CN114200489B - Beidou satellite navigation system ARAIM availability monitoring method and system - Google Patents

Beidou satellite navigation system ARAIM availability monitoring method and system Download PDF

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CN114200489B
CN114200489B CN202111262058.XA CN202111262058A CN114200489B CN 114200489 B CN114200489 B CN 114200489B CN 202111262058 A CN202111262058 A CN 202111262058A CN 114200489 B CN114200489 B CN 114200489B
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araim
availability
grid point
moment
preset date
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CN114200489A (en
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范丽红
涂锐
张睿
韩军强
张鹏飞
卢晓春
王思遥
洪菊
李芳馨
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National Time Service Center of CAS
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements

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  • Radar, Positioning & Navigation (AREA)
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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention discloses a Beidou satellite navigation system ARAIM availability monitoring method and system, comprising the following steps: acquiring the longitude and latitude range and a preset sampling interval of a monitoring area; gridding the monitoring area according to the longitude and latitude range of the monitoring area and a preset sampling interval, and determining longitude and latitude coordinates of each grid point; acquiring integrity support information parameters of the LPV-200 in the precise approach stage; acquiring broadcast ephemeris data of a preset date; constructing an observation equation according to longitude and latitude coordinates of each lattice point and broadcast ephemeris data of a preset date; determining the vertical protection level of each grid point at each moment of a preset date according to an observation equation and integrity support information parameters; and obtaining the ARAIM availability of the preset date of the Beidou satellite navigation system according to the vertical protection level of each lattice point at each moment of the preset date. The invention can monitor the ARAIM availability performance of the Beidou satellite navigation system in the precise approaching stage of the LPV-200 in real time.

Description

Beidou satellite navigation system ARAIM availability monitoring method and system
Technical Field
The invention relates to the technical field of satellite navigation, in particular to an ARAIM availability monitoring method and system of a Beidou satellite navigation system.
Background
The last Beidou No. three networking star is transmitted in the year of 23 and 6 in 2020, which marks that the Beidou global satellite navigation system (BeiDounavigation SATELLITE SYSTEM, BDS) is fully built, and can provide navigation positioning time service for global users.
Along with the construction of GPS, BDS, GLONASS, GALILEO and other global satellite navigation systems, multimode and multifrequency resources are greatly expanded, and GNSS is expected to be used as a main navigation means for precise approach with higher precision, so that an advanced receiver autonomous integrity monitoring algorithm (Advanced ReceiverAutonomous Integrity Monitoring, ARAIM) becomes a research hotspot of a user side monitoring technology. ARAIM is able to provide worldwide close-in vertical guidance services using dual-frequency multi-constellation pseudorange observations, but needs to meet more stringent performance requirements to cope with more complex failure modes. The ARAIM performance monitoring generally comprises single station data and regional monitoring evaluation, wherein the single station data can be used for acquiring the ARAIM performance of the navigation system at the current position, but the performance of the navigation system in the whole region cannot be acquired, and the regional monitoring evaluation is convenient for acquiring the overall performance of the navigation system in the region.
However, with the overall construction and use of the Beidou global navigation system, related researches on whether the Beidou system can meet the ARAIM availability performance of the LPV-200 in the precise approach stage are not comprehensive, and the existing researches are mainly conducted on the performances of other Beidou combined systems or the Beidou satellite navigation area system (Beidou No. two system). Based on this, there is a need in the art for an ARAIM availability monitoring method for a beidou satellite navigation system to monitor the ARAIM availability performance of the beidou satellite navigation system in the LPV-200 precise approach stage in real time.
Disclosure of Invention
The invention aims to provide an ARAIM availability monitoring method and system for a Beidou satellite navigation system, which can monitor the ARAIM availability performance of the Beidou satellite navigation system in the precise approaching stage of LPV-200 in real time.
In order to achieve the above object, the present invention provides the following solutions:
an availability monitoring method for an Beidou satellite navigation system ARAIM, comprising the following steps:
acquiring the longitude and latitude range and a preset sampling interval of a monitoring area;
gridding the monitoring area according to the longitude and latitude range of the monitoring area and the preset sampling interval, and determining longitude and latitude coordinates of each grid point;
Acquiring integrity support information parameters of the LPV-200 in the precise approach stage; the integrity support information parameters comprise satellite priori fault rate, false alarm rate, dangerous misleading information probability, maximum pseudo-range deviation, normal pseudo-range deviation, user ranging precision and user ranging error;
Acquiring broadcast ephemeris data of a preset date;
constructing an observation equation according to the longitude and latitude coordinates of each lattice point and the broadcast ephemeris data of the preset date;
Determining the vertical protection level of each grid point at each moment of the preset date according to the observation equation and the integrity support information parameter;
and obtaining the ARAIM availability of the preset date of the Beidou satellite navigation system according to the vertical protection level of each lattice point at each moment of the preset date.
Optionally, the latitude and longitude range of the monitoring area is-90 degrees S-90 degrees N, -180 degrees W-180 degrees E; the preset sampling interval is 5 degrees by 5 degrees.
Optionally, the satellite prior failure rate is 10 -4 or 10 -5; the false alarm rate is 4 x 10 -6; the probability of the dangerous misleading information is 8.7 x 10 -8; the maximum pseudorange bias is 0.75; the normal pseudo-range deviation is 0.1; the user ranging accuracy is 2, 1.5, 1.0 or 0.5; the user ranging error is one half of the user ranging accuracy.
Optionally, the constructing an observation equation according to the longitude and latitude coordinates of each lattice point and the broadcast ephemeris data of the preset date specifically includes:
calculating satellite positions according to the broadcast ephemeris data of the preset date;
Calculating an observed pseudo range between a satellite and an observation point according to the longitude and latitude coordinates of each lattice point and the broadcast ephemeris data of the preset date;
calculating a coefficient matrix according to the positions of the observation points and the satellite positions;
and constructing an observation equation according to the observed pseudo range between the satellite and the observation point and the coefficient matrix.
Optionally, the determining, according to the observation equation and the integrity support information parameter, a vertical protection level of each grid point at each time of the preset date specifically includes:
according to the observation equation and the integrity support information parameters, calculating a full set solution under no fault and a subset solution under fault corresponding to each grid point at each moment of the preset date respectively;
sequentially selecting the maximum value in the full set solution under the fault and the subset solution under the fault corresponding to each grid point at each moment, and taking the maximum value as the vertical protection level of the grid points at the moment;
And obtaining the vertical protection level of each grid point at each moment of the preset date according to all the vertical protection levels.
Optionally, the obtaining the ARAIM availability of the preset date of the beidou satellite navigation system according to the vertical protection level of each lattice point at each moment of the preset date specifically includes:
Acquiring a vertical alarm limit value of the LPV-200 in a precise approach stage;
The vertical protection level of each grid point at each moment of the preset date is compared with the size of the vertical alarm limit value in sequence, the grid point with the vertical protection level smaller than the vertical alarm limit value at each moment is determined to be the available grid point at the moment ARAIM, and the grid point with the vertical protection level larger than the vertical alarm limit value at each moment is determined to be the unavailable grid point at the moment ARAIM;
Sequentially taking the ratio of the number of times corresponding to the ARAIM availability of each grid point to the number of all times as the ARAIM availability of the grid point;
and obtaining the ARAIM availability of the Beidou satellite navigation system on the preset date according to the ARAIM availability of each lattice point.
The invention also provides the following scheme:
an ARAIM usability monitoring system for a beidou satellite navigation system, the system comprising:
the longitude and latitude and sampling interval acquisition module is used for acquiring the longitude and latitude range of the monitoring area and a preset sampling interval;
the monitoring area meshing module is used for meshing the monitoring area according to the longitude and latitude range of the monitoring area and the preset sampling interval and determining longitude and latitude coordinates of each grid point;
The integrity support information acquisition module is used for acquiring integrity support information parameters of the LPV-200 in the precise approach stage; the integrity support information parameters comprise satellite priori fault rate, false alarm rate, dangerous misleading information probability, maximum pseudo-range deviation, normal pseudo-range deviation, user ranging precision and user ranging error;
the broadcast ephemeris acquisition module is used for acquiring broadcast ephemeris data of a preset date;
the observation equation construction module is used for constructing an observation equation according to the longitude and latitude coordinates of each lattice point and the broadcast ephemeris data of the preset date;
The vertical protection level determining module is used for determining the vertical protection level of each grid point at each time of the preset date according to the observation equation and the integrity support information parameter;
The ARAIM availability obtaining module is used for obtaining the ARAIM availability of the preset date of the Beidou satellite navigation system according to the vertical protection level of each grid point at each moment of the preset date.
Optionally, the observation equation construction module specifically includes:
a satellite position calculating unit for calculating a satellite position according to the broadcast ephemeris data of the preset date;
An observation pseudo-range calculation unit, configured to calculate an observation pseudo-range between a satellite and an observation point according to longitude and latitude coordinates of each grid point and broadcast ephemeris data of the preset date;
the coefficient matrix calculating unit is used for calculating a coefficient matrix according to the position of the observation point and the satellite position;
And the observation equation construction unit is used for constructing an observation equation according to the observation pseudo range between the satellite and the observation point and the coefficient matrix.
Optionally, the vertical protection level determining module specifically includes:
the whole set solution and subset solution calculation unit is used for respectively calculating a whole set solution under no faults and a subset solution under faults, which correspond to each grid point at each moment of the preset date, according to the observation equation and the integrity support information parameter;
A maximum value selecting unit, configured to sequentially select a maximum value in the full set solution under no fault and the subset solution under fault corresponding to each grid point at each moment, and use the maximum value as a vertical protection level of the grid point at the moment;
The vertical protection level obtaining unit is used for obtaining the vertical protection level of each grid point at each moment of the preset date according to all the vertical protection levels.
Optionally, the ARAIM availability obtaining module specifically includes:
the vertical alarm limit value acquisition unit is used for acquiring the vertical alarm limit value of the LPV-200 in the precise approach stage;
The comparison unit is used for sequentially comparing the vertical protection level of each grid point at each moment of the preset date with the vertical alarm limit value, determining grid points with the vertical protection level smaller than the vertical alarm limit value at each moment as available grid points at the moment ARAIM, and determining grid points with the vertical protection level larger than the vertical alarm limit value at each moment as unavailable grid points at the moment ARAIM;
the single grid point ARAIM availability determining unit is used for sequentially taking the ratio of the number of times corresponding to the ARAIM availability of each grid point to the number of all times as the ARAIM availability of the grid point;
The Beidou system ARAIM availability obtaining unit is used for obtaining the ARAIM availability of the Beidou satellite navigation system on the preset date according to the ARAIM availability of each lattice point.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
According to the method and the system for monitoring the ARAIM availability of the Beidou satellite navigation system, through dividing global grid points, based on set integrity support information, the vertical protection level of the Beidou satellite navigation system in the precise approach stage of the LPV-200 under different fault assumptions of each grid point is calculated, and compared with the performance requirement of the LPV-200, so that the ARAIM availability performance of the Beidou satellite navigation system in the precise approach stage of the LPV-200 is monitored in real time.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flowchart of an embodiment of an ARAIM availability monitoring method for a Beidou satellite navigation system of the present invention;
FIG. 2 is a schematic diagram of the process flow of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide an ARAIM availability monitoring method and system for a Beidou satellite navigation system, which can monitor the ARAIM availability performance of the Beidou satellite navigation system in the precise approaching stage of LPV-200 in real time.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Fig. 1 is a flowchart of an embodiment of an ARAIM usability monitoring method of a beidou satellite navigation system according to the present invention, and fig. 2 is a schematic process flow diagram of the present invention. Referring to fig. 1 and 2, the Beidou satellite navigation system ARAIM availability monitoring method comprises the following steps:
step 101: and acquiring the longitude and latitude range and a preset sampling interval of the monitoring area.
In the step 101, the latitude and longitude range of the monitoring area is-90 degrees S-90 degrees N, -180 degrees W-180 degrees E; the preset sampling interval is 5 degrees by 5 degrees.
Step 102: and gridding the monitoring area according to the longitude and latitude range of the monitoring area and a preset sampling interval, and determining longitude and latitude coordinates of each grid point.
The step 101 and the step 102 mainly perform grid point setting, specifically:
Determining the longitude and latitude range (-90 DEG S-90 DEG N, -180 DEG W-180 DEG E) of a monitoring area, setting an interval of 5 DEG x 5 DEG to gridde the monitoring area, calculating longitude and latitude coordinates of each grid point (the evaluation range has a starting point, and then the coordinates of each grid point can be calculated according to the sampling interval), converting the longitude and latitude coordinates into space rectangular coordinates, storing the space rectangular coordinates into an array of a program, and gridding the evaluation area.
Step 103: acquiring integrity support information parameters of the LPV-200 in the precise approach stage; integrity support information parameters include satellite prior failure rate, false alarm rate, dangerous misleading information probability, maximum pseudorange bias, normal pseudorange bias, user ranging accuracy and user ranging error.
In the step 103, the prior failure rate of the satellite is 10 -4 or 10 -5; the false alarm rate is 4 x 10 -6; the probability of dangerous misleading information is 8.7 x 10 -8; the maximum pseudorange bias is 0.75; normal pseudorange bias is 0.1; the user ranging accuracy is 2, 1.5, 1.0 or 0.5; the user ranging error is one half of the user ranging accuracy.
The step 103 mainly performs Integrity support information (Integrity SupportMessage, ISM) parameter configuration, specifically:
integrity support information such as satellite prior failure rate (psa), false alarm rate (Pfa), risk misleading information Probability (PHMI), maximum pseudo-range deviation (bmax), normal pseudo-range deviation (bnom), user ranging accuracy (UserRange Accuracy, URA) and user ranging error (UserRange Error, ure=ura/2) is set.
The satellite prior fault rate (Psat) is obtained through actual monitoring and statistics. The false alarm rate (Pfa) and the danger misleading information Probability (PHMI) are fixed values, and are the requirements of aviation on a navigation system. The maximum pseudorange bias (bmax) and the normal pseudorange bias (bnom) are fixed values. The User ranging accuracy (User RangeAccuracy, URA) is obtained by statistical data according to the statistics of the spatial signal accuracy and the spatial signal error.
Satellite a priori failure rate (psa), user ranging accuracy (UserRangeAccuracy, URA) and user ranging error (UserRange Error, ure=ura/2) have a relatively large impact on availability.
For the Beidou system, ARAIM availability performance under different integrity support Information (ISM) configuration in the LPV-200 stage is monitored, and specific parameters are set as follows:
Psat＝10-4/10-5,Pfa＝4*10-6,PHMI＝8.7*10-8,bmax＝0.75,bnom＝0.1, URA＝2/1.5/1.0/0.5,URE＝URA/2, The first 3 parameters are parameters specified by civil aviation, and the last 4 parameters are parameters given according to the performance of the Beidou system. Psat=10 -4/10-5, ura=2/1.5/1.0/0.5, ure=ura/2, and the three parameters are all multiple values, each value of each parameter is used in each ARAIM availability calculation, and whether the improvement of the performance of the three parameters affects the ARAIM availability can be observed according to the final ARAIM availability monitoring result, so as to determine the value of each parameter corresponding to the best ARAIM availability.
Step 104: broadcast ephemeris data for a preset date is obtained.
The preset date is a certain day of a certain year, such as the 016 th day of 2020.
The step 104 mainly performs data reading, specifically:
And reading broadcast ephemeris data of the day according to preset time, and storing the ephemeris of each satellite.
Step 105: and constructing an observation equation according to longitude and latitude coordinates of each lattice point and broadcast ephemeris data of a preset date.
The step 105 specifically includes:
Satellite positions are calculated from broadcast ephemeris data for a predetermined date.
And calculating the observed pseudo range between the satellite and the observation point according to the longitude and latitude coordinates of each lattice point and broadcast ephemeris data of a preset date.
And calculating a coefficient matrix according to the positions of the observation points and the satellite positions.
And constructing an observation equation according to the observed pseudo range between the satellite and the observation point and the coefficient matrix.
The step 105 mainly performs the construction of the observation equation, specifically:
(1) Setting the sampling interval of the observation data as 300s, collecting the observation data once every epoch, wherein the epoch is time-specific to a certain moment, calculating the observation pseudo range between the satellite and the observation point according to the grid point coordinates and the ephemeris data of a day, constructing a coefficient matrix and a weight matrix, and linearizing the observation equation of the ionosphere-free combined observation value as follows:
y＝Gx+ε，WURA,WURE
Wherein y represents an observed pseudo-range residual, namely the difference between an observed pseudo-range between a satellite and an observation point and a calculated pseudo-range, G represents an observation coefficient matrix of the satellite, x represents a parameter vector to be estimated, the parameter vector to be estimated in positioning comprises 3 position parameters and 1 clock error parameter, and epsilon represents a pseudo-range error vector. The coefficient matrix G is calculated from the user position and the satellite position, which is calculated from the broadcast ephemeris, each grid point having its own G matrix at each instant in time, the ephemeris being only the input data. The observation equation is a mathematical model.
(2) Calculating satellite altitude and azimuth, calculating troposphere residual errors (sigma tropo), multipath residual errors (sigma multi) and random noise (sigma noise) according to the satellite altitude, calculating user observation errors (sigma user), and then calculating W URA and W URE, wherein corresponding calculation formulas are as follows:
Wherein n represents an nth satellite; w URA,n and W URE,n represent diagonal elements of the nth satellite; xs1 and xs2 represent coefficients related to frequency, and if f1= 1561.098 and f2=1207.14 are selected for the Beidou system
Step 106: and determining the vertical protection level of each grid point at each moment of the preset date according to the observation equation and the integrity support information parameters.
