CN115166781A - A method for monitoring the integrity of the PNT network based on the cooperation between the sky and the earth - Google Patents

A method for monitoring the integrity of the PNT network based on the cooperation between the sky and the earth Download PDF

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CN115166781A
CN115166781A CN202210920937.5A CN202210920937A CN115166781A CN 115166781 A CN115166781 A CN 115166781A CN 202210920937 A CN202210920937 A CN 202210920937A CN 115166781 A CN115166781 A CN 115166781A
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CN115166781B (en
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易卿武
廖桂生
蔚保国
陶海红
王彬彬
盛传贞
应俊俊
赵精博
惠沈盈
杨建雷
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Xidian University
CETC 54 Research Institute
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13Receivers
    • G01S19/20Integrity monitoring, fault detection or fault isolation of space segment
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13Receivers
    • G01S19/23Testing, monitoring, correcting or calibrating of receiver elements
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42Determining position
    • G01S19/45Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/46Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type

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Abstract

本发明公开了一种天地协同PNT网络完好性监测方法。该方法基于地基导航系统组成的天地协同的定位、导航与授时网络,通过分析多种导航系统误差源及完好性风险模型,建立综合PNT完好性监测体系;其中,系统段监测天基导航源和地基导航源信号和信息完好性,解决北斗导航系统全球域完好性快速监测难题;服务段设计了一种服务段高精度产品完好性统一数理表示方法;用户段融合多源异构传感器,实现室内外无缝高精度定位自主完好性算法。本发明突破了天地协同PNT网络应用于无人驾驶、人工智能等领域的完好性制约瓶颈,填补当前国内外在综合PNT网络的完好性监测算法方面的技术空白。

Figure 202210920937

The invention discloses a method for monitoring the integrity of a PNT network in cooperation with heaven and earth. The method is based on the coordinated positioning, navigation and timing network composed of the ground-based navigation system, and establishes a comprehensive PNT integrity monitoring system by analyzing various error sources and integrity risk models of the navigation system. The integrity of ground-based navigation source signals and information solves the problem of rapid monitoring of the global domain integrity of the Beidou navigation system; the service segment has designed a unified mathematical representation method for high-precision product integrity in the service segment; the user segment integrates multi-source heterogeneous sensors to achieve indoor External seamless high-precision positioning autonomous integrity algorithm. The invention breaks through the integrity restriction bottleneck of the application of the sky-earth coordinated PNT network in the fields of unmanned driving and artificial intelligence, and fills the current technical gap in the integrity monitoring algorithm of the comprehensive PNT network at home and abroad.

Figure 202210920937

Description

一种天地协同PNT网络完好性监测方法A method for monitoring the integrity of the PNT network based on the cooperation between the sky and the earth

技术领域technical field

本发明涉及一种适用于天地协同PNT网络的高精度完好性监测方法,属于卫星导航、室内外一体化定位与完好性监测领域。The invention relates to a high-precision integrity monitoring method suitable for a sky-earth coordinated PNT network, belonging to the field of satellite navigation, indoor and outdoor integrated positioning and integrity monitoring.

背景技术Background technique

高精度的位置信息为国民经济发展起到了重要的推动作用,在无人驾驶和人工智能领域具有广阔的市场应用需求。当前室外定位主要依靠以BDS、GPS为主的卫星导航系统,而室内定位则是通过伪卫星、超宽带等导航系统实现。针对多种定位源体制不统一,定位手段不融合的问题,亟需建立一种更加泛在、融合、智能的综合导航系统。天地协同PNT网络基于GNSS/LEO等天基导航系统、伪卫星/超宽带/5G等地基导航系统,解决时空基准统一、信号体制协调、定位方法融合的关键问题,从而构建天地协同的定位、导航与授时网络。High-precision location information has played an important role in promoting the development of the national economy, and has broad market application needs in the field of unmanned driving and artificial intelligence. At present, outdoor positioning mainly relies on satellite navigation systems mainly based on BDS and GPS, while indoor positioning is realized by navigation systems such as pseudolites and ultra-wideband. Aiming at the problems that the systems of various positioning sources are not unified and the positioning means are not integrated, it is urgent to establish a more ubiquitous, integrated and intelligent comprehensive navigation system. Based on space-based navigation systems such as GNSS/LEO, and ground-based navigation systems such as pseudolites/ultra-wideband/5G, the Space-Earth Collaborative PNT network solves the key issues of unification of space-time benchmarks, coordination of signal systems, and fusion of positioning methods, thereby building a coