CN114167469A - Vehicle navigation information monitoring method and device based on 5G/GNSS combination - Google Patents
Vehicle navigation information monitoring method and device based on 5G/GNSS combination Download PDFInfo
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- CN114167469A CN114167469A CN202111274724.1A CN202111274724A CN114167469A CN 114167469 A CN114167469 A CN 114167469A CN 202111274724 A CN202111274724 A CN 202111274724A CN 114167469 A CN114167469 A CN 114167469A
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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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
Abstract
The invention discloses a vehicle navigation monitoring method, a vehicle navigation monitoring device, computer equipment and a storage medium based on a 5G/GNSS combination, wherein the method comprises the following steps: constructing a pseudo-range measurement model based on the pseudo-range measurement value; calculating an observation matrix; judging whether the self integrity monitoring of the RAIM receiver has availability or not according to preset conditions; and under the condition that the RAIM is judged to have the availability, if the detection statistic is smaller than or equal to the detection threshold value, generating a corresponding positioning result based on the vehicle navigation system of the 5G/GNSS combination. By adopting the monitoring method provided by the embodiment of the application, the GNSS and 5G network can be combined with the integrity monitoring framework, and if the detection statistic is less than or equal to the detection threshold value under the condition that the RAIM is judged to have the availability, the vehicle navigation system based on the 5G/GNSS combination generates the corresponding positioning result, so that accurate, reliable and feasible positioning navigation can be realized.
Description
Technical Field
The invention relates to the technical field of wireless positioning navigation, in particular to a vehicle navigation information monitoring method and device based on a 5G/GNSS combination.
Background
In the 70's of the 20 th century, some developed countries began research on unmanned technology. The main purpose of the unmanned technology is to improve the safety and efficiency of driving. In a complex urban environment, safety problems are a great challenge of unmanned driving, and the safe distance between a vehicle and pedestrians, surrounding buildings, plants, other vehicles and other vehicles needs to be considered to realize accurate and reliable positioning. The 3GPP requires that the system should support a lateral position accuracy of 0.1m between V2X application terminals, and the reliability of the highest level of automation should be 99.9%. At present, the sub-meter positioning accuracy is proved to be realized, and the evaluation of the navigation credibility becomes an indispensable step in an automatic driving system, which needs to be aided by the integrity. Integrity is one of the criteria for evaluating GNSS, and refers to the ability of the system to alarm in time when the satellite error exceeds an allowable threshold. Integrity monitoring of vehicle navigation systems is an important safeguard for driving safety.
The GNSS is a main navigation system at present, can provide all-weather and high-precision navigation, positioning and time service for vast users in earth surface and near-earth space, and is widely applied to the military and civil fields. However, in urban environments, compared with open-air and suburban scenes, the shielding of buildings and trees on satellite signals causes low satellite visibility, and multipath and NLOS signals are easily caused, thereby causing large deviation of positioning results. Poor satellite visibility also results in poor Geometric distribution of satellites (GDOP) around the user, and satellite redundancy is critical in determining the integrity performance, which will seriously affect the integrity monitoring performance of the positioning system. In this case, if the system cannot give an alarm in time for a large deviation of the positioning, serious consequences will be caused. Therefore, in urban environments, due to the vulnerability of GNSS signals, the prior art often combines GNSS with other assisted positioning technologies (such as multi-constellation co-positioning, inertial navigation systems, airborne sensors, cellular signals, map matching, etc.) to improve the final positioning accuracy.
The most common method at present is integrity monitoring on a co-located basis. The method comprises the steps of fusing measurement data of the GNSS and the vehicle-mounted sensor and counting and eliminating error measurement based on the measurement data. Improve the detection and isolation of multipath or non Line-of-Sight (NLOS) errors. The method needs to integrate additional sensors (such as a vehicle-mounted UWB sensor, a vehicle-mounted inertial measurement unit and the like) on the vehicle sensor, so that the cost of an integrated system is high, and the application is difficult to realize.
Recently, Signals of Opportunity (SOPs) are considered as a major complement to GNSS, such as cellular Signals and television Signals, which are not positioning Signals but can be used to provide navigation information. The method adopts an enhanced receiver autonomous integrity monitoring (ARAIM) framework, combines a GNSS and an LTE system, and reduces the protection level (HPL) of an integrity monitoring system, thereby improving the integrity of the system. However, most studies on this type of method often ignore the effects of multipath and non-line-of-sight signals, which is not practical in urban environments, assuming a fault-free measurement scenario. Moreover, because RAIM is used for integrity monitoring using redundant measurement information, the geometric layout of the transmitters is critical to the performance of the integrity monitoring system, and current research does not consider the influence of different geometric layouts of the SOPs transmitters on the integrity performance.
The existing GNSS integrity detection method mainly has the following three defects:
(1) currently, the most common method for monitoring integrity based on co-location requires additional sensors (such as a vehicle-mounted UWB sensor, a vehicle-mounted inertial measurement unit, etc.) to be integrated on the vehicle sensor, which results in higher cost of the integrated system and difficult application.
(2) The enhanced autonomous integrity monitoring method based on signal fusion usually ignores the influence of multipath and non-line-of-sight signals, and supposes a fault-free measurement condition, which is not in line with the reality of urban environment; when the influence of multipath and non-line-of-sight signals is strictly considered in an urban environment, a method of reducing the system protection level is generally adopted in order to improve the integrity monitoring performance of positioning, and at the moment, if the positioning accuracy cannot meet the requirement, the system availability is low.
(3) For the GNSS-SOPs RAIM algorithm, because RAIM is integrity monitoring using redundant measurements, the geometrical layout of the transmitters is crucial to the performance of the integrity monitoring system, and current research does not consider the influence of different geometrical layouts of SOPs transmitters on the integrity performance.
The most common method at present is integrity monitoring on a co-located basis. The method comprises the steps of fusing measurement data of the GNSS and the vehicle-mounted sensor and counting and eliminating error measurement based on the measurement data. Improve the detection and isolation of multipath or non Line-of-Sight (NLOS) errors. The method needs to integrate additional sensors (such as a vehicle-mounted UWB sensor, a vehicle-mounted inertial measurement unit and the like) on the vehicle sensor, so that the cost of an integrated system is high, and the application is difficult to realize.
Recently, Signals of Opportunity (SOPs) are considered as a great complement to GNSS, such as cellular Signals and television Signals, which can be used to provide navigation information. The method adopts an enhanced receiver autonomous integrity monitoring (ARAIM) framework, combines a GNSS and an LTE system, and reduces the protection level (HPL) of an integrity monitoring system, thereby improving the integrity of the system. However, most studies on this type of method often ignore the effects of multipath and non-line-of-sight signals, which is not practical in urban environments, assuming a fault-free measurement scenario. Moreover, because RAIM is used for integrity monitoring using redundant measurement information, the geometric layout of the transmitters is critical to the performance of the integrity monitoring system, and current research does not consider the influence of different geometric layouts of the SOPs transmitters on the integrity performance.
In recent years, with the construction and development of 5G communication, research has proved that 5G technology can be used for positioning with centimeter-level positioning accuracy. Most of the current research is dedicated to exploring the positioning feasibility under the 5G network, but the accurate, reliable and feasible positioning navigation can not be realized.
Disclosure of Invention
The embodiment of the application provides a vehicle navigation monitoring method and device based on a 5G/GNSS combination, computer equipment and a storage medium. The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview and is intended to neither identify key/critical elements nor delineate the scope of such embodiments. Its sole purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is presented later.
In a first aspect, an embodiment of the present application provides a vehicle navigation monitoring method based on a 5G/GNSS combination, where the method includes:
constructing a pseudo-range measurement model based on the pseudo-range measurement value;
calculating an observation matrix;
judging whether the self integrity monitoring of the RAIM receiver has availability or not according to preset conditions;
and under the condition that the RAIM is judged to have the availability, if the detection statistic is smaller than or equal to a detection threshold value, generating a corresponding positioning result based on the vehicle navigation system of the 5G/GNSS combination.
In one possible implementation, the method further includes:
and under the condition that the RAIM is judged to have the availability, if the detection statistic is larger than the detection threshold value, determining that a fault satellite exists.