The step 106 specifically includes:
And respectively calculating a full set solution under no faults and a subset solution under faults, which correspond to each grid point at each moment of a preset date, according to the observation equation and the integrity support information parameters.
And sequentially selecting the maximum value in the full set solution under the fault and the subset solution under the fault corresponding to each grid point at each moment, and taking the maximum value as the vertical protection level of the grid point at the moment.
And obtaining the vertical protection level of each grid point at each moment of the preset date according to all the vertical protection levels.
The step 106 mainly performs vertical protection level (Vertical Protection Level, VPL) and Effective monitoring threshold (Effective MonitorThreshold, EMT) calculation, specifically:
according to the constructed observation equation, calculating a full set solution (VPL 0) and a subset solution (VPL n) under no fault respectively, selecting the maximum value of VPL 0 and VPL n as the VPL value of the current epoch of the grid point (only one grid point is calculated each time, and then all grid points are calculated circularly), and taking the maximum value of a detection threshold D n as the EMT of the current grid point.
The specific calculation process is as follows:
(1) Full set weighted least squares solution without failure The method comprises the following steps:
Wherein S 0＝(GTWURAG)-1GTWURA.
(2) Subset solution for nth satellite failureThe method comprises the following steps:
wherein M n is an N x N unit array (the data stored in the unit array index group is 1), and the nth diagonal element is 0; s n＝(GTMnWURAG)-1GTMnWURA.
(3) The test statistic d n for the nth satellite is:
The corresponding detection threshold D n is:
ΔSn＝Sn-S0
Where K ffd,n meets the continuity requirement, σ dV,n is 1 standard deviation in the vertical direction.
Where Q -1 represents the inverse of the normal cumulative distribution function, σ dV,n represents the standard deviation of d n in the vertical direction.
(4) Computing a full set solution VPL 0 and a subset solution VPL with failure n
To meet the integrity requirement, K md,0 and K md,n need to be determined simultaneously, wherein:
P0＝(GTWURAG)-1
Pn＝(GTMnWURAG)-1
wherein Pr { HMI } represents the probability of dangerous misleading information; p a_priori represents the a priori failure rate of the satellite, taking the value of Psat.
(5) VPL and EMT calculation
VPL＝max(VPL0,VPLn)
EMT＝max(Dn)
And (3) circulating according to the observation epoch, sequentially carrying out circulating calculation on all grid points according to the calculation flow in one observation epoch (each grid point can calculate VPL0, VPLn and Dn, then obtaining final VPL and EMT of the grid point (the EMT is also limited, but after the VPL meets the limit value, the EMT also meets the limit value, so the EMT is not compared, but the parameter is still calculated), and then circulating to obtain the VPL and the EMT of all grid points in each observation epoch). The difference between grid points at each moment is that the calculation formulas are the same, but the obtained results are different due to different observation data, and the aim is to obtain the VPL and EMT of different grid points so as to evaluate the usability of the system.
Step 107: and obtaining the ARAIM availability of the preset date of the Beidou satellite navigation system according to the vertical protection level of each lattice point at each moment of the preset date.
The step 107 specifically includes:
The vertical warning limit value of the precise approach phase of the LPV-200 is obtained.
The vertical protection level and the vertical alarm limit value of each grid point at each moment of the preset date are compared in sequence, the grid point with the vertical protection level smaller than the vertical alarm limit value at each moment is determined to be the available grid point of ARAIM at the moment, and the grid point with the vertical protection level larger than the vertical alarm limit value at each moment is determined to be the unavailable grid point of ARAIM at the moment.
And taking the ratio of the number of the times corresponding to the ARAIM availability of each grid point to the number of all times as the ARAIM availability of the grid point.
And obtaining the ARAIM availability of the preset date of the Beidou satellite navigation system according to the ARAIM availability of each lattice point.
In the step 107, alarm limit judgment and availability display are mainly performed, wherein the alarm limit judgment specifically includes:
comparing the VPL of each grid point with VAL (vertical alarm limit, namely a monitoring threshold which is already determined by aviation standards) of the approaching stage of the LPV-200, if the VPL is larger than the VAL, considering that the grid point ARAIM is unavailable at the moment, and marking as 1 (1 and 0 are availability marking information of the grid point, 1 represents unavailable and 0 represents available); if VPL < VAL, ARAIM is considered available, marked 0. Each grid point is compared until all grid points are compared. And (3) sequentially cycling according to the observation epoch and the grid points until all the epochs are finished (cycling is divided into two steps, the outer cycle is the observation epoch, the inner cycle is the grid points, all the grid points are cycled for each observation epoch, and all the observation epoch and the grid points are judged to be finished after the two cycles are finished.
The usability display is specifically:
Comparing the epoch number of each grid point mark as 0 with the total epoch number, obtaining the availability of the grid point, traversing all grid points to obtain the availability of the area, and carrying out drawing display on the availability of the monitoring area. The method of the invention mainly uses BDS satellite broadcast ephemeris as input data to monitor the ARAIM availability of the navigation system, and can acquire the ARAIM availability of the system in the global scope.
The invention provides a Beidou system ARAIM performance monitoring method based on ISM parameters and grid point division based on the fact that whether the prior Beidou satellite navigation system can meet the requirements of the LPV-200 in the approaching stage of the navigation system is not clear, and the researches of other GPS and Galileo systems are more, so that the navigation performance of the BDS system in the LPV-200 needs to be further researched to know whether the BDS can meet the requirements in the LPV-200 in the approaching navigation. By dividing global grid points, based on the set integrity support information, the vertical protection level and the effective monitoring threshold of the Beidou system in the LPV-200 stage under different fault assumptions of each grid point are calculated, and compared with the performance requirements of the LPV-200 to monitor the ARAIM availability of the system. Aiming at the constellation composition of the existing Beidou system, the invention provides the Beidou ARAIM availability monitoring method based on the user lattice points under different integrity support information configuration, which can monitor the influence of different integrity support information on the ARAIM availability of the Beidou system, and further monitor and evaluate the ARAIM availability of the Beidou system in the global or appointed area.
The invention aims to utilize ARAIM availability of BDS global system in LPV-200 approaching stage for monitoring so as to comprehensively understand the overall performance of the system, find out the monitoring loopholes of the system in the evaluation area and further determine the improvement method and strategy of the system performance.
The invention has the following advantages:
1. A grid point-based BDS system ARAIM availability monitoring method and system are provided, which can monitor the overall availability performance of the BDS system in the LPV-200 stage.
2. A configuration strategy for integrity support information is presented.
3. A BDS system ARAIM availability monitoring method and process are provided.
4. A statistical method of grid point availability is presented.
The method may also be implemented with other GNSS systems. The monitoring range of the user, the sampling interval of the monitoring area and the sampling interval of the observation epoch can be set arbitrarily according to the requirements.
The invention also provides a Beidou satellite navigation system ARAIM availability monitoring system, which comprises:
the longitude and latitude and sampling interval acquisition module is used for acquiring the longitude and latitude range of the monitoring area and the preset sampling interval.
And the monitoring area meshing module is used for meshing the monitoring area according to the longitude and latitude range of the monitoring area and the preset sampling interval and determining longitude and latitude coordinates of each grid point.
The integrity support information acquisition module is used for acquiring integrity support information parameters of the LPV-200 in the precise approach stage; the integrity support information parameters include satellite prior failure rate, false alarm rate, dangerous misleading information probability, maximum pseudo-range deviation, normal pseudo-range deviation, user ranging accuracy and user ranging error.
And the broadcast ephemeris acquisition module is used for acquiring broadcast ephemeris data of a preset date.
And the observation equation construction module is used for constructing an observation equation according to the longitude and latitude coordinates of each lattice point and the broadcast ephemeris data of the preset date.
And the vertical protection level determining module is used for determining the vertical protection level of each lattice point at each time of the preset date according to the observation equation and the integrity support information parameter.
The ARAIM availability obtaining module is used for obtaining the ARAIM availability of the preset date of the Beidou satellite navigation system according to the vertical protection level of each grid point at each moment of the preset date.
Specifically, the observation equation construction module specifically includes:
and the satellite position calculating unit is used for calculating the satellite position according to the broadcast ephemeris data of the preset date.
And the observed pseudo-range calculation unit is used for calculating the observed pseudo-range between the satellite and the observation point according to the longitude and latitude coordinates of each lattice point and the broadcast ephemeris data of the preset date.
And the coefficient matrix calculating unit is used for calculating a coefficient matrix according to the position of the observation point and the satellite position.
And the observation equation construction unit is used for constructing an observation equation according to the observation pseudo range between the satellite and the observation point and the coefficient matrix.
The vertical protection level determining module specifically includes:
And the whole set solution and subset solution calculation unit is used for respectively calculating the whole set solution under no faults and the subset solution under faults, which correspond to each grid point at each moment of the preset date, according to the observation equation and the integrity support information parameter.
And the maximum value selecting unit is used for sequentially selecting the maximum value in the full set solution under the fault and the subset solution under the fault corresponding to each grid point at each moment, and taking the maximum value as the vertical protection level of the grid point at the moment.
The vertical protection level obtaining unit is used for obtaining the vertical protection level of each grid point at each moment of the preset date according to all the vertical protection levels.
The ARAIM availability obtaining module specifically comprises:
And the vertical alarm limit value acquisition unit is used for acquiring the vertical alarm limit value of the LPV-200 in the precise approach stage.
And the comparison unit is used for sequentially comparing the vertical protection level of each grid point at each moment of the preset date with the vertical alarm limit value, determining grid points with the vertical protection level smaller than the vertical alarm limit value at each moment as available grid points at the moment ARAIM, and determining grid points with the vertical protection level larger than the vertical alarm limit value at each moment as unavailable grid points at the moment ARAIM.
And the single grid point ARAIM availability determining unit is used for sequentially taking the ratio of the number of times corresponding to the ARAIM availability of each grid point to the number of all times as the ARAIM availability of the grid point.
The Beidou system ARAIM availability obtaining unit is used for obtaining the ARAIM availability of the Beidou satellite navigation system on the preset date according to the ARAIM availability of each lattice point.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.

Claims (6)

1. The utility monitoring method for the Beidou satellite navigation system ARAIM is characterized by comprising the following steps:
acquiring the longitude and latitude range and a preset sampling interval of a monitoring area;
gridding the monitoring area according to the longitude and latitude range of the monitoring area and the preset sampling interval, and determining longitude and latitude coordinates of each grid point;
Acquiring integrity support information parameters of the LPV-200 in the precise approach stage; the integrity support information parameters comprise satellite priori fault rate, false alarm rate, dangerous misleading information probability, maximum pseudo-range deviation, normal pseudo-range deviation, user ranging precision and user ranging error;
Acquiring broadcast ephemeris data of a preset date;
Constructing an observation equation according to the longitude and latitude coordinates of each lattice point and the broadcast ephemeris data of the preset date; the construction of the observation equation according to the longitude and latitude coordinates of each lattice point and the broadcast ephemeris data of the preset date specifically comprises the following steps: calculating satellite positions according to the broadcast ephemeris data of the preset date; calculating an observed pseudo range between a satellite and an observation point according to the longitude and latitude coordinates of each lattice point and the broadcast ephemeris data of the preset date; calculating a coefficient matrix according to the positions of the observation points and the satellite positions; constructing an observation equation according to the observation pseudo range between the satellite and the observation point and the coefficient matrix;
Determining the vertical protection level of each grid point at each moment of the preset date according to the observation equation and the integrity support information parameter; the determining, according to the observation equation and the integrity support information parameter, a vertical protection level of each lattice point at each time of the preset date specifically includes: according to the observation equation and the integrity support information parameters, calculating a full set solution under no fault and a subset solution under fault corresponding to each grid point at each moment of the preset date respectively; sequentially selecting the maximum value in the full set solution under the fault and the subset solution under the fault corresponding to each grid point at each moment, and taking the maximum value as the vertical protection level of the grid points at the moment; obtaining the vertical protection level of each grid point at each moment of the preset date according to all the vertical protection levels;
and obtaining the ARAIM availability of the preset date of the Beidou satellite navigation system according to the vertical protection level of each lattice point at each moment of the preset date.
2. The Beidou satellite navigation system ARAIM availability monitoring method of claim 1, wherein the latitude and longitude range of the monitoring area is-90 degrees S-90 degrees N, -180 degrees W-180 degrees E; the preset sampling interval is 5 degrees by 5 degrees.
3. The Beidou satellite navigation system ARAIM availability monitoring method of claim 1, wherein the satellite prior failure rate is 10 -4 or 10 -5; the false alarm rate is 4 x 10 -6; the probability of the dangerous misleading information is 8.7 x 10 -8; the maximum pseudorange bias is 0.75; the normal pseudo-range deviation is 0.1; the user ranging accuracy is 2, 1.5, 1.0 or 0.5; the user ranging error is one half of the user ranging accuracy.
4. The method for monitoring the availability of the Beidou satellite navigation system ARAIM according to claim 1, wherein the obtaining the availability of the Beidou satellite navigation system ARAIM according to the vertical protection level of each grid point at each time of the preset date specifically comprises:
Acquiring a vertical alarm limit value of the LPV-200 in a precise approach stage;
The vertical protection level of each grid point at each moment of the preset date is compared with the size of the vertical alarm limit value in sequence, the grid point with the vertical protection level smaller than the vertical alarm limit value at each moment is determined to be the available grid point at the moment ARAIM, and the grid point with the vertical protection level larger than the vertical alarm limit value at each moment is determined to be the unavailable grid point at the moment ARAIM;
Sequentially taking the ratio of the number of times corresponding to the ARAIM availability of each grid point to the number of all times as the ARAIM availability of the grid point;
And obtaining the ARAIM availability of the Beidou satellite navigation system on the preset date according to the ARAIM availability of each lattice point.
5. An ARAIM availability monitoring system for a beidou satellite navigation system, said system comprising:
the longitude and latitude and sampling interval acquisition module is used for acquiring the longitude and latitude range of the monitoring area and a preset sampling interval;
the monitoring area meshing module is used for meshing the monitoring area according to the longitude and latitude range of the monitoring area and the preset sampling interval and determining longitude and latitude coordinates of each grid point;
The integrity support information acquisition module is used for acquiring integrity support information parameters of the LPV-200 in the precise approach stage; the integrity support information parameters comprise satellite priori fault rate, false alarm rate, dangerous misleading information probability, maximum pseudo-range deviation, normal pseudo-range deviation, user ranging precision and user ranging error;
the broadcast ephemeris acquisition module is used for acquiring broadcast ephemeris data of a preset date;
The observation equation construction module is used for constructing an observation equation according to the longitude and latitude coordinates of each lattice point and the broadcast ephemeris data of the preset date; the observation equation construction module specifically comprises: a satellite position calculating unit for calculating a satellite position according to the broadcast ephemeris data of the preset date; an observation pseudo-range calculation unit, configured to calculate an observation pseudo-range between a satellite and an observation point according to longitude and latitude coordinates of each grid point and broadcast ephemeris data of the preset date; the coefficient matrix calculating unit is used for calculating a coefficient matrix according to the position of the observation point and the satellite position; the observation equation construction unit is used for constructing an observation equation according to the observation pseudo range between the satellite and the observation point and the coefficient matrix;
The vertical protection level determining module is used for determining the vertical protection level of each grid point at each time of the preset date according to the observation equation and the integrity support information parameter; the vertical protection level determining module specifically includes: the whole set solution and subset solution calculation unit is used for respectively calculating a whole set solution under no faults and a subset solution under faults, which correspond to each grid point at each moment of the preset date, according to the observation equation and the integrity support information parameter; a maximum value selecting unit, configured to sequentially select a maximum value in the full set solution under no fault and the subset solution under fault corresponding to each grid point at each moment, and use the maximum value as a vertical protection level of the grid point at the moment; a vertical protection level obtaining unit, configured to obtain a vertical protection level of each grid point at each time of the preset date according to all the vertical protection levels;
The ARAIM availability obtaining module is used for obtaining the ARAIM availability of the preset date of the Beidou satellite navigation system according to the vertical protection level of each grid point at each moment of the preset date.
6. The Beidou satellite navigation system ARAIM availability monitoring system of claim 5, wherein the ARAIM availability obtaining module specifically comprises:
the vertical alarm limit value acquisition unit is used for acquiring the vertical alarm limit value of the LPV-200 in the precise approach stage;
The comparison unit is used for sequentially comparing the vertical protection level of each grid point at each moment of the preset date with the vertical alarm limit value, determining grid points with the vertical protection level smaller than the vertical alarm limit value at each moment as available grid points at the moment ARAIM, and determining grid points with the vertical protection level larger than the vertical alarm limit value at each moment as unavailable grid points at the moment ARAIM;
the single grid point ARAIM availability determining unit is used for sequentially taking the ratio of the number of times corresponding to the ARAIM availability of each grid point to the number of all times as the ARAIM availability of the grid point;
The Beidou system ARAIM availability obtaining unit is used for obtaining the ARAIM availability of the Beidou satellite navigation system on the preset date according to the ARAIM availability of each lattice point.
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