CN114609650A - Integrity testing method based on Beidou full-chain fault excitation - Google Patents
Integrity testing method based on Beidou full-chain fault excitation Download PDFInfo
- Publication number
- CN114609650A CN114609650A CN202210231534.XA CN202210231534A CN114609650A CN 114609650 A CN114609650 A CN 114609650A CN 202210231534 A CN202210231534 A CN 202210231534A CN 114609650 A CN114609650 A CN 114609650A
- Authority
- CN
- China
- Prior art keywords
- integrity
- fault
- satellite
- beidou
- tested
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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
- G01S19/20—Integrity monitoring, fault detection or fault isolation of space segment
-
- 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
Abstract
The embodiment of the invention provides an integrity test method based on Beidou full-chain fault excitation, and relates to the technical field of integrity risk tests. The method comprises the following steps: step 1, setting integrity performance test indexes and initializing a fault scene to be tested; step 2, carrying out the test area range planning of the application platform of the full link in the satellite-signal transmission-application platform; step 3, selecting a fault Beidou satellite; step 4, simulating an abnormal signal of the Beidou satellite; the simulator simulates according to the signal of the fault Beidou satellite, and adds a certain error value according to the distance measurement of the fault Beidou satellite to obtain a simulated abnormal signal; and 5, carrying out integrity performance evaluation.
Description
Technical Field
The invention relates to the technical field of integrity risk testing, in particular to an integrity testing method based on Beidou full-chain fault excitation.
Background
The Beidou Navigation Satellite System (GNSS) covers a plurality of military and civil fusion typical application scenes of China, such as sea, land, air and the like, for example, marine ecological application, intelligent agricultural machinery cooperative operation, carrier-Based aircraft batch full-automatic guidance and the like, and in order to guarantee the reliability of Beidou Navigation service, the GNSS enhancement System which gives consideration to both precision and integrity, such as a Satellite Based Augmentation System (SBAS) and a Ground Based Augmentation System (GBAS), is widely applied to Navigation application fields related to life safety, such as civil aviation and the like.
At present, the Beidou satellite-based augmentation system (BDSBAS) in China is in a key construction period, and a reliable test scheme is urgently needed to carry out system integrity performance evaluation and provide a reference for system service performance optimization. The Beidou navigation positioning relates to a whole service link from a satellite to a signal to an application platform, and the Beidou navigation positioning service system meets the high credibility requirement of the Beidou navigation positioning service in view of the potential multi-type fault scene of the Beidou navigation satellite-signal-application platform full chain service system.
Disclosure of Invention
In order to solve the technical problems, the invention provides an integrity test method based on Beidou full-chain fault excitation.
The invention adopts the following technical scheme:
a integrity test method based on Beidou full-chain fault excitation comprises the following steps:
step 1, setting integrity performance indexes to be tested of an application platform according to safety performance requirements specified by the application platform, and initializing fault scenes to be tested; selecting a performance index and an operation index to be tested, setting a distribution parameter of an application platform, and determining a fault scene requirement; inputting a Beidou satellite almanac file into a simulator;
step 2, carrying out the range definition of an application platform test area of a full link in a satellite-signal transmission-application platform, wherein the test area comprises a plurality of test sites, and each test area determines longitude and latitude coordinates of the site to be tested;
step 3, selecting a fault Beidou satellite; according to the longitude and the latitude of the to-be-tested place and the satellite almanac file, calculating the positions of the visible Beidou satellites of the to-be-tested place one by one, and selecting the Beidou satellite with the highest integrity event probability under the current epoch geometric configuration from all the visible Beidou satellites of the to-be-tested place through the simulator, wherein the satellite is selected as a fault Beidou satellite; the visible finger can receive Beidou satellite signals;
step 4, simulating an abnormal signal of the Beidou satellite; the simulator simulates according to the signal of the fault Beidou satellite, and adds a certain error value according to the distance measurement of the fault Beidou satellite to obtain a simulated abnormal signal;
step 5, evaluating the integrity performance of the application platform; the simulator simulates the operation process of a Beidou satellite navigation system according to the Beidou satellite almanac input in the step 1, determines a fault Beidou satellite according to the step 3, and simulates the abnormity of the Beidou satellite according to the step 4; under the abnormal condition of the Beidou signal, recording integrity output of the application platform at the test sites divided in the step 2 in sequence, and calculating integrity risks; and finally, comparing the result with the integrity performance index to be tested set in the step 1, and when the calculated integrity risk is smaller than the integrity performance index to be tested, proving that the integrity performance of the application platform is qualified.
Determining the area to be detected by setting an interval of longitude and latitude; and carrying out grid point division on the area to be tested, and determining the coordinates of the longitude and the latitude of the place to be tested.
The range of the area to be tested comprises the following steps:
carrying out test area size division: setting a longitude and latitude range Lon degree E-Lon degree W, Lat degree S-Lat degree N of the area to be tested;
carrying out grid point division in a test area: dividing the area to be tested into grids of K degrees multiplied by K degrees, and selecting grid line intersection points of the grids as longitude and latitude parameters of the place to be tested;
calculating the total number of the to-be-detected places: station ═ [ (Lon ° E-Lon ° W) +1] × [ (Lat ° S-Lat ° N) +1]/(K ° × K °);
where Lat is longitude, Lon is latitude, and K is grid point interval.
The simulator selects the fault Beidou satellite through a mathematical model, wherein the mathematical model is as follows:
wherein A represents the projection of the measurement domain to the positioning domain conversion matrix, S represents the projection of the measurement domain to the detection statistical domain conversion matrix, q represents the direction of the positioning error, and j represents the star of the satellite; q in A denotes the qth row of the matrix, j denotes the jth column of A; j represents j rows and j columns of the matrix in S; setting the Slope under the current geometryjThe largest Beidou satellite is a fault satellite, the star number of the fault satellite is k, and Beidou satellite abnormal signals are simulated on the fault satellite k.
The step 4 further comprises: adding a certain error value to the fault satellite k, wherein the error is a ranging error and is obtained through probability model search, and the searched target function is as follows:
max Pnd·Ppf·PHi\*MERGEFORMAT(2)；
in the formula, PndTo detect failure probability, PpfFor locating the overrun probability, PHiTo a priori fault probability, PHi is composed ofInitialization parameter given, PndAnd PpfThe following are obtained by calculation:
where η represents a detection threshold; n represents the number of visible satellites; λ represents a non-centering parameter; b represents a ranging error; σ represents the standard deviation of the positioning error; q represents a standard normal distribution tail description function; pncxA non-central chi-square distribution probability distribution function; q denotes the orientation of the positioning error, q denotes the q-th row of the matrix in a.
The performance indicators to be tested include: integrity risk indicator IRreqAlarm limit l, alarm time t; the performance index to be tested is used for integrity performance assessment.
The operation index includes: test duration T, test sampling interval Ts(ii) a The performance operation index is used to specify integrity test durations and intervals.
The distribution parameters of the application platform comprise: longitude, latitude Lat, Lon and distribution density K;
the fault scenario requirements include: type of failure to be tested HiAnd i represents a fault type number, and the fault type comprises: ionospheric gradient anomaly HITropospheric gradient anomaly HTSatellite orbit maneuver HOSatellite clock hopping HsAnd cycle slip HC(ii) a Probability P of corresponding prior fault to be testedHi；
The failure scenario includes a heavy failure concurrency scenario.
The step 5 comprises the following steps:
step 51, defining the number of test samples, namely epochs: according to the integrity performance index IR to be testedreqDetermining the sample size N ═ P to be testedHi/IRreqNumber of test samples N for a single test siteS＝N/Station；
Step 52, forming a fault scene according to the position of the test site, the fault satellite number k and the ranging error value b;
step 53, in a fault scene, exciting an integrity monitoring algorithm, and counting integrity parameters output by each tester within T time, wherein the integrity output parameters comprise: protection level p, alarm interval s and positioning error e to be measured;
step 54, defining integrity loss: when the positioning error e is larger than the alarm limit l, but the protection level p does not send out an alarm or the alarm is overtime, i.e., { | e | > l > p { s > t }, judging that the integrity is lost, and counting the total times N of the integrity lossIR；
Step 55, calculating the integrity risk: n is a radical ofIR/N。
The embodiment of the invention provides a Beidou full-chain fault excitation-based integrity testing method, which comprises the following steps: planning operation of an application platform test site, and supporting integrity performance test of the application platform at different sites; selecting operation of the fault satellite, and supporting the integrity performance test of the application platform under different fault satellites; and (4) abnormal simulation operation of the fault signals, and supporting the integrity performance test of the application platform under different fault sources. The method comprises the steps of strictly testing three key links of a satellite-signal transmission-application platform related to a Beidou positioning service system through application platform test site planning, fault satellite selection and signal abnormity simulation operation, and realizing reliable integrity performance testing.
Drawings
Fig. 1 is a flowchart of an integrity testing method based on Beidou full-chain fault excitation provided by an embodiment of the invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings.
Referring to fig. 1, the embodiment of the invention provides an integrity test method based on Beidou full-chain fault excitation, and the method can be applied to integrity performance tests of established or existing support positioning service application platforms. The method comprises the following specific steps:
step 1, initializing the integrity performance index to be tested and the fault scene to be tested.
Step 2, defining the range of an application platform test area in a full-chain satellite-signal-application platform;
step 3, selecting a fault Beidou satellite in a full-chain satellite-signal-application platform;
step 4, carrying out Beidou satellite signal abnormity simulation in a full-chain satellite-signal-application platform;
and 5, evaluating the integrity performance of the application platform.
The embodiment of the invention provides a full-chain test method for a Beidou system satellite-signal-application platform, which comprises the following steps: planning operation of an application platform test site, and supporting integrity performance test of the application platform at different sites; selecting a fault satellite, and supporting the integrity performance test of an application platform under different fault satellites; and (4) abnormal simulation operation of the fault signals, and supporting the integrity performance test of the application platform under different fault sources. The method comprises the steps of strictly testing three key links of a satellite-signal transmission-application platform related to a Beidou positioning service system through application platform test site planning, fault satellite selection and signal abnormity simulation operation, and realizing reliable integrity performance testing.
According to the integrity test method based on Beidou full-chain fault excitation, disclosed by the invention, the integrity performance is counted by exciting and recording the output response value of an integrity monitoring algorithm through simulating a potential fault scene faced by a Beidou positioning service 'satellite-signal transmission-application platform' full link.
The full-chain fault scene covering three aspects of satellite-signal transmission-application platform is formed by an application platform test site selection link, a Beidou fault satellite selection link and a Beidou signal abnormity simulation link; the integrity performance evaluation is to calculate the ratio of the times of integrity loss in the total test epoch number by recording the output response value of the integrity monitoring algorithm in the fault scene.
The overall procedure for the specific integrity test is as follows:
firstly, in order to ensure that the application platform meets the requirement of integrity performance at any place, performance tests at different places need to be carried out, so that the work of test area selection and test place division is carried out, and the process is specifically described in step 2.
Secondly, for testing the integrity performance of the application platform in the multi-type fault scene, the satellite fault and signal abnormality simulation under different fault sources Hi needs to be sequentially performed for all the test sites divided in step 2, and the process is specifically explained in steps 3 and 4.
Within a preset test time T, sequentially collecting integrity response values output by each test site in a fault scene (the fault scene is determined by the steps 2, 3 and 4), and after all test sites in a set area are tested, summarizing the integrity monitoring algorithm to output response information for evaluating the integrity performance, wherein the process is specifically described in the step 5.
The test is shown as an attached figure 1, and is a flow chart of an integrity test method based on Beidou full-chain fault simulation.
Step 1, setting a to-be-tested integrity performance index, a to-be-tested integrity performance index and a to-be-tested fault scene of an application platform according to safety performance requirements specified by the application platform; initializing a fault scene to be tested; selecting a performance index and an operation index to be tested, setting a distribution parameter of an application platform, and determining a fault scene requirement; inputting a Beidou satellite almanac file to a simulator; the application platform is a system for carrying out navigation and positioning operation by adopting Beidou positioning service.
The integrity performance test is carried out, and firstly, the initialization of the integrity working index to be tested and the initialization of the fault scene to be tested are realized. Parameters and contents related to initialization include:
the integrity performance test indexes to be tested are as follows:
1. the performance indexes to be tested are as follows: the integrity performance index IRreq to be tested, the alarm limit l and the alarm time t; the above indexes are used for integrity performance evaluation in step 5;
2. the operation index is as follows: testing time length T and testing sampling interval Ts; the parameters are used for specifying the integrity test duration and interval;
the fault scene to be tested:
application platform distribution parameters: longitude, latitude Lat, Lon, distribution density K; the parameters are used for setting a test area and dividing test places in the step 2;
fault scenario requirements: type of failure to be tested Hi(i represents the number of fault types, and common fault types comprise ionospheric gradient anomaly HITropospheric gradient anomaly HTSatellite orbit maneuver HOClock hopping Hs and cycle hopping HC) (ii) a Probability P of corresponding prior fault to be testedHi. It should be noted here that the failure scenario may be set to a multiple failure concurrent situation; the parameter fault type and the prior fault probability parameter are used for simulating the satellite signal abnormity in the step 4; jump of satellite clock, belonging to common fault in satellite navigation field
Inputting an external file: and (4) carrying out Beidou satellite almanac for satellite position calculation in steps 3 and 4.
Step 2, defining the range of an application platform test area in a full-chain satellite-signal-application platform;
in order to ensure that the application platform meets the requirement of integrity performance at any place, performance test simulation is carried out at different places. Firstly, determining the size of a region to be tested by setting longitude and latitude intervals; and secondly, carrying out grid point division on the test area, and determining longitude and latitude coordinates of a specific to-be-tested place. The specific operation flow for defining the range of the area to be tested is as follows:
1. test area sizing: setting the longitude and latitude Lon degree E-Lon degree W, Lat degree S-Lat degree N of an area to be tested;
2. grid point division in the test area: dividing the area to be tested into grids of K degrees multiplied by K degrees, and selecting grid line intersection points as longitude and latitude parameters of the point to be tested;
3. calculating the total number of the sites to be detected: station ═ [ (Lon ° E-Lon ° W) +1] × [ (Lat ° S-Lat ° N) +1]/(K × K);
step 2, induction of input and output parameters:
(1) step 2, required initialization parameters: longitude and latitude Lon, Lat, and grid point interval K;
(2) step 2, outputting parameters: testing the number Station of the sites, and testing the longitude and latitude of the sites.
Step 3, selecting the failed Beidou satellite in the full-chain satellite-signal-application platform
After parameter initialization and test site position division work are completed, fault satellite selection operation in a full-chain satellite-signal-application platform is carried out. And (3) selecting the Beidou satellite most prone to generating integrity events under the current epoch geometric configuration through a simulator on the basis of the longitude and latitude positions of the test sites divided in the step (2) and the satellite position calculated by the almanac file, and supporting the integrity pressure test. The Beidou satellite most prone to integrity events can be determined by the following mathematical model,
wherein A is a conversion matrix from the measurement domain projection to the positioning domain, S represents a conversion matrix from the measurement domain projection to the detection statistical domain, q represents a positioning error direction, and j represents a satellite star; q in A denotes the qth row of the matrix, j denotes the jth column of A; j denotes in S the j rows and j columns of the matrix. And setting the largest Slopej Beidou satellite under the current geometric configuration as a fault satellite. After step 2 is completed, the number k of the fault satellite can be determined, and subsequent signal anomaly simulation can be carried out on the satellite k.
Step 3, induction of input and output parameters:
step 3, inputting parameters: testing the longitude and latitude of the place;
step 3, required initialization parameters: beidou satellite almanac;
(3) step 3, outputting parameters: and the fault satellite number k is used for supporting signal abnormity simulation.
Step 4, carrying out Beidou signal abnormity simulation in a full-chain satellite-signal-application platform
And (4) carrying out the Beidou satellite signal abnormity simulation based on the fault satellite k selected in the step (3). The Beidou signal anomaly is that a certain error value is added to the ranging of a fault satellite k, and the process is based on the American radio technical Committee RTCA DO-245 official document: satellite clocks, orbit anomalies, ionosphere, troposphere gradient anomalies and cycle slip multi-type faults can be equivalently converted into distance measurement errors, and unified tests are carried out.
The selection of the failed satellite k is completed in step 2, and then the magnitude of the ranging error generated when the satellite fails is determined. Because the selection of the ranging error has no clear range limitation, in order to avoid uncertainty of the selection of the ranging error, the error which makes the application platform most prone to integrity events is selected and injected. The range error most prone to integrity event can be obtained by searching through a probability model, and the target function of the search is as follows:
max Pnd·Ppf·PHi\*MERGEFORMAT(2)
the formula consists of detection failure probability, positioning overrun probability and prior fault probability (initialization parameter given),
where η represents a detection threshold; n represents the number of visible satellites; λ represents a non-centering parameter; b represents a ranging error; σ represents the standard deviation of the positioning error; q represents the standard normal distribution tail description function. Traversing and searching a distance measurement error which is most prone to generating an integrity event, and injecting the distance measurement error into a fault satellite to carry out integrity pressure test; q denotes the orientation error direction, q denotes the q-th row of the matrix in a.
Step 4, induction of input and output parameters:
(1) step 4, inputting parameters: testing the longitude and latitude of the place, and using the parameters to calculate the geometrical configuration of the satellite (step 2); a satellite number k for determining a failed satellite (step 3);
(2) step 4, required initialization parameters: failure scenario HiPrior probability of failure PHiThe prior probability of the fault, namely the frequency of the occurrence of the fault is set; both are used to calculate the required injected range error;
(3) step 4, outputting parameters: fault ranging error b.
And 5, evaluating the integrity performance of the application platform.
1. Defining the number of test samples: according to the integrity performance index IR to be testedreq(initialization parameter), determine the sample size to be tested N ═ PHi/IRreq) The number NS of the test samples of a single test site is N/Station;
2. outputting the position of the test site, the fault satellite number k and the ranging error value b according to the steps 2, 3 and 4 to form a fault scene;
3. and in a fault scene, exciting an integrity monitoring algorithm, and counting integrity parameters output by each test site within T time. The required statistical integrity output parameters include: protection level p, alarm interval s and positioning error e to be measured;
4. defining the loss of integrity: when the positioning error e is larger than the alarm limit l, but the protection level p does not send an alarm or the alarm is overtime, namely { | e | > l > p | s > t }, judging that the integrity is lost, and counting the total times N of integrity lossIR；
5. Calculating the integrity risk: n is a radical of hydrogenIR/N。
Step 5, induction and output parameter induction:
(1) step 5, inputting parameters: testing the number Station (step 2);
(2) step 5, required initialization parameters: test duration T, test interval TS, integrity Performance index IR to be testedreqPrior probability of failure PHi(ii) a Jump of satellite clock, belonging to common fault in satellite navigation field
(3) Step 5, outputting parameters: risk of integrity.
In view of the fact that a Beidou navigation satellite-signal-application platform full-chain service system potentially faces various fault scenes, and meanwhile in order to meet the strict credibility requirement of the Beidou navigation positioning service, the method is provided, pressure tests are conducted on the full chain of the Beidou system, the potential fault scenes of the Beidou positioning service are traversed, and high-reliability sound performance tests are achieved.
The embodiment of the invention provides a Beidou full-chain fault excitation-based integrity testing method, which comprises the following steps: planning operation of an application platform test site, and supporting integrity performance test of the application platform at different sites; selecting operation of the fault satellite, and supporting the integrity performance test of the application platform under different fault satellites; and (4) abnormal simulation operation of the fault signals, and supporting the integrity performance test of the application platform under different fault sources. The three key links of satellite-signal transmission-application platform related to the Beidou positioning service system are strictly tested through application platform test site planning, fault satellite selection and signal abnormity simulation operation, and reliable integrity performance test is achieved.
It will be evident to those skilled in the art that the embodiments of the present invention are not limited to the details of the foregoing illustrative embodiments, and that the embodiments of the present invention are capable of being embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the embodiments being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. Several units, modules or means recited in the system, apparatus or terminal claims may also be implemented by one and the same unit, module or means in software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the embodiments of the present invention and not for limiting, and although the embodiments of the present invention are described in detail with reference to the above preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the embodiments of the present invention without departing from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. A integrity test method based on Beidou full-chain fault excitation is characterized by comprising the following steps:
step 1, setting integrity performance indexes to be tested of an application platform according to safety performance requirements specified by the application platform, and initializing fault scenes to be tested; selecting a performance index and an operation index to be tested, setting a distribution parameter of an application platform, and determining a fault scene requirement; inputting a Beidou satellite almanac file into a simulator;
step 2, carrying out the range definition of an application platform test area of a full link in a satellite-signal transmission-application platform, wherein the test area comprises a plurality of test sites, and each test area determines longitude and latitude coordinates of the site to be tested;
step 3, selecting a fault Beidou satellite; according to the longitude and the latitude of the to-be-tested site and the compass satellite almanac file, calculating the positions of the visible compass satellites of the to-be-tested site one by one, and selecting the compass satellite with the highest integrity event probability under the current epoch geometric configuration from all visible compass satellites of the to-be-tested site through the simulator, wherein the compass satellite is selected as a fault compass satellite; the visible finger can receive Beidou satellite signals;
step 4, simulating an abnormal signal of the Beidou satellite; the simulator simulates according to the signal of the fault Beidou satellite, and adds a certain error value according to the distance measurement of the fault Beidou satellite to obtain a simulated abnormal signal;
step 5, evaluating the integrity performance of the application platform; the simulator simulates the operation process of a Beidou satellite navigation system according to the Beidou satellite almanac input in the step 1, determines a fault Beidou satellite according to the step 3, and simulates the abnormity of the Beidou satellite according to the step 4; under the abnormal condition of the Beidou signal, recording integrity output of the application platform at the test sites divided in the step 2 in sequence, and calculating integrity risks; and finally, comparing the result with the integrity performance index to be tested set in the step 1, and when the calculated integrity risk is smaller than the integrity performance index to be tested, proving that the integrity performance of the application platform is qualified.
2. The integrity test method based on Beidou full-chain fault excitation according to claim 1, characterized by determining the area to be tested by setting an interval of longitude and latitude; and carrying out grid point division on the area to be tested, and determining the longitude and latitude of the place to be tested.
3. The integrity testing method based on Beidou all-chain fault excitation according to claim 2, characterized in that the range of the area to be tested is defined by the following steps:
carrying out test area size division: setting a longitude and latitude range Lon degree E-Lon degree W, Lat degree S-Lat degree N of the area to be tested;
carrying out grid point division in a test area: dividing the area to be tested into grids of K degrees multiplied by K degrees, and selecting grid line intersection points of the grids as longitude and latitude parameters of the place to be tested;
calculating the total number of the to-be-detected places: station ═ [ (Lon ° E-Lon ° W) +1] × [ (Lat ° S-Lat ° N) +1]/(K ° × K °);
where Lat is longitude, Lon is latitude, and K is grid point interval.
4. The integrity testing method based on Beidou full-chain fault excitation according to claim 3, characterized in that the simulator selects the faulty Beidou satellite through a mathematical model, and the mathematical model is as follows:
wherein A represents the projection of the measurement domain to the positioning domain conversion matrix, S represents the projection of the measurement domain to the detection statistical domain conversion matrix, q represents the direction of the positioning error, and j represents the star of the satellite; q in A denotes the qth row of the matrix, j denotes the jth column of A; j represents j rows and j columns of the matrix in S; setting the Slope under the current geometryjThe largest Beidou satellite is a fault satellite, the star number of the fault satellite is k, and Beidou satellite abnormal signals are simulated on the fault satellite k.
5. The integrity testing method based on Beidou all-chain fault excitation according to claim 4, wherein the step 4 further comprises: adding a certain error value to the fault satellite k, wherein the error is a distance measurement error and is obtained through probability model search, and the target function of the search is as follows:
max Pnd·Ppf·PHi\*MERGEFORMAT (2)；
in the formula, PndTo detect failure probability, PpfFor locating the overrun probability, PHiTo a priori fault probability, PHiGiven by an initialization parameter, PndAnd PpfThe following are obtained by calculation:
where η represents a detection threshold; n represents the number of visible satellites; λ represents a non-centering parameter; b represents a ranging error; σ represents the standard deviation of the positioning error; q represents a standard normal scoreA cloth tail description function; pncxA non-central chi-square distribution probability distribution function; q denotes the orientation of the positioning error, q denotes the q-th row of the matrix in a.
6. The integrity testing method based on Beidou full-chain fault excitation according to claim 5, characterized in that the to-be-tested performance indexes comprise: integrity Performance index IRreqAlarm limit l, alarm time t; the performance index to be tested is used for integrity performance assessment.
7. The integrity testing method based on Beidou full chain fault excitation according to claim 6, wherein the operation indexes comprise: test duration T, test sampling interval Ts(ii) a The operation index is used for specifying the integrity test duration and interval.
8. The integrity testing method based on Beidou all-chain fault excitation according to claim 7, wherein the distribution parameters of the application platform comprise: longitude, latitude Lat, Lon and distribution density K;
the fault scenario requirements include: type of failure to be tested HiAnd i represents a fault type number, and the fault type comprises: ionospheric gradient anomaly HITropospheric gradient anomaly HTSatellite orbit maneuver HOSatellite clock hopping HsAnd cycle slip HC(ii) a Probability P of corresponding prior fault to be testedHi；
The failure scenario includes a heavy failure concurrency scenario.
9. The integrity testing method based on Beidou all-chain fault excitation according to claim 8, wherein the step 5 comprises:
step 51, defining the number of test samples, namely epochs: according to the integrity performance index IR to be testedreqDetermining the sample size N-P to be testedHi/IRreqNumber of test samples N for a single test siteS＝N/Station；
Step 52, forming a fault scene according to the position of the test site, the fault satellite number k and the ranging error value b;
step 53, in a fault scene, exciting an integrity monitoring algorithm, and counting integrity parameters output by each test site within T time, wherein the integrity output parameters include: protection level p, alarm interval s and positioning error e to be measured;
step 54, defining integrity loss: when the positioning error e is larger than the alarm limit l, but the protection level p does not send an alarm or the alarm is overtime, namely { | e | > l > p | s > t }, judging that the integrity is lost, and counting the total times N of integrity lossIR；