In one possible implementation, before the constructing the pseudorange measurement model based on the pseudorange measurements, the method further includes:
acquiring multiple error sources of 5G signal ranging and the magnitude of any corresponding error source; and
and acquiring various error sources of the GNSS signal positioning and the corresponding magnitude of any one error source.
In one possible implementation, after the acquiring the 5G signal ranging from multiple error sources, the method further includes:
reading 5G signal ranging errors corresponding to various error sources of the 5G signal ranging;
the 5G signal ranging error at least comprises one of the following items:
the method is based on multipath interference errors caused by signal reflection, fault errors caused by NLOS and errors generated by noise of a receiver.
In one possible implementation, after the acquiring the plurality of error sources of the GNSS signal positioning, the method further includes:
reading GNSS signal positioning errors corresponding to a plurality of error sources of the GNSS signal positioning;
the GNSS signal positioning error includes at least one of:
errors based on ionospheric delay, errors based on tropospheric delay, errors based on clock asynchrony and errors based on receiver.
In one possible implementation, before the computing the observation matrix, the method further includes:
acquiring position coordinates of a satellite, position coordinates of a ground base station and position coordinates of a user;
and converting the position coordinates of the satellite, the position coordinates of the ground base station and the position coordinates of the user from the coordinates based on the geodetic coordinate system to corresponding coordinates based on the ECEF coordinate system.
In a possible implementation manner, the determining, according to a preset condition, whether the autonomous integrity monitoring of the RAIM receiver has availability includes:
and under the condition that redundant information exists in the observation matrix and the protection level of the monitoring system is smaller than an alarm limit value, judging that the RAIM has the availability, otherwise, judging that the RAIM does not have the availability.
In a second aspect, an embodiment of the present application provides a vehicle navigation monitoring device based on a 5G/GNSS combination, the device including:
the construction module is used for constructing a pseudo-range measurement model based on the pseudo-range measurement value;
the calculation module is used for calculating an observation matrix;
the judging module is used for judging whether the self integrity monitoring of the RAIM receiver has availability or not according to preset conditions;
and the positioning result generation module is used for generating a corresponding positioning result based on the vehicle navigation system of the 5G/GNSS combination if the detection statistic is less than or equal to the detection threshold value under the condition that the RAIM is judged to have the availability by the judgment module.
In a third aspect, embodiments of the present application provide a computer device, including a memory and a processor, where the memory stores computer-readable instructions, and the computer-readable instructions, when executed by the processor, cause the processor to perform the above-mentioned method steps.
In a fourth aspect, embodiments of the present application provide a storage medium storing computer-readable instructions, which, when executed by one or more processors, cause the one or more processors to perform the above-mentioned method steps.
The technical scheme provided by the embodiment of the application can have the following beneficial effects:
in the embodiment of the application, whether the self integrity monitoring of the RAIM receiver has availability or not is judged according to preset conditions; and under the condition that the RAIM is judged to have the availability, if the detection statistic is smaller than or equal to the detection threshold value, generating a corresponding positioning result based on the vehicle navigation system of the 5G/GNSS combination. By adopting the monitoring method provided by the embodiment of the application, the GNSS and 5G network can be combined with the integrity monitoring framework, and if the detection statistic is less than or equal to the detection threshold value under the condition that the RAIM is judged to have the availability, the vehicle navigation system based on the 5G/GNSS combination generates the corresponding positioning result, so that accurate, reliable and feasible positioning navigation can be realized.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
FIG. 1 is a schematic flowchart illustrating a method for monitoring vehicle navigation based on a 5G/GNSS combination according to an embodiment of the present invention;
FIG. 2 is a schematic flowchart of a vehicle navigation monitoring method based on a 5G/GNSS combination in a specific application scenario according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a vehicle navigation monitoring device based on a 5G/GNSS combination according to an embodiment of the present application.
Detailed Description
The following description and the drawings sufficiently illustrate specific embodiments of the invention to enable those skilled in the art to practice them.
It should be understood that the described embodiments are only some embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Alternative embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.
Referring to fig. 1, a flow chart of a vehicle navigation monitoring method based on a 5G/GNSS combination is provided for an embodiment of the present application. As shown in fig. 1, the method for monitoring vehicle navigation based on 5G/GNSS combination according to the embodiment of the present application may include the following steps:
and S101, constructing a pseudo-range measurement model based on the pseudo-range measurement value.
