CN114152962A - Method for determining service range of satellite-based augmentation system - Google Patents
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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
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- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
Abstract
The invention provides a method for determining a service range of a satellite-based augmentation system, which comprises the steps of selecting a target research area, resolving current epoch global navigation satellite system satellite augmentation orbit/clock error and user differential ranging error information, calculating orbit/clock error comprehensive errors projected by each satellite on grid points in the current epoch, counting target area grid point UDRE enveloping probability, calculating grid point ionized layer delay error values and grid ionized layer vertical error information, counting target area grid point GIVE enveloping probability, carrying out merging realization on public areas under integrity parameter enveloping requirements, determining a final SBAS service area, and determining a merged overlapping area as the final service area. The invention is based on the requirement to avoid the occurrence of integrity risk events: the integrity parameter corrects the residual error to form an envelope for the corresponding correction number with the envelope probability of 99.9 percent, the processing method is reasonable, and the processing efficiency is high.
Description
Technical Field
The invention relates to the field of Satellite navigation enhancement, in particular to a method for determining the service range of a Satellite Based Augmentation System (SBAS).
Background
The satellite-based augmentation system is an augmentation system created for improving the positioning accuracy and integrity performance of a basic navigation system, and ephemeris correction numbers and integrity information are mainly broadcast to a user through Geostationary orbit satellites (GEO), so that integrity service is provided for a user side. Currently, SBAS in formal operation in the world include Wide Area Augmentation System (WAAS) in the united states, Geostationary Navigation Augmentation Service System (EGNOS) in europe, multi-function Satellite-based Augmentation System (MSAS) in japan, Global Positioning System (GPS) assisted static orbit Augmentation Navigation System (gan) in japan, and Global Positioning System (GPS) in india, and SBAS systems developed in other countries, such as difference Monitoring System (sdc) for Differential tracking and correction System (sdc) in russia, and enhanced Satellite System (KASS, koion Satellite Augmentation System) in korea, etc.
And the WAAS calculates corresponding protection levels according to different user service level requirements through the integrity parameters, and further gives a specific service range according to the protection levels. EGNOS utilizes the existing reference station, and determines a service range based on the constraint that a Horizontal Navigation System Error (HNSE) is better than 3m and a Vertical Navigation System Error (VNSE) is better than 4m under the effective Navigation positioning Precision Approach (PA) result. Other enhancement systems only give a rough service scope and have no explicit data or reports to support.
Therefore, specific methods for determining the service range are not disclosed abroad, and related documents are not introduced at home.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a method for determining the service range of a satellite-based augmentation system. The invention provides a method for backstepping an SBAS service range based on an SBAS integrity parameter 99.9% envelope probability requirement based on BDSBAS development current situation and innovativeness
The technical scheme adopted for solving the technical problems comprises the following specific steps:
step 1: selecting a target research area as a primary service area of the satellite-based augmentation system;
step 2: resolving information of a current epoch Global Navigation Satellite System (GNSS) Satellite enhanced orbit/clock Error and a User Differential Range Error (UDRE) with a calculation period of 2 minutes, and updating SBAS orbit clock Error correction information once in 2 minutes;
and step 3: dividing a target research area by latitude and longitude differences of 5 degrees multiplied by 5 degrees, calculating the orbit/clock error comprehensive error projected by each satellite on grid points of the current epoch, and judging whether the orbit/clock error comprehensive error of the UDRE is enveloped; the solved UDRE value is larger than the track/clock difference comprehensive error absolute value, namely envelope;
and 4, step 4: counting the UDRE enveloping probability of the target area grid points, and determining the area S with the UDRE enveloping probability more than 99.9 percent(UDRE)；
And 5: calculating Grid point Ionospheric delay Error values and Grid Ionospheric Vertical Error (GIVE) information, wherein the calculation period is 5 minutes, the SBAS Ionospheric information is broadcasted once in 5 minutes, and whether the GIVE envelops the Ionospheric delay Error is judged; the solved GIVE value is larger than the absolute value of the ionosphere delay error, namely envelope;
step 6: counting the GIVE enveloping probability of grid points of the target region, and determining the region S with the GIVE enveloping probability more than 99.9 percent(GIVE)；
And 7: merging public areas under the requirement of 99.9% envelope of integrity parameters (UDRE, GIVE), and determining the final SBAS service area S(SBAS)And the merged overlapping area is the final service area.
