CN114152962B - Method for determining service range of star-based enhanced system - Google Patents
Method for determining service range of star-based enhanced system Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
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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, solving the satellite augmentation orbit/clock error and user differential ranging error information of a current epoch global navigation satellite system, calculating the orbit/clock error integrated error projected on lattice points by each satellite of the current epoch, counting the UDRE envelope probability of the lattice points of the target area, calculating the ionosphere delay error value and the ionosphere vertical error information of the lattice points, counting the GIVE envelope probability of the target area, carrying out union realization on a public area under the integrity parameter envelope requirement, and determining a final SBAS service area, wherein the overlapped area after union is the final service area. The present invention is based on the requirement to avoid integrity risk events: the integrity parameter corrects the residual error to form an envelope for the corresponding correction by 99.9% of envelope probability, and the processing method is reasonable and has higher processing efficiency.
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 enhancement system (SBAS, SATELLITE BASED AUGMENTATION SYSTEM).
Background
The satellite-based augmentation system is an augmentation system which is created to improve the positioning accuracy and integrity of the basic navigation system, and the augmentation system broadcasts ephemeris correction and integrity information to a user through geostationary orbit satellites (GEO, geostationary satellite) so as to provide integrity services for the user. SBAS currently in a formal operating state in the world includes the wide area augmentation system (WAAS, wide Area Augmentation System) in the united states, the geosynchronous satellite navigation augmentation service system (EGNOS, european Geostationary Navigation Overlay Service) in europe, the japanese multi-function transportation satellite-based augmentation system (MSAS, MTSAT Satellite-based Augmentation System) and the indian global positioning system (GPS, global Positioning System) assisted geostationary orbit augmentation navigation system (GAGAN, GPS Aided GEO Augmentation Navigation), and other countries are developing their own SBAS systems such as the russian federal differential correction monitoring system (SDCM, system for Differential Corrections and Monitoring), the korean augmentation satellite system (KASS, korean Augmentation SATELLITE SYSTEM), and so on.
The WAAS calculates corresponding protection levels according to the service level requirements of different users through the integrity parameters, and further gives out specific service ranges according to the protection levels. EGNOS uses existing reference stations to determine service range based on a horizontal navigation system error (HNSE, horizontal Navigation System Error) better than 3m and a vertical navigation system error (VNSE, vertical Navigation System Error) better than 4m constraint with an effective navigation positioning precision approach (PA, precision Approach) result. Other enhancement systems only give a rough service scope, nor do they have explicit data or reports to support.
Therefore, specific methods for determining the service range are not disclosed abroad, and related documents are not introduced in China.
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 star-based enhanced system. The invention provides a method for back-pushing an SBAS service range based on 99.9% envelope probability requirement of an SBAS integrity parameter based on BDSBAS development status
The technical scheme adopted by the invention for solving the technical problems comprises the following specific steps:
step 1: selecting a target research area as a primary service area of the star-based enhanced system;
Step 2: solving the current epoch global navigation satellite system (GNSS, global Navigation SATELLITE SYSTEM) satellite enhanced orbit/clock Error and User differential ranging Error (UDRE, user DIFFERENTIAL RANGE Error) information, wherein the calculation period is 2 minutes, and the SBAS orbit clock Error correction information is updated once for 2 minutes;
Step 3: dividing a target research area by using a longitude and latitude difference of 5 degrees multiplied by 5 degrees, calculating the comprehensive error of the orbit/clock difference projected by each satellite on grid points in the current epoch, and judging whether the comprehensive error of the orbit/clock difference is enveloped by the UDRE; the resolved UDRE value is larger than the absolute value of the integrated error of the track/clock error, namely the envelope;
Step 4: counting the UDRE envelope probability of the target area grid point, and determining an area S (UDRE) with the UDRE envelope probability of more than 99.9%;
Step 5: calculating the grid point ionosphere delay error value and grid ionosphere vertical error (GIVE, grid Ionospheric Vertical Error) information, wherein the calculation period is 5 minutes, and the SBAS ionosphere information is broadcast once in 5 minutes, so as to judge whether the GIVE envelopes the ionosphere delay error; the calculated GIVE value is larger than the absolute value of the ionosphere delay error, namely the envelope;
step 6: counting the GIVE envelope probability of the grid point of the target area, and determining an area S (GIVE) with the GIVE envelope probability of more than 99.9%;
Step 7: and (3) carrying out union realization on the public area under the 99.9% envelope requirement of the integrity parameters (UDRE, GIVE), determining a final SBAS service area S (SBAS), and obtaining the overlapped area after union as the final service area.