Step 55, calculating the integrity risk: n is a radical ofIR/N。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210231534.XA CN114609650B (en) | 2022-03-09 | 2022-03-09 | Integrity testing method based on Beidou full-chain fault excitation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210231534.XA CN114609650B (en) | 2022-03-09 | 2022-03-09 | Integrity testing method based on Beidou full-chain fault excitation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114609650A true CN114609650A (en) | 2022-06-10 |
| CN114609650B CN114609650B (en) | 2022-12-16 |
Family
ID=81861107
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210231534.XA Active CN114609650B (en) | 2022-03-09 | 2022-03-09 | Integrity testing method based on Beidou full-chain fault excitation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114609650B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117388886A (en) * | 2023-10-10 | 2024-01-12 | 中国人民解放军32021部队 | Beidou system RNSS service positioning accuracy degradation deduction method and device |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101776762A (en) * | 2009-12-30 | 2010-07-14 | 北京航空航天大学 | Completeness monitoring method, device and system based on multi-foundation enhancement system |
| CN102096075A (en) * | 2010-12-23 | 2011-06-15 | 中国航天科工信息技术研究院 | Galileo system integrity concept-based multimode user integrity assessing method |
| CN102305935A (en) * | 2011-07-26 | 2012-01-04 | 上海埃威航空电子有限公司 | Method and system for improving positioning precision by multiple-satellite navigation star based enhancement system |
| CN102401903A (en) * | 2010-09-17 | 2012-04-04 | 郑州威科姆科技股份有限公司 | Method for implementing autonomous integrity of northern dipper second-generation receiver |
| US20130009817A1 (en) * | 2011-07-06 | 2013-01-10 | Honeywell International Inc. | Satellite navigation system fault detection based on biased measurements |
| CN103592656A (en) * | 2013-10-17 | 2014-02-19 | 航天恒星科技有限公司 | Self-integrity monitoring method suitable for satellite-borne navigation receiver |
| CN104267410A (en) * | 2014-10-10 | 2015-01-07 | 北京航空航天大学 | Method and device for excluding multiple faults in airborne integrity monitoring |
| CN104483678A (en) * | 2014-12-04 | 2015-04-01 | 北京航空航天大学 | Air-ground coordinated multi-constellation satellite navigation integrity multi-stage monitoring method |
| US20160195617A1 (en) * | 2015-01-05 | 2016-07-07 | Samsung Electronics Co., Ltd. | Method of multiple satellite measurement failure detection and isolation for gnss |
| CN106468774A (en) * | 2016-09-09 | 2017-03-01 | 北京航空航天大学 | A kind of ephemeris star clock being applied to satellite-based augmentation system corrects parameter and spacing wave integrity parameter method |
| CN106610495A (en) * | 2016-11-18 | 2017-05-03 | 中国航天标准化研究所 | Availability, continuity and completeness index distribution method of satellite navigation system |
| CN109100748A (en) * | 2018-08-14 | 2018-12-28 | 西安空间无线电技术研究所 | A kind of navigation integrity monitoring system and method based on low rail constellation |
| CN110456390A (en) * | 2019-07-24 | 2019-11-15 | 北京空间飞行器总体设计部 | It is a kind of for monitoring the device and method of the in-orbit integrity risk of navigation satellite |
| CN111505668A (en) * | 2020-03-21 | 2020-08-07 | 哈尔滨工程大学 | Method for monitoring integrity of B-type ephemeris fault of local enhanced GNSS satellite of dynamic-to-dynamic platform |
| CN111983641A (en) * | 2020-05-23 | 2020-11-24 | 中国电子科技集团公司第二十研究所 | Method for generating Beidou satellite-based augmentation system integrity parameters in real time |
-
2022
- 2022-03-09 CN CN202210231534.XA patent/CN114609650B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101776762A (en) * | 2009-12-30 | 2010-07-14 | 北京航空航天大学 | Completeness monitoring method, device and system based on multi-foundation enhancement system |
| CN102401903A (en) * | 2010-09-17 | 2012-04-04 | 郑州威科姆科技股份有限公司 | Method for implementing autonomous integrity of northern dipper second-generation receiver |
| CN102096075A (en) * | 2010-12-23 | 2011-06-15 | 中国航天科工信息技术研究院 | Galileo system integrity concept-based multimode user integrity assessing method |
| US20130009817A1 (en) * | 2011-07-06 | 2013-01-10 | Honeywell International Inc. | Satellite navigation system fault detection based on biased measurements |
| CN102305935A (en) * | 2011-07-26 | 2012-01-04 | 上海埃威航空电子有限公司 | Method and system for improving positioning precision by multiple-satellite navigation star based enhancement system |
| CN103592656A (en) * | 2013-10-17 | 2014-02-19 | 航天恒星科技有限公司 | Self-integrity monitoring method suitable for satellite-borne navigation receiver |
| CN104267410A (en) * | 2014-10-10 | 2015-01-07 | 北京航空航天大学 | Method and device for excluding multiple faults in airborne integrity monitoring |