In the step 2, the current epoch GNSS satellite enhanced orbit/clock error and the UDRE information are solved;
the method comprises the following steps of calculating the satellite position and clock error through a received navigation message, and correcting the satellite position and clock error by using the orbit/clock error correction number in the satellite-based enhanced message to obtain an enhanced orbit/clock error result, wherein the method comprises the following specific steps:
2.1, calculating the position and clock error [ X ] of the satellite in the geocentric geostationary coordinate system by using the navigation messageE YE ZE BE]；
2.2, calculating the orbit/clock error correction number by utilizing the satellite-based enhanced message:
the slow varying correction information comprises a satellite ephemeris slow varying correction and a satellite clock slow varying correction, and in the single-frequency enhanced message, the slow varying correction information is broadcast by a message 25;
the slowly varying correction of satellite ephemeris is calculated by:
[δxk δyk δzk]Tfor the track correction at the current time, [ δ x δ y δ z [ ]]TIn order to be a track deviation, the track deviation,
is the rate of change of track deviation;
the satellite clock slow-varying correction is calculated by:
δΔtSV(t)＝δaf0+δaf1(t-t0)+δafG0where t is the current time, δ Δ tSV(t) is the current time clock correction, δ af0To clock skew, δ af1Is the rate of change of clock skew, t0To correct the reference time, deltaafG0Parameters were corrected for GLONASS satellites, broadcast in the text 12, which is 0 for non-GLONASS satellites;
2.3, correcting the satellite position and the clock error by using the correction number:
[XC YC ZC BC]T＝[XE YE ZE BE]T+[δxk δyk δzk δΔtSV*c]T
wherein, [ X ]C YC ZC BC]TThe corrected enhanced orbit/clock error at the time t;
2.4 UDRE information is obtained via text 6.
In the step 3, the target area is segmented by latitude and longitude differences of 5 degrees multiplied by 5 degrees, the orbit/clock error comprehensive error projected by each satellite of the current epoch on the grid point is calculated, and whether the orbit/clock error comprehensive error is enveloped by the UDRE is judged;
respectively subtracting the corrected enhanced orbit/clock error from a post-operation precise orbit/clock error product to obtain a corrected error, projecting the corrected error to grid points, and judging whether the comprehensive error of the UDRE to the orbit/clock error is enveloped or not; the method comprises the following specific steps:
3.1, taking a difference value between the corrected satellite position and clock error and the precise satellite orbit and clock error;
[ΔX ΔY ΔZ ΔB]T＝[XC YC ZC BC]T-[XP YP ZP BP]T
wherein, [ X ]C YC ZC BC]TFor the corrected satellite position and clock offset at time t, [ X [ ]P YP ZP BP]TFor the precise satellite orbit and clock error at time t, [ Δ X Δ Y Δ Z Δ B [ ]]TThe difference value between the satellite position and clock error corrected at the moment t and the precise satellite orbit and clock error;
3.2, calculating the projection of the corrected residual error on the grid point of the target area;
wherein, Delta R is the projection of the orbit/clock error synthetic error on grid points, luserIs a unit direction vector from the satellite to the grid point;
and 3.3, judging whether the comprehensive error of the UDRE to the track/clock error is enveloped.
The step 5: calculating the ionized layer delay error value of the grid point and GIVE information (the calculation period is 5 minutes, and the SBAS ionized layer information is broadcasted once in 5 minutes), and judging whether the ionized layer delay error is enveloped by the GIVE;
and taking the ionospheric delay amount calculated by the global ionospheric grid model as a reference, obtaining an ionospheric error by subtracting the ionospheric delay amount from the ionospheric delay at the corresponding grid point provided in the SBAS message, and counting the envelope probability of the GIVE to the difference value. The method comprises the following specific steps:
5.1, calculating enhanced message ionosphere delay IC and GIVE values of grid points of a target region through messages 18 and 26, calculating corresponding grid point global ionosphere grid model ionosphere delay I of the grid points, and if necessary, carrying out plane geometric interpolation.
And 5.2, calculating the difference value delta I between the ionospheric correction number and the ionospheric delay.
ΔI＝IC-I
And 5.3, judging whether the ionized layer correction error enveloped by the GIVE is present.
The invention has the beneficial effects that:
based on the requirement to avoid the occurrence of integrity risk events: the integrity parameter corrects the residual error to form an envelope for the corresponding correction number by 99.9 percent of envelope probability, and innovatively provides a method for reversely deducing the service range of the satellite-based augmentation system. The treatment method is reasonable and has high treatment efficiency.
Based on the principle and the steps of the invention, research thinking and theoretical support can be provided for determining the service range of the BDSBAS, and further reference is provided for industrial users to use the BDSBAS service, and the application and popularization of the BDSBAS are promoted.
Drawings
FIG. 1 is a flow chart of a service range determination method of a satellite-based augmentation system of the present invention.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
The invention relates to a method for determining the service range of a satellite-based augmentation system, which comprises the following specific steps:
step 1: selecting a target research area as a primary service area of the satellite-based augmentation system;
and according to the distribution range of the SBAS monitoring stations, the longitude and latitude are respectively expanded by 10-20 degrees to the periphery to serve as target research areas.
Step 2: resolving current epoch GNSS satellite enhanced orbit/clock error and UDRE information;
the method comprises the following steps of calculating the satellite position and clock error through a received navigation message, and correcting the satellite position and clock error by using the orbit/clock error correction number in the satellite-based enhanced message to obtain an enhanced orbit/clock error result, wherein the method comprises the following specific steps:
2.1, calculating the position and clock error [ X ] of the satellite in the geocentric geostationary coordinate system by using the navigation messageE YE ZE BE]；
2.2, calculating the orbit/clock error correction number by utilizing the satellite-based enhanced message:
the slow varying correction information comprises a satellite ephemeris slow varying correction and a satellite clock slow varying correction, and in the single-frequency enhanced message, the slow varying correction information is broadcast by a message 25;
the slowly varying correction of satellite ephemeris is calculated by:
[δxk δyk δzk]Tfor the track correction at the current time, [ δ x δ y δ z [ ]]TIn order to be a track deviation, the track deviation,
is the rate of change of track deviation;
the satellite clock slow-varying correction is calculated by:
δΔtSV(t)＝δaf0+δaf1(t-t0)+δafG0
where t is the current time, δ ΔtSV(t) is the current time clock correction, δ af0To clock skew, δ af1Is the rate of change of clock skew, t0To correct the reference time, deltaafG0Parameters were corrected for GLONASS satellites, broadcast in the text 12, which is 0 for non-GLONASS satellites;
2.3, correcting the satellite position and the clock error by using the correction number:
[XC YC ZC BC]T＝[XE YE ZE BE]T+[δxk δyk δzk δΔtSV*c]T
wherein, [ X ]C YC ZC BC]TThe corrected enhanced orbit/clock error at the time t;
2.4, the UDRE information is obtained through a telegraph text 6;
and step 3: dividing the target area by latitude and longitude differences of 5 degrees multiplied by 5 degrees, calculating the orbit/clock error comprehensive error projected by each satellite of the current epoch on the grid point, and judging whether the orbit/clock error comprehensive error of the UDRE is enveloped;
respectively subtracting the corrected enhanced orbit/clock error from a post-operation precise orbit/clock error product to obtain a corrected error, projecting the corrected error to grid points, and judging whether the comprehensive error of the UDRE to the orbit/clock error is enveloped or not; the method comprises the following specific steps:
3.1, taking a difference value between the corrected satellite position and clock error and the precise satellite orbit and clock error;
[ΔX ΔY ΔZ ΔB]T＝[XC YC ZC BC]T-[XP YP ZP BP]T
wherein, [ X ]C YC ZC BC]TFor the corrected satellite position and clock offset at time t, [ X [ ]P YP ZP BP]TFor the precise satellite orbit and clock error at time t, [ Δ X Δ Y Δ Z Δ B [ ]]TCorrected satellite position and clock offset and precise satellite orbit and clock offset for time tA difference of (d);
3.2, calculating the projection of the corrected residual error on the grid point of the target area;
wherein, Delta R is the projection of the orbit/clock error synthetic error on grid points, IuserIs a unit direction vector from the satellite to the grid point;
3.3, judging whether the comprehensive error of the UDRE to the track/clock error is enveloped;
and 4, step 4: counting the UDRE enveloping probability of the target area grid points, and determining the area S with the enveloping probability more than 99.9 percent(UDRE)；
S(UDRE)＝S(P(σudre≥ΔR)≥99.9％)
And 5: calculating the ionized layer delay error value of the grid point and GIVE information (the calculation period is 5 minutes, and the SBAS ionized layer information is broadcasted once in 5 minutes), and judging whether the ionized layer delay error is enveloped by the GIVE;
and taking the ionospheric delay amount calculated by the global ionospheric grid model as a reference, obtaining an ionospheric error by subtracting the ionospheric delay amount from the ionospheric delay at the corresponding grid point provided in the SBAS message, and counting the envelope probability of the GIVE to the difference value. The method comprises the following specific steps:
5.1, calculating enhanced message ionosphere delay IC and GIVE values of grid points of a target region through messages 18 and 26, calculating corresponding grid point global ionosphere grid model ionosphere delay I of the grid points, and if necessary, carrying out plane geometric interpolation.
And 5.2, calculating the difference value delta I between the ionospheric correction number and the ionospheric delay.
ΔI＝IC-I
5.3, judging whether the ionized layer correction error of the GIVE is enveloped;
step 6: counting the GIVE enveloping probability of the grid points of the target region, and determining the region S with the enveloping probability more than 99.9 percent(GIVE)；
S(GIVE)＝(P(σGIVE≥ΔI)≥99.9％)
And 7: the public areas under the envelope requirement of 99.9% of the integrity parameters (UDRE, GIVE) are superimposed:
S(SBAS service scope)＝S(GIVE)∩S(UDRE)
Determining a final SBAS service area S(SBAS service scope)。
Claims (4)
1. A method for determining service range of a satellite-based augmentation system is characterized by comprising the following steps:
step 1: selecting a target research area as a primary service area of the satellite-based augmentation system;
step 2: resolving satellite enhanced orbit/clock error and user differential ranging error information of a current epoch global navigation satellite system, wherein the calculation period is 2 minutes, and the SBAS orbit clock error correction information is updated once in 2 minutes;
and step 3: dividing a target research area by latitude and longitude differences of 5 degrees multiplied by 5 degrees, calculating the orbit/clock error comprehensive error projected by each satellite on grid points of the current epoch, and judging whether the orbit/clock error comprehensive error of the UDRE is enveloped; the solved UDRE value is larger than the track/clock difference comprehensive error absolute value, namely envelope;
and 4, step 4: counting the UDRE enveloping probability of the target area grid points, and determining the area S with the UDRE enveloping probability more than 99.9 percent(UDRE)；
And 5: calculating the ionized layer delay error value of the grid point and the vertical error information of the grid ionized layer, wherein the calculation period is 5 minutes, the SBAS ionized layer information is broadcasted once in 5 minutes, and whether the ionized layer delay error is enveloped by the GIVE is judged; the solved GIVE value is larger than the absolute value of the ionosphere delay error, namely envelope;
step 6: counting the GIVE enveloping probability of grid points of the target region, and determining the region S with the GIVE enveloping probability more than 99.9 percent(GIVE)；
And 7: merging public areas under the requirement of 99.9% envelope of integrity parameters (UDRE, GIVE), and determining the final SBAS service area S(SBAS)And the merged overlapping area is the final service area.
2. The method of claim 1, wherein the service range of the satellite-based augmentation system is determined by:
in the step 2, the current epoch GNSS satellite enhanced orbit/clock error and the UDRE information are solved;
the method comprises the following steps of calculating the satellite position and clock error through a received navigation message, and correcting the satellite position and clock error by using the orbit/clock error correction number in the satellite-based enhanced message to obtain an enhanced orbit/clock error result, wherein the method comprises the following specific steps:
2.1, calculating the position and clock error [ X ] of the satellite in the geocentric geostationary coordinate system by using the navigation messageE YE ZE BE]；
2.2, calculating the orbit/clock error correction number by utilizing the satellite-based enhanced message:
the slow varying correction information comprises a satellite ephemeris slow varying correction and a satellite clock slow varying correction, and in the single-frequency enhanced message, the slow varying correction information is broadcast by a message 25;
the slowly varying correction of satellite ephemeris is calculated by:
[δxk δyk δzk]Tfor the track correction at the current time, [ δ x δ y δ z [ ]]TIn order to be a track deviation, the track deviation,
is the rate of change of track deviation;
the satellite clock slow-varying correction is calculated by:
δΔtSV(t)＝δαf0+δαf1(t-t0)+δαfG0
where t is the current time, δ Δ tSV(t) is the current time clock correction, δ αf0To clock skew, δ αf1Is the rate of change of clock skew, t0When referred to as correction numbersEtching of delta alphafG0Parameters were corrected for GLONASS satellites, broadcast in the text 12, which is 0 for non-GLONASS satellites;
2.3, correcting the satellite position and the clock error by using the correction number:
[XC YC ZC BC]T＝[XE YE ZE BE]T+[δxk δyk δzk δΔtSV*c]T
wherein, [ X ]C YC ZC BC]TThe corrected enhanced orbit/clock error at the time t;
2.4 UDRE information is obtained via text 6.
3. The method of claim 1, wherein the service range of the satellite-based augmentation system is determined by:
in the step 3, the target area is segmented by latitude and longitude differences of 5 degrees multiplied by 5 degrees, the orbit/clock error comprehensive error projected by each satellite of the current epoch on the grid point is calculated, and whether the orbit/clock error comprehensive error is enveloped by the UDRE is judged;
respectively subtracting the corrected enhanced orbit/clock error from a post-operation precise orbit/clock error product to obtain a corrected error, projecting the corrected error to grid points, and judging whether the comprehensive error of the UDRE to the orbit/clock error is enveloped or not; the method comprises the following specific steps:
3.1, taking a difference value between the corrected satellite position and clock error and the precise satellite orbit and clock error;
[ΔX ΔY ΔZ ΔB]T＝[XC YC ZC BC]T-[XP YP ZP BP]T
wherein, [ X ]C YC ZC BC]TFor the corrected satellite position and clock offset at time t, [ X [ ]P YP ZP BP]TFor the precise satellite orbit and clock error at time t, [ Δ X Δ Y Δ Z Δ B [ ]]TCorrected satellite position and clock error and precise satellite orbit for time tDifference between track and clock;
3.2, calculating the projection of the corrected residual error on the grid point of the target area;
wherein, Delta R is the projection of the orbit/clock error synthetic error on grid points, luserIs a unit direction vector from the satellite to the grid point;
and 3.3, judging whether the comprehensive error of the UDRE to the track/clock error is enveloped.
4. The method of claim 1, wherein the service range of the satellite-based augmentation system is determined by:
the step 5: calculating the ionized layer delay error value of the grid point and GIVE information (the calculation period is 5 minutes, and the SBAS ionized layer information is broadcasted once in 5 minutes), and judging whether the ionized layer delay error is enveloped by the GIVE;
taking the ionospheric delay amount calculated by the global ionospheric grid model as a reference, obtaining an ionospheric error by making a difference with the ionospheric delay at the corresponding grid point provided in the SBAS message, and counting the envelope probability of the GIVE to the difference; the method comprises the following specific steps:
5.1, calculating enhanced message ionosphere delay IC and GIVE values of grid points of a target region through messages 18 and 26, calculating corresponding grid point global ionosphere grid model ionosphere delay I of the grid points, and if necessary, carrying out plane geometric interpolation;
5.2, calculating a difference value delta I between the ionospheric correction number and the ionospheric delay;
ΔI＝IC-I
and 5.3, judging whether the ionized layer correction error enveloped by the GIVE is present.
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