In the step 2, the current epoch GNSS satellite enhanced orbit/clock error and UDRE information are calculated;
calculating satellite position and clock error through the received navigation message, and correcting the satellite position and clock error by utilizing the orbit/clock error correction 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 difference [ X E YE ZE BE ] of the satellite in a geocentric earth fixed coordinate system by using a navigation message;
2.2, calculating the orbit/clock correction by using the star-based enhanced text:
The slow change correction information comprises satellite ephemeris slow change correction and satellite clock slow change correction, and is broadcasted by the message 25 in the single-frequency enhanced message;
the satellite ephemeris slowly varying correction is calculated by:
[ delta x k δyk δzk]T ] is the current moment track correction, [ delta x delta y delta z ] T is the track deviation, Is the track deviation change rate;
the satellite clock slow change correction is calculated by the following formula:
Delta t SV(t)＝δaf0+δaf1(t-t0)+δafG0, wherein t is the current time, delta t SV (t) is the current time clock correction, delta a f0 is clock deviation, delta a f1 is clock deviation change rate, t 0 is correction reference time, delta a fG0 is GLONASS satellite correction parameter, broadcast in message 12, and the value is 0 for non-GLONASS satellites;
2.3, correcting satellite positions and clock errors by using corrections:
[XC YC ZC BC]T＝[XE YE ZE BE]T+[δxk δyk δzk δΔtSV*c]T
Wherein [ X C YC ZC BC]T is the enhanced track/clock error after correction at time t;
2.4, UDRE information is obtained by means of telegram 6.
In the step 3, dividing a target area by using a longitude and latitude difference of 5 degrees multiplied by 5 degrees, calculating the orbit/clock error integrated error projected by each satellite on grid points in the current epoch, and judging whether the orbit/clock error integrated error is enveloped by the UDRE;
respectively differencing the corrected enhanced track/clock error and the post-precision track/clock error product to obtain a correction error, projecting the correction error to a grid point, and judging whether the UDRE envelops the track/clock error comprehensive error; the method comprises the following specific steps:
3.1, taking the 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]T ] is the satellite position and clock difference after the correction of the time t, [ X P YP ZP BP]T ] is the precise satellite orbit and clock difference of the time t, [ delta X delta Y delta Z delta B ] T is the difference between the satellite position and clock difference after the correction of the time t and the precise satellite orbit and clock difference;
3.2, calculating the projection of the correction residual error on the grid point of the target area;
Wherein DeltaR is the projection of the orbit/clock error integrated error on the grid point, and l user is the unit direction vector from the satellite to the grid point;
And 3.3, judging whether the integrated error of the UDRE on the track/clock error is enveloped or not.
The step 5: calculating the ionosphere delay error value of the grid point and the GIVE information (the calculation period is 5 minutes, and the SBAS ionosphere information is broadcast once in 5 minutes), and judging whether the GIVE envelopes the ionosphere delay error;
And taking the ionospheric delay 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 difference by the GIVE. The method comprises the following specific steps:
5.1, calculating the ionospheric delay IC and GIVE value of the target area grid point enhanced message through the message 18 and the message 26, and calculating the ionospheric delay I of the global ionospheric grid model corresponding to the grid point, and if necessary, carrying out plane geometric interpolation.
And 5.2, calculating a difference delta I between the ionospheric correction and the ionospheric delay.
ΔI＝IC-I
And 5.3, judging whether the ionosphere correction error of the GIVE is enveloped or not.
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 by 99.9% envelope probability, and a method for reversely pushing the satellite-based enhancement system service range is creatively provided. The treatment method is reasonable and the treatment efficiency is higher.
Based on the principle and the steps of the invention, research thought and theoretical support can be provided for determining BDSBAS service range, so that references are provided for industry users to use BDSBAS service, and BDSBAS application and popularization are promoted.
Drawings
FIG. 1 is a flow chart of a method for determining the service range of a star-based enhanced system according to the invention.
Detailed Description
The invention will be further described with reference to the drawings and examples.
The invention relates to a method for determining a service range of a star-based enhanced system, which comprises the following specific steps:
step 1: selecting a target research area as a primary service area of the star-based enhanced system;
And expanding longitude and latitude by 10-20 degrees to four sides respectively as a target research area according to the distribution range of the SBAS monitoring stations.
Step 2: solving the current epoch GNSS satellite enhanced orbit/clock error and UDRE information;
calculating satellite position and clock error through the received navigation message, and correcting the satellite position and clock error by utilizing the orbit/clock error correction 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 difference [ X E YE ZE BE ] of the satellite in a geocentric earth fixed coordinate system by using a navigation message;
2.2, calculating the orbit/clock correction by using the star-based enhanced text:
The slow change correction information comprises satellite ephemeris slow change correction and satellite clock slow change correction, and is broadcasted by the message 25 in the single-frequency enhanced message;
the satellite ephemeris slowly varying correction is calculated by:
[ delta x k δyk δzk]T ] is the current moment track correction, [ delta x delta y delta z ] T is the track deviation, Is the track deviation change rate;
the satellite clock slow change correction is calculated by the following formula:
δΔtSV(t)＝δaf0+δaf1(t-t0)+δafG0
Wherein t is the current time, δΔt SV (t) is the current time clock correction, δa f0 is clock deviation, δa f1 is clock deviation change rate, t 0 is the correction reference time, δa fG0 is a GLONASS satellite correction parameter, and the value is 0 for non-GLONASS satellites;
2.3, correcting satellite positions and clock errors by using corrections:
[XC YC ZC BC]T＝[XE YE ZE BE]T+[δxk δyk δzk δΔtSV*c]T
Wherein [ X C YC ZC BC]T is the enhanced track/clock error after correction at time t;
2.4, UDRE information is obtained through a message 6;
step 3: dividing a target area by using a longitude and latitude difference of 5 degrees multiplied by 5 degrees, calculating the orbit/clock difference integrated error projected by each satellite on grid points in the current epoch, and judging whether the orbit/clock difference integrated error is enveloped by the UDRE;
respectively differencing the corrected enhanced track/clock error and the post-precision track/clock error product to obtain a correction error, projecting the correction error to a grid point, and judging whether the UDRE envelops the track/clock error comprehensive error; the method comprises the following specific steps:
3.1, taking the 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]T ] is the satellite position and clock difference after the correction of the time t, [ X P YP ZP BP]T ] is the precise satellite orbit and clock difference of the time t, [ delta X delta Y delta Z delta B ] T is the difference between the satellite position and clock difference after the correction of the time t and the precise satellite orbit and clock difference;
3.2, calculating the projection of the correction residual error on the grid point of the target area;
wherein DeltaR is the projection of the orbit/clock error integrated error on the grid point, and I user is the unit direction vector from the satellite to the grid point;
3.3, judging whether the integrated error of the UDRE on the track/clock error is enveloped or not;
step 4: counting the envelope probability of the UDRE of the target area grid point, and determining an area S (UDRE) with the envelope probability of more than 99.9%;
S(UDRE)＝S(P(σudre≥ΔR)≥99.9％)
step 5: calculating the ionosphere delay error value of the grid point and the GIVE information (the calculation period is 5 minutes, and the SBAS ionosphere information is broadcast once in 5 minutes), and judging whether the GIVE envelopes the ionosphere delay error;
And taking the ionospheric delay 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 difference by the GIVE. The method comprises the following specific steps:
5.1, calculating the ionospheric delay IC and GIVE value of the target area grid point enhanced message through the message 18 and the message 26, and calculating the ionospheric delay I of the global ionospheric grid model corresponding to the grid point, and if necessary, carrying out plane geometric interpolation.
And 5.2, calculating a difference delta I between the ionospheric correction and the ionospheric delay.
ΔI＝IC-I
5.3, Judging whether the ionosphere correction error of the GIVE is enveloped or not;
Step 6: counting the envelope probability of the grid points GIVE of the target area, and determining an area S (GIVE) with the envelope probability of more than 99.9%;
S(GIVE)＝(P(σGIVE≥ΔI)≥99.9％)
Step 7: the common areas under 99.9% envelope requirement of the integrity parameters (UDRE, GIVE) are superimposed:
S(SBAS Service scope )＝S(GIVE)∩S(UDRE)
The final SBAS service area S (SBAS Service scope ) is determined.
Claims (4)
1. The method for determining the service range of the star-based enhanced system is characterized by comprising the following steps of:
step 1: selecting a target research area as a primary service area of the star-based enhanced system;
Step 2: calculating 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;
Step 3: dividing a target research area by using a longitude and latitude difference of 5 degrees multiplied by 5 degrees, calculating the comprehensive error of the orbit/clock difference projected by each satellite on grid points in the current epoch, and judging whether the comprehensive error of the orbit/clock difference is enveloped by the UDRE; the resolved UDRE value is larger than the absolute value of the integrated error of the track/clock error, namely the envelope;
Step 4: counting the UDRE envelope probability of the target area grid point, and determining an area S (UDRE) with the UDRE envelope probability of more than 99.9%;
Step 5: calculating a grid point ionosphere delay error value and grid ionosphere vertical error information, wherein the calculation period is 5 minutes, the SBAS ionosphere information is broadcast once in 5 minutes, and judging whether the GIVE envelopes the ionosphere delay error; the calculated GIVE value is larger than the absolute value of the ionosphere delay error, namely the envelope;
step 6: counting the GIVE envelope probability of the grid point of the target area, and determining an area S (GIVE) with the GIVE envelope probability of more than 99.9%;
Step 7: and (3) carrying out union realization on the public area under the 99.9% envelope requirement of the integrity parameters (UDRE, GIVE), determining a final SBAS service area S (SBAS), and obtaining the overlapped area after union as the final service area.
2. The method for determining service scope of a star-based enhanced system according to claim 1, wherein:
In the step 2, the current epoch GNSS satellite enhanced orbit/clock error and UDRE information are calculated;
calculating satellite position and clock error through the received navigation message, and correcting the satellite position and clock error by utilizing the orbit/clock error correction 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 difference [ X E YE ZE BE ] of the satellite in a geocentric earth fixed coordinate system by using a navigation message;
2.2, calculating the orbit/clock correction by using the star-based enhanced text:
The slow change correction information comprises satellite ephemeris slow change correction and satellite clock slow change correction, and is broadcasted by the message 25 in the single-frequency enhanced message;
the satellite ephemeris slowly varying correction is calculated by:
[ delta x k δyk δzk]T ] is the current moment track correction, [ delta x delta y delta z ] T is the track deviation, Is the track deviation change rate;
the satellite clock slow change correction is calculated by the following formula:
δΔtSV(t)＝δαf0+δαf1(t-t0)+δαfG0
Wherein t is the current time, δΔt SV (t) is the current time clock correction, δα f0 is clock deviation, δα f1 is clock deviation change rate, t 0 is the correction reference time, δα fG0 is a GLONASS satellite correction parameter, and the value is 0 for non-GLONASS satellites;
2.3, correcting satellite positions and clock errors by using corrections:
[XC YC ZC BC]T＝[XE YE ZE BE]T+[δxk δyk δzk δΔtSV*c]T
Wherein [ X C YC ZC BC]T is the enhanced track/clock error after correction at time t;
2.4, UDRE information is obtained by means of telegram 6.
3. The method for determining service scope of a star-based enhanced system according to claim 1, wherein:
In the step 3, dividing a target area by using a longitude and latitude difference of 5 degrees multiplied by 5 degrees, calculating the orbit/clock error integrated error projected by each satellite on grid points in the current epoch, and judging whether the orbit/clock error integrated error is enveloped by the UDRE;
respectively differencing the corrected enhanced track/clock error and the post-precision track/clock error product to obtain a correction error, projecting the correction error to a grid point, and judging whether the UDRE envelops the track/clock error comprehensive error; the method comprises the following specific steps:
3.1, taking the 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]T ] is the satellite position and clock difference after the correction of the time t, [ X P YP ZP BP]T ] is the precise satellite orbit and clock difference of the time t, [ delta X delta Y delta Z delta B ] T is the difference between the satellite position and clock difference after the correction of the time t and the precise satellite orbit and clock difference;
3.2, calculating the projection of the correction residual error on the grid point of the target area;
Wherein DeltaR is the projection of the orbit/clock error integrated error on the grid point, and l user is the unit direction vector from the satellite to the grid point;
And 3.3, judging whether the integrated error of the UDRE on the track/clock error is enveloped or not.
4. The method for determining service scope of a star-based enhanced system according to claim 1, wherein:
The step 5: calculating the ionosphere delay error value of the grid point and the GIVE information (the calculation period is 5 minutes, and the SBAS ionosphere information is broadcast once in 5 minutes), and judging whether the GIVE envelopes the ionosphere delay error;
Taking the ionospheric delay 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 difference by the GIVE; the method comprises the following specific steps:
5.1, calculating an ionospheric delay amount IC and a GIVE value of a target area grid point enhanced message through a message 18 and a message 26, and calculating an ionospheric delay amount I of a global ionospheric grid model corresponding to the grid point, and if necessary, carrying out plane geometric interpolation;
5.2, calculating a difference value delta I between the ionospheric correction and the ionospheric delay;
ΔI＝IC-I
and 5.3, judging whether the ionosphere correction error of the GIVE is enveloped or not.
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