The process of constructing the pseudorange measurement model based on the pseudorange measurement value in a specific application scenario is as follows:
first, 5G signals and GNSS signals are collected to locate possible sources of error and their magnitudes. The error sources of the GNSS are mainly ionospheric delay, tropospheric delay, errors caused by clock asynchronism and receiver noise; the main error sources of 5G signal ranging are multipath interference caused by signal reflection, fault deviation caused by NLOS, receiver noise and the like.
A weighted least squares estimator is often used to compute a navigation solution from the pseudorange measurements. Establishing a k-th pseudorange measurement equation:
yk＝Hkxk+εk
xkIs a 4 x 1 vector whose elements are incremental offsets from the nominal state, the first three elements are position components, and the fourth element is the receiver clock offset. HkIs an observation matrix of (m + n) × 4, represents association information between the satellite and the user,
εkis a (m + n) × 1 measurement error vector, which can be written as ∈k＝νk+bk，νkRepresenting the noise component, obeying a zero mean gaussian distribution; bkIndicating a fault deviation caused by NLOS or multipath.
In a possible implementation manner, before constructing a pseudorange measurement model based on a pseudorange measurement value, the monitoring method provided in the embodiment of the present application further includes the following steps:
acquiring multiple error sources of 5G signal ranging and the magnitude of any corresponding error source;
and acquiring various error sources of the GNSS signal positioning and the corresponding magnitude of any one error source.
In a possible implementation manner, after obtaining multiple error sources of 5G signal ranging, the monitoring method provided in the embodiment of the present application further includes the following steps:
reading 5G signal ranging errors corresponding to various error sources of the 5G signal ranging;
the 5G signal ranging error at least comprises one of the following items:
the method is based on multipath interference errors caused by signal reflection, fault errors caused by NLOS and errors generated by noise of a receiver.
In the embodiment of the present application, the above lists only common 5G signal ranging errors, and more types of 5G signal ranging errors may be introduced according to the requirements of different application scenarios to obtain a more accurate pseudorange measurement model, where the other types of 5G signal ranging errors are not exhaustive.
In a possible implementation manner, after acquiring multiple error sources of GNSS signal positioning, the monitoring method provided in the embodiment of the present application further includes the following steps:
reading GNSS signal positioning errors corresponding to various error sources of GNSS signal positioning;
the GNSS signal positioning error includes at least one of:
errors based on ionospheric delay, errors based on tropospheric delay, errors based on clock asynchrony and errors based on receiver.
In the embodiment of the present application, only common GNSS signal positioning errors are listed, and more types of GNSS signal positioning errors may be introduced according to the requirements of different application scenarios to obtain a more accurate pseudorange measurement model, where the GNSS signal positioning errors of other types are not exhaustive.
S102, calculating an observation matrix.
The process of calculating the observation matrix in a specific application scenario is as follows:
calculating an H matrix, and firstly acquiring position coordinates of a satellite and a ground base station; then converting the coordinates of the satellite, the ground base station and the user position in the geodetic coordinate system into an ECEF coordinate system; then, the H matrix is calculated by adopting the following formula:
in a possible implementation manner, before calculating the observation matrix, the monitoring method provided in the embodiment of the present application further includes the following steps:
acquiring position coordinates of a satellite, position coordinates of a ground base station and position coordinates of a user;
the position coordinates of the satellite, the position coordinates of the ground base station and the position coordinates of the user are converted from the coordinates based on the geodetic coordinate system to the corresponding coordinates based on the ECEF coordinate system.
And S103, judging whether the RAIM receiver has availability for self integrity monitoring according to preset conditions.
In a specific application scenario, the process of determining whether the integrity monitoring of the RAIM receiver itself has availability according to the preset condition is specifically as follows:
RAIM utilizes redundant measurements of existing signals to perform integrity monitoring, thus at least 5 satellites are required for integrity monitoring, and if there are no redundant measurements in the existing information, the autonomous monitoring system is not available; the alarm limit (HAL) is set by the application to the maximum allowable HPL, so if the calculated HPL > HAL, the system is determined to be unavailable.
In a possible implementation manner, the step of judging whether the self-integrity monitoring of the RAIM receiver has availability according to a preset condition includes the following steps:
and under the condition that redundant information exists in the observation matrix and the protection level of the monitoring system is smaller than the alarm limit value, judging that the RAIM has the availability, otherwise, judging that the RAIM does not have the availability.
In a possible implementation manner, the monitoring method provided in the embodiment of the present application further includes the following steps:
and under the condition that the RAIM is judged to have the availability, if the detection statistic is larger than the detection threshold value, determining that the fault satellite exists.
And S104, under the condition that the RAIM is judged to have the availability, if the detection statistic is less than or equal to the detection threshold value, generating a corresponding positioning result based on the vehicle navigation system of the 5G/GNSS combination.
In a specific application scene, the false alarm rate p is determinedFAThe threshold T can be determined by setting the detection threshold to
Order detection statistics
SSE is the sum of the squares of the pseudorange residuals.
If TX>TDIf the satellite has a fault, the system gives an alarm; otherwise, no fault exists, and the positioning result is reliable.
Fig. 2 is a schematic flow chart of a vehicle navigation monitoring method based on a 5G/GNSS combination in a specific application scenario according to an embodiment of the present application.
As shown in fig. 2, the vehicle navigation monitoring method based on the 5G/GNSS combination is a GNSS non-line-of-sight signal monitoring method based on ensemble learning, and mainly includes the following four steps:
1) establishing a pseudo-range measurement model: and collecting error sources of the 5G positioning and the GNSS positioning and magnitude of each error source, and establishing a pseudo-range measurement model.
2) Calculating an observation matrix: the observation matrix H is calculated using the known positions of the 5G base stations and satellites.
3) Judging the availability of RAIM: it is determined whether redundant information for integrity monitoring exists for the observation matrix and HPL < HAL is required, otherwise RAIM is not available.
4) And (3) fault detection: judging statistical detection quantity TXWhether less than a detection threshold TDIf T isX>TDIf the fault exists, the system gives an alarm.
Based on the description of the same or similar parts in the above steps in fig. 2, refer to the description of fig. 1, and are not repeated herein.
In the embodiment of the application, a pseudo-range measurement model is constructed based on the pseudo-range measurement value; calculating an observation matrix; judging whether the self integrity monitoring of the RAIM receiver has availability or not according to preset conditions; and under the condition that the RAIM is judged to have the availability, if the detection statistic is smaller than or equal to the detection threshold value, generating a corresponding positioning result based on the vehicle navigation system of the 5G/GNSS combination. By adopting the monitoring method provided by the embodiment of the application, the GNSS and 5G network can be combined with the integrity monitoring framework, and if the detection statistic is less than or equal to the detection threshold value under the condition that the RAIM is judged to have the availability, the vehicle navigation system based on the 5G/GNSS combination generates the corresponding positioning result, so that accurate, reliable and feasible positioning navigation can be realized.
The following is an embodiment of the vehicle navigation monitoring device based on the 5G/GNSS combination according to the present invention, which can be used to implement the embodiment of the vehicle navigation monitoring method based on the 5G/GNSS combination according to the present invention. For details that are not disclosed in the embodiment of the device for monitoring vehicle navigation based on 5G/GNSS combination of the present invention, please refer to the embodiment of the method for monitoring vehicle navigation based on 5G/GNSS combination of the present invention.
Referring to fig. 3, a schematic structural diagram of a vehicle navigation monitoring device based on a 5G/GNSS combination according to an exemplary embodiment of the present invention is shown. The vehicle navigation monitoring device based on the 5G/GNSS combination can be realized by software, hardware or a combination of the two to form all or part of a terminal. The vehicle navigation monitoring device based on the 5G/GNSS combination comprises a construction module 10, a calculation module 20, a judgment module 30 and a positioning result generation module 40.
Specifically, the module 10 is configured to construct a pseudo-range measurement model based on a pseudo-range measurement value;
a calculation module 20 for calculating an observation matrix;
the judging module 30 is configured to judge whether the integrity monitoring of the RAIM receiver itself has availability according to a preset condition;
and a positioning result generating module 40, configured to, if the determining module 30 determines that the RAIM has availability, if the detection statistic is smaller than or equal to the detection threshold, generate a corresponding positioning result based on the 5G/GNSS combined vehicle navigation system.
Optionally, the apparatus further comprises:
and a determining module (not shown in fig. 3) configured to determine that the failed satellite exists if the detection statistic is greater than the detection threshold value in the case that the determining module 30 determines that the RAIM has availability.
Optionally, the apparatus further comprises:
a first obtaining module (not shown in fig. 3) configured to obtain various error sources and corresponding magnitudes of any one of the error sources of the 5G signal ranging before the constructing module 10 constructs the pseudorange measurement model based on the pseudorange measurement values; and acquiring various error sources of the GNSS signal positioning and the magnitude of any corresponding error source.
Optionally, the apparatus further comprises:
a first reading module (not shown in fig. 3) for reading 5G signal ranging errors corresponding to the various error sources of the 5G signal ranging after the acquisition module acquires the various error sources of the 5G signal ranging; the 5G signal ranging error at least comprises one of the following items: the method is based on multipath interference errors caused by signal reflection, fault errors caused by NLOS and errors generated by noise of a receiver.
Optionally, the apparatus further comprises:
a second reading module (not shown in fig. 3) for reading GNSS signal positioning errors corresponding to the various error sources of GNSS signal positioning after the acquisition module acquires the various error sources of GNSS signal positioning; the GNSS signal positioning error includes at least one of: errors based on ionospheric delay, errors based on tropospheric delay, errors based on clock asynchrony and errors based on receiver.
Optionally, the apparatus further comprises:
a second acquisition module (not shown in fig. 3) for acquiring the position coordinates of the satellites, the position coordinates of the ground base stations and the user position coordinates before the calculation module 20 calculates the observation matrix;
a conversion module (not shown in fig. 3) for converting the position coordinates of the satellite, the position coordinates of the ground base station and the user position coordinates acquired by the second acquisition module from the coordinates based on the geodetic coordinate system to corresponding coordinates based on the ECEF coordinate system.
Optionally, the determining module 30 is specifically configured to:
and under the condition that redundant information exists in the observation matrix and the protection level of the monitoring system is smaller than the alarm limit value, judging that the RAIM has the availability, otherwise, judging that the RAIM does not have the availability.
It should be noted that, when the vehicle navigation monitoring device based on the 5G/GNSS combination provided in the above embodiment executes the vehicle navigation monitoring method based on the 5G/GNSS combination, only the division of the above function modules is taken as an example, in practical applications, the function distribution may be completed by different function modules according to needs, that is, the internal structure of the apparatus may be divided into different function modules, so as to complete all or part of the functions described above. In addition, the embodiment of the vehicle navigation monitoring device based on the 5G/GNSS combination and the embodiment of the vehicle navigation monitoring method based on the 5G/GNSS combination provided by the above embodiment belong to the same concept, and the implementation process is detailed in the embodiment of the vehicle navigation monitoring method based on the 5G/GNSS combination, which is not described herein again.
In the embodiment of the application, the construction module is used for constructing a pseudo-range measurement model based on the pseudo-range measurement value; the calculation module is used for calculating an observation matrix; the judging module is used for judging whether the integrity monitoring of the RAIM receiver is available or not according to preset conditions; and the positioning result generating module is used for generating a corresponding positioning result based on the vehicle navigation system of the 5G/GNSS combination if the detection statistic is less than or equal to the detection threshold value under the condition that the judging module judges that the RAIM has the availability. By adopting the monitoring device provided by the embodiment of the application, the GNSS and 5G network can be combined with the integrity monitoring framework, and if the detection statistic is less than or equal to the detection threshold value under the condition that the RAIM is judged to have the availability, the vehicle navigation system based on the 5G/GNSS combination generates the corresponding positioning result, so that accurate, reliable and feasible positioning navigation can be realized.
In one embodiment, a computer device is proposed, the computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program: constructing a pseudo-range measurement model based on the pseudo-range measurement value; calculating an observation matrix; judging whether the self integrity monitoring of the RAIM receiver has availability or not according to preset conditions; and under the condition that the RAIM is judged to have the availability, if the detection statistic is smaller than or equal to the detection threshold value, generating a corresponding positioning result based on the vehicle navigation system of the 5G/GNSS combination.
In one embodiment, a storage medium is provided that stores computer-readable instructions that, when executed by one or more processors, cause the one or more processors to perform the steps of: constructing a pseudo-range measurement model based on the pseudo-range measurement value; calculating an observation matrix; judging whether the self integrity monitoring of the RAIM receiver has availability or not according to preset conditions; and under the condition that the RAIM is judged to have the availability, if the detection statistic is smaller than or equal to the detection threshold value, generating a corresponding positioning result based on the vehicle navigation system of the 5G/GNSS combination.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the computer program is executed. The storage medium may be a non-volatile storage medium such as a magnetic disk, an optical disk, a Read-Only Memory (ROM), or a Random Access Memory (RAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only show some embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A vehicle navigation monitoring method based on a 5G/GNSS combination is characterized by comprising the following steps:
constructing a pseudo-range measurement model based on the pseudo-range measurement value;
calculating an observation matrix;
judging whether the self integrity monitoring of the RAIM receiver has availability or not according to preset conditions;
and under the condition that the RAIM is judged to have the availability, if the detection statistic is smaller than or equal to a detection threshold value, generating a corresponding positioning result based on the vehicle navigation system of the 5G/GNSS combination.
2. The method of claim 1, further comprising:
and under the condition that the RAIM is judged to have the availability, if the detection statistic is larger than the detection threshold value, determining that a fault satellite exists.
3. The method of claim 1, wherein prior to said constructing a pseudorange measurement model based on pseudorange measurements, said method further comprises:
acquiring multiple error sources of 5G signal ranging and the magnitude of any corresponding error source; and
and acquiring various error sources of the GNSS signal positioning and the corresponding magnitude of any one error source.
4. The method of claim 3, wherein after obtaining the plurality of error sources for 5G signal ranging, the method further comprises:
reading 5G signal ranging errors corresponding to various error sources of the 5G signal ranging;
the 5G signal ranging error at least comprises one of the following items:
the method is based on multipath interference errors caused by signal reflection, fault errors caused by NLOS and errors generated by noise of a receiver.
5. The method of claim 3, wherein after said obtaining a plurality of error sources for a GNSS signal position fix, the method further comprises:
reading GNSS signal positioning errors corresponding to a plurality of error sources of the GNSS signal positioning;
the GNSS signal positioning error includes at least one of:
errors based on ionospheric delay, errors based on tropospheric delay, errors based on clock asynchrony and errors based on receiver.
6. The method of claim 1, wherein prior to said computing an observation matrix, the method further comprises:
acquiring position coordinates of a satellite, position coordinates of a ground base station and position coordinates of a user;
and converting the position coordinates of the satellite, the position coordinates of the ground base station and the position coordinates of the user from the coordinates based on the geodetic coordinate system to corresponding coordinates based on the ECEF coordinate system.
7. The method of claim 1, wherein the determining whether the RAIM receiver autointegrity monitoring is available according to the preset condition comprises:
and under the condition that redundant information exists in the observation matrix and the protection level of the monitoring system is smaller than an alarm limit value, judging that the RAIM has the availability, otherwise, judging that the RAIM does not have the availability.
8. A vehicle navigation monitoring device based on a 5G/GNSS combination, which is characterized in that the device comprises:
the construction module is used for constructing a pseudo-range measurement model based on the pseudo-range measurement value;
the calculation module is used for calculating an observation matrix;
the judging module is used for judging whether the self integrity monitoring of the RAIM receiver has availability or not according to preset conditions;
and the positioning result generation module is used for generating a corresponding positioning result based on the vehicle navigation system of the 5G/GNSS combination if the detection statistic is less than or equal to the detection threshold value under the condition that the RAIM is judged to have the availability by the judgment module.
9. A computer device comprising a memory and a processor, the memory having stored therein computer readable instructions which, when executed by the processor, cause the processor to perform the steps of the monitoring method of any one of claims 1 to 7.
10. A storage medium having stored thereon computer-readable instructions which, when executed by one or more processors, cause the one or more processors to perform the steps of the monitoring method of any one of claims 1 to 7.
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| CN115291253B (en) * | 2022-08-02 | 2023-12-05 | 东北大学 | Vehicle positioning integrity monitoring method and system based on residual error detection |
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