| CN104483678A (en) * | 2014-12-04 | 2015-04-01 | 北京航空航天大学 | Air-ground coordinated multi-constellation satellite navigation integrity multi-stage monitoring method |
| US20160195617A1 (en) * | 2015-01-05 | 2016-07-07 | Samsung Electronics Co., Ltd. | Method of multiple satellite measurement failure detection and isolation for gnss |
| CN106468774A (en) * | 2016-09-09 | 2017-03-01 | 北京航空航天大学 | A kind of ephemeris star clock being applied to satellite-based augmentation system corrects parameter and spacing wave integrity parameter method |
| CN106610495A (en) * | 2016-11-18 | 2017-05-03 | 中国航天标准化研究所 | Availability, continuity and completeness index distribution method of satellite navigation system |
| CN109100748A (en) * | 2018-08-14 | 2018-12-28 | 西安空间无线电技术研究所 | A kind of navigation integrity monitoring system and method based on low rail constellation |
| CN110456390A (en) * | 2019-07-24 | 2019-11-15 | 北京空间飞行器总体设计部 | It is a kind of for monitoring the device and method of the in-orbit integrity risk of navigation satellite |
| CN111505668A (en) * | 2020-03-21 | 2020-08-07 | 哈尔滨工程大学 | Method for monitoring integrity of B-type ephemeris fault of local enhanced GNSS satellite of dynamic-to-dynamic platform |
| CN111983641A (en) * | 2020-05-23 | 2020-11-24 | 中国电子科技集团公司第二十研究所 | Method for generating Beidou satellite-based augmentation system integrity parameters in real time |
Non-Patent Citations (3)
| Title |
|---|
| V.G. VIRBALL ET AL.: "A GPS integrity channel based fault detection and exclusion algorithm using maximum solution separation", 《PROCEEDINGS OF 1994 IEEE POSITION, LOCATION AND NAVIGATION SYMPOSIUM - PLANS"94》 * |
| 宋美娟 等: "北斗卫星导航系统完好性性能测试方法与分析", 《北京测绘》 * |
| 王娇 等: "基于t检验的星基增强系统完好性数据核验", 《电讯技术》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117388886A (en) * | 2023-10-10 | 2024-01-12 | 中国人民解放军32021部队 | Beidou system RNSS service positioning accuracy degradation deduction method and device |
| CN117388886B (en) * | 2023-10-10 | 2024-04-16 | 中国人民解放军32021部队 | Beidou system RNSS service positioning accuracy degradation deduction method and device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114609650B (en) | 2022-12-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107064961B (en) | The method and device tested satellite navigation system integrity monitoring performance | |
| CN109782303B (en) | Performance test method, device and system of foundation enhancement system | |
| WO2021052511A1 (en) | Method and system for testing raim performance conformance of beidou on-board device | |
| CN114609650B (en) | Integrity testing method based on Beidou full-chain fault excitation | |
| CN107632313A (en) | Satellite navigation signals and SBAS text emulation modes based on correlation | |
| CN111025343B (en) | Automatic monitoring and evaluating method for satellite navigation information | |
| CN104331602A (en) | GNSS (global navigation satellite system) completeness detection rate estimation method based on Markov chain | |
| Ochieng et al. | An assessment of the RAIM performance of a combined Galileo/GPS navigation system using the marginally detectable errors (MDE) algorithm | |
| CN115453579A (en) | Beidou PPP-RTK-based synthetic ephemeris A fault integrity monitoring method and device | |
| CN113835105B (en) | GBAS integrity monitoring method based on GNSS simulator | |
| Zhai et al. | ARAIM with more than two constellations | |
| CN105738924A (en) | Calibration system and calibration method for satellite navigation signal simulator pseudo range control precision | |
| Gonzalez et al. | Vulnerability analysis of GPS receiver software | |
| CN115598668A (en) | Bayesian model-based integrity risk accelerated test method and device, computer and storage medium | |
| Wang et al. | A simple and effective GPS receiver autonomous integrity monitoring and fault isolation approach | |
| Kannemans | The Generalized Extreme Value statistical method to determine the GNSS integrity performance | |
| Egea-Roca et al. | Sequential change detection for next-generation RAIM algorithms | |
| Rodriguez et al. | The Ionosphere Prediction Service for GNSS Users | |
| Martini et al. | Receiver integrity monitoring in case of multiple failures | |
| Bestmann et al. | First Results and Lessons Learned during Setup of a DO-384 Compliant Monte-Carlo Simulation for Integrity Monitoring Validation | |
| CN115327590A (en) | Protection level correction method for positioning terminal, calculation device and storage medium | |
| Berglez et al. | GNSS constellation and performance simulator for testing and certification | |
| Buscarlet et al. | Evt-siam: A tool based on extreme-value theory for the assessment of SBAS accuracy and integrity | |
| Budtho et al. | Ground Facility Error Analysis and GBAS Performance Evaluation around Suvarnabhumi Airport, Thailand | |
| Bilewski et al. | Assessment of GNSS Position Integrity with the Use of Postprocessed EGNOS Data in the Area of Szczecin-Świnoujście Waterway |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |