadcasting module in a communication way and is used for controlling the data writing of the navigation message comparison module, the navigation message injection module and the navigation message broadcasting module and judging whether the above-ground injected navigation message is correct or not.
Further, the reference data is a navigation message injected from the ground in the previous hour.
Further, the navigation message comparison module, the navigation message injection module and the navigation message broadcasting module are different storage areas in the satellite navigation task processing unit.
Another aspect of the present invention provides an autonomous determination method for correctness of a navigation message, including:
The data of the navigation message injection module is moved to a navigation message comparison module;
receiving a navigation message injected on the ground and storing the navigation message into a navigation message injection module; and
Comparing the data in the navigation message comparison module and the navigation message injection module:
If the comparison result reaches the expected value, updating the data in the navigation message injection module to the navigation message broadcasting module for broadcasting; and
If the comparison result does not reach the expected value, directly broadcasting the data in the navigation message broadcasting module and sending out an alarm.
Further, the comparison result is expected to include:
the data error in the navigation message comparison module and the navigation message injection module is lower than a preset error threshold.
Further, the error threshold includes a long-term prediction ephemeris error threshold and a satellite clock error threshold.
Further, the long-term prediction ephemeris error threshold value is equal to the ephemeris of the satellite predicted at the same reference moment by two hours adjacent to the center of the ground transport pipe, and is calculated as N times of the difference value of the satellite position and the satellite speed.
Further, the satellite clock error threshold value is equal to M times of the difference value after the clock error of satellite forecast is calculated to the same reference moment in two hours adjacent to the center of the ground transport pipe.
Further, the autonomous judgment method further includes:
If no data exists in the navigation message injection module, after receiving the navigation message injected on the ground, storing the navigation message into the navigation message injection module, and updating the navigation message to the navigation message broadcasting module for broadcasting.
According to the autonomous judging system and the autonomous judging method for the correctness of the navigation message, disclosed by the invention, before the navigation message is broadcast, the correctness of the navigation message to be broadcast is automatically judged, the error navigation message is automatically shielded, the correct navigation message is broadcast, meanwhile, an error alarm is sent to the ground transportation center, the whole process is fast in response and does not need ground operation, the intelligent level of a navigation satellite is improved, and the service capability of a user is improved.
Drawings
To further clarify the above and other advantages and features of embodiments of the present invention, a more particular description of embodiments of the invention will be rendered by reference to the appended drawings. It is appreciated that these drawings depict only typical embodiments of the invention and are therefore not to be considered limiting of its scope. In the drawings, for clarity, the same or corresponding parts will be designated by the same or similar reference numerals.
FIG. 1 is a schematic diagram of an autonomous determination system for correctness of a navigation message according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating an autonomous determination method for correctness of a navigation message according to an embodiment of the present invention;
FIG. 3 is a schematic diagram showing a process of broadcasting navigation messages in a conventional manner according to an embodiment of the present invention;
FIG. 4 is a schematic diagram showing a process of broadcasting a navigation message when a navigation message update interval is long in an embodiment of the present invention; and
Fig. 5 is a schematic diagram of a process of broadcasting a navigation message during track adjustment or maintenance of a time-frequency system according to an embodiment of the present invention.
Detailed Description
In the following description, the present invention is described with reference to various embodiments. One skilled in the relevant art will recognize, however, that the embodiments may be practiced without one or more of the specific details, or with other alternative and/or additional methods, materials, or components. In other instances, well-known structures, materials, or operations are not shown or described in detail to avoid obscuring aspects of the invention. Similarly, for purposes of explanation, specific numbers, materials and configurations are set forth in order to provide a thorough understanding of the embodiments of the invention. However, the invention is not limited to these specific details. Furthermore, it should be understood that the embodiments shown in the drawings are illustrative representations and are not necessarily drawn to scale.
Reference throughout this specification to "one embodiment" or "the embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment.
The generation, updating and broadcasting modes of the navigation message are as follows: the ground transportation management center collects the downlink signal observation data of the navigation satellite, then uniformly processes the data, completes satellite orbit determination and clock correction calculation, and then injects navigation message forecast data in a future period of time (usually 2 days) into the whole network satellite at a fixed time every hour, wherein the navigation message forecast data comprises parameters such as message reference time, long-term forecast ephemeris, clock correction and the like. The navigation message forecast data within 1 hour can be regarded as 1 group of navigation messages, when the satellite needs to broadcast the navigation messages, the satellite searches the reference time of each group of navigation messages according to the current time, and selects a group of navigation messages with the reference time closest to the current time to be sent to the signal downlink broadcasting module for broadcasting to the ground. Therefore, the user can realize the calculation of the information such as the position speed by means of the navigation message broadcast by the navigation satellite, so that the accuracy and the correctness of the navigation message directly influence the service performance of the user. At present, the satellite can only monitor that the satellite broadcasts the wrong navigation message after the navigation message is broadcast, and the ground iGMAS monitoring station cannot autonomously judge the correctness of the navigation message, so that the wrong navigation message can be broadcast, and the use of a user is greatly influenced. Based on the above, the invention provides an autonomous judging system and an autonomous judging method for the correctness of the navigation message, so that a satellite can autonomously judge the correctness of the navigation message to be broadcasted, automatically shield the wrong navigation message, broadcast the correct navigation message and send an error alarm to a ground transportation management center. The embodiments of the present invention will be further described with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of an autonomous determination system for correctness of a navigation message according to an embodiment of the present invention. As shown in fig. 1, an autonomous determination system for correctness of a navigation message includes a navigation message comparison module 101, a navigation message injection module 102, a navigation message broadcasting module 103, and a control module 104.
The navigation message comparison module 101 is configured to store reference data of navigation messages, where in an embodiment of the present invention, the reference data is data that is annotated by the ground in the previous hour, and includes multiple sets of navigation messages, where any set of navigation messages includes one hour of navigation message forecast data, and the reference data may include, for example, navigation message forecast data in the next 2 days, or may be data with a longer duration or a shorter duration.
The navigation message injection module 102 is configured to store real-time data injected from the ground, which includes multiple sets of navigation messages, where any set of navigation messages includes one hour of navigation message forecast data, and the real-time data may include, for example, navigation message forecast data within 2 days in the future, and may also be data with a longer duration or a shorter duration.
The navigation message broadcasting module 103 is configured to store a set of navigation messages to be broadcasted, and in an embodiment of the present invention, the set of navigation messages to be broadcasted is a navigation message judged by correctness.
The control module 104 is communicatively connected to the navigation message comparison module 101, the navigation message injection module 102, and the navigation message broadcasting module 103, and is configured to control data writing and updating of the navigation message comparison module 101, the navigation message injection module 102, and the navigation message broadcasting module 103, and meanwhile, is also configured to determine the correctness of the above-ground injected navigation message.
In one embodiment of the present invention, the satellite navigation task processing unit may be used as an autonomous determination system for correctness of the navigation message, and then three storage areas may be set in the satellite navigation task processing unit as a navigation message comparison module, a navigation message injection module and a navigation message broadcasting module, and then by setting, the working mode of the satellite navigation task processing unit is newly increased: and (5) independently judging the correctness of the navigation message. The autonomous judging mode of the correctness of the navigation message is started by default, at this moment, once the navigation message of a specified group needs to be broadcast, the satellite navigation task processing unit firstly searches the navigation messages at corresponding moments in the navigation message injection module and the navigation message comparison module according to time respectively, compares the navigation messages to judge the correctness of the navigation message, and only the navigation messages meeting the expected requirement can be broadcast; when the autonomous judging mode of the correctness of the navigation message is in a closed state, the satellite navigation task processing unit does not judge the correctness of the navigation message when broadcasting the navigation message, directly searches the corresponding moment of the navigation message in the uploading area of the navigation message according to time, and reads the corresponding moment of the navigation message into the broadcasting area of the navigation message for broadcasting.
Based on the above autonomous determination system, fig. 2 is a schematic flow chart of an autonomous determination method for correctness of a navigation message according to an embodiment of the present invention. As shown in fig. 2, an autonomous determination method for correctness of a navigation message, when an i-th group of navigation messages needs to be broadcasted:
First, in step 201, the alignment reference data is updated. Moving the data in the navigation message injection module to a navigation message comparison module, and omitting the step if the data in the navigation message injection module is not available;
next, at step 202, real-time data is received. Receiving a navigation message injected on the ground and storing the navigation message into a navigation message injection module;
Next, in step 203, the data is aligned. Comparing the navigation message comparison module with the ith group of navigation messages in the navigation message injection module, judging whether the difference value of the comparison module and the ith group of navigation messages meets the preset requirement, and omitting the step if the comparison module of the navigation messages has no data; in one embodiment of the present invention, the preset requirements include: the data errors of the ith group of navigation messages in the comparison module of the navigation messages and the injection module of the navigation messages are lower than a preset error threshold DeltaType err, the preset error threshold DeltaType err can comprise a long-term forecast ephemeris error threshold value and/or a satellite clock error threshold value, wherein the long-term forecast ephemeris error threshold value is equal to the ephemeris of satellites forecast at the same reference moment in two hours adjacent to the center of a ground transportation pipe, is calculated as N times of the difference value between the positions and the speeds of the satellites, and is equal to M times of the difference value between the clock errors of the satellite forecast in two hours adjacent to the center of the ground transportation pipe and the same reference moment, wherein the values of N and M can be any number, in one embodiment of the invention, the long-term forecast ephemeris error threshold value is preferably 3, and particularly, the long-term forecast ephemeris error threshold value is equal to 3 times of the difference value of the i hour ephemeris forecast at the center of the ground transportation pipe and the j < th > hour ephemeris forecast at the j+1th hour; the satellite clock difference error threshold value is equal to 3 times of the difference value between the ith clock difference predicted in the jth hour and the ith clock difference predicted in the jth+1h hour of the ground transport pipe center and the same reference time, and in the embodiment of the invention, in the navigation message injected on the ground, the predicted navigation message error threshold in the kth hour can be given a value of k x delta Type err; and
Finally, in step 204, a navigation message is broadcast. Determining and downloading broadcasted navigation messages according to the data comparison result, if the navigation message comparison module has no data, directly updating the ith group of navigation messages in the navigation message injection module to the navigation message broadcasting module, and broadcasting:
If the comparison result meets the preset requirement, indicating that the ith group of navigation messages in the uploaded real-time data are correct, and updating the ith group of navigation messages in the navigation message injection module to a navigation message broadcasting module for broadcasting; and
If the comparison result does not meet the preset requirement, the fact that the ith group of navigation messages are wrong in the uploaded real-time data is indicated, the data in the navigation message broadcasting module are directly broadcasted at the moment, and an alarm is sent out, and in the case, the data in the navigation message broadcasting module are actually a group of navigation messages which are verified to be correct last time. In one embodiment of the invention, the alert is sent to the surface pipe center during filling and telemetry.
Next, in order to better explain the autonomous determination method, several possible broadcasting processes of the navigation message are described in detail with reference to fig. 3-5 of the embodiment.
Fig. 3 is a schematic diagram of a process of broadcasting navigation messages in a conventional manner according to an embodiment of the present invention. As shown in fig. 3, in the conventional case:
In the initial S1 stage, the autonomous judging mode of the correctness of the navigation message is in a default 'on' state, and at the moment, the navigation message comparison module, the navigation message injection module and the navigation message broadcasting module are initialized to be empty;
Next, in the S2 stage, when the satellite receives the navigation messages (comprising a plurality of groups) injected from the ground transport pipe center, the navigation messages are stored in the navigation message injection module, and when the satellite needs to download the 1 st group of navigation messages, the navigation message comparison module is empty at the moment and does not have the 1 st group of corresponding messages, and then the 1 st group of messages in the navigation message injection module are directly written into the navigation message broadcasting module;
Next, in the S3 stage, when the satellite receives the navigation messages (including a plurality of groups) injected by the ground transportation center again in the next hour, firstly writing the data in the navigation message injection module into the navigation message comparison module, then storing the received new navigation messages in the navigation message injection module, when the satellite needs to download the 2 nd group of navigation messages, comparing the navigation message injection module with the 2 nd group of navigation messages in the navigation message comparison module, and if the error does not exceed a preset error threshold delta Type err, writing the 2 nd group of messages in the navigation message injection module into the navigation message broadcasting module; if the error threshold delta Type err exceeds the preset error threshold delta Type err, the data in the navigation message broadcasting module is not updated, and warning information is filled in the telemetering to inform the ground transportation center; and
Finally, in the S4 stage, similar to the S3 stage, when the satellite receives the navigation messages (comprising a plurality of groups) injected by the ground transportation pipe center again in the next hour, firstly writing the data in the navigation message injection module into the navigation message comparison module, then storing the received new navigation messages in the navigation message injection module, when the satellite needs to download the ith group of navigation messages, comparing the navigation message injection module with the ith group of navigation messages in the navigation message comparison module, and if the error does not exceed a preset error threshold delta Type err, writing the ith group of messages in the navigation message injection module into the navigation message broadcasting module; if the data exceeds the delta Type err, the navigation message broadcasting module is not updated, the data in the navigation message broadcasting module is directly broadcasted, and warning information is filled in the telemetering to inform the ground transportation center, wherein the data is a group of navigation messages which do not exceed the delta Type err last time.
Fig. 4 is a schematic diagram of a process of broadcasting navigation messages when the update interval of the navigation messages is long in an embodiment of the present invention. In the conventional stage, the ground transportation pipe center injects x-x+N groups of navigation messages at the time x, satellites autonomously judge the correctness of the navigation messages hour by hour according to time and retrieve and broadcast the navigation messages according to groups, and once the satellite time exceeds the reference time of the ground injection of the navigation messages, the satellites maintain to broadcast the last group of messages injected on the ground as shown in the stage S1 in FIG. 4; in the S2 stage, when the satellite receives the navigation messages injected on the ground again after the time of N+y, firstly writing the messages (x-x+N groups) injected into the navigation message injection module into the navigation message comparison module, then storing the injected messages (x+N+y-x+N+y+N) into the navigation message injection module, and when the satellite needs to download the x+N+y group navigation messages, since the navigation message comparison module does not have the corresponding group of messages, directly writing the group of messages in the navigation message injection module into the navigation message broadcasting module.
Fig. 5 is a schematic diagram of a process of broadcasting a navigation message during track adjustment or maintenance of a time-frequency system according to an embodiment of the present invention. In the conventional stage, as shown in a stage S1 of the figure, the ground transportation management center injects x-x+N groups of navigation messages at the moment x, satellites autonomously judge the correctness of the navigation messages hour by hour according to time, and retrieve and broadcast the navigation messages according to groups, in a stage S2, after the satellites perform orbit adjustment or the space-borne time-frequency system is maintained, the error between the new navigation messages of the satellites and the previous navigation messages does not meet delta Typeerr, when the ground transportation management center injects the new navigation messages, the autonomous judging mode of the correctness of the navigation messages is set to be in a closed state, the comparison judging of the correctness of the navigation messages is not performed, the message to be broadcast in the navigation message injection module is automatically written into the navigation message transmission module, and then in a stage S3, the ground transportation management center in the next hour before injecting the navigation messages, the autonomous judging mode of the correctness of the navigation messages is set to be in an open state, and the navigation messages are stored, compared and transmitted in a conventional condition.
According to the autonomous judging system and the autonomous judging method for the correctness of the navigation message, disclosed by the invention, before the navigation message is broadcast, the correctness of the navigation message to be broadcast is automatically judged, the error navigation message is automatically shielded, the correct navigation message is broadcast, meanwhile, an error alarm is sent to the ground transportation center, the whole process is fast in response and does not need ground operation, the intelligent level of a navigation satellite is improved, and the service capability of a user is improved.
While various embodiments of the present invention have been described above, it should be understood that they have been presented by way of example only, and not limitation. It will be apparent to those skilled in the relevant art that various combinations, modifications, and variations can be made therein without departing from the spirit and scope of the invention. Thus, the breadth and scope of the present invention as disclosed herein should not be limited by any of the above-described exemplary embodiments, but should be defined only in accordance with the following claims and their equivalents.
Claims (8)
1. An autonomous determination system for correctness of a navigation message, comprising:
A navigation message comparison module configured to be able to store reference data of a navigation message, wherein the reference data is navigation message data injected by the ground in the previous hour;
A navigation message injection module configured to be capable of storing navigation message data injected by the surface;
The navigation message broadcasting module is configured to store the navigation message to be broadcasted; and
The control module is connected with the navigation message comparison module, the navigation message injection module and the navigation message broadcasting module in a communication way and is configured to control the data writing and updating of the navigation message comparison module, the navigation message injection module and the navigation message broadcasting module, judge the correctness of the navigation message according to the error of a group of navigation messages at corresponding moments in the navigation message comparison module and the navigation message injection module, and if the navigation message is correct,
And updating a group of navigation messages at corresponding moments in the navigation message injection module to the navigation message broadcasting module for broadcasting, otherwise, directly broadcasting the data in the navigation message broadcasting module.
2. The autonomous determination system of claim 1, wherein the navigation message comparison module, the navigation message injection module, and the navigation message broadcasting module are different storage areas in a satellite navigation task processing unit, and wherein the autonomous determination mode of the navigation message correctness of the satellite navigation task processing unit defaults to an on state.
3. An autonomous judging method for the correctness of a navigation message is characterized by comprising the following steps:
writing data in the navigation message injection module into a navigation message comparison module, wherein the data is navigation message data injected from the ground in the previous hour;
receiving a navigation message injected on the ground and storing the navigation message into a navigation message injection module; and
Comparing the navigation message comparison module with a group of navigation messages at corresponding moments in the navigation message injection module:
if the comparison result meets the preset requirement, updating a group of navigation messages at corresponding moments in the navigation message injection module to the navigation message broadcasting module for broadcasting; and
If the comparison result does not meet the preset requirement, directly broadcasting the data in the navigation message broadcasting module and sending out an alarm.
4. The autonomous determination method of claim 3, wherein the preset requirements include:
The navigation message comparison module and the navigation message injection module are used for comparing the navigation message error at the corresponding moment with the preset error threshold.
5. The autonomous determination method of claim 4, wherein the error threshold comprises a long-term prediction ephemeris error threshold and a satellite clock error threshold.
6. The autonomous determining method according to claim 5, wherein the long-term prediction ephemeris error threshold is equal to the ephemeris predicted by the satellite at the same reference time in two hours adjacent to the center of the ground transportation pipe, and is calculated as N times the difference between the satellite position and the satellite velocity.
7. The autonomous judgment method according to claim 5, wherein the satellite clock error threshold is equal to M times of the difference value obtained by calculating the clock error of satellite forecast in two hours adjacent to the center of the ground transport pipe at the same reference time.
8. The autonomous determination method of claim 3, further comprising:
If no data exists in the navigation message injection module, after receiving the navigation message injected on the ground, storing the navigation message into the navigation message injection module, and updating the navigation message to the navigation message broadcasting module for broadcasting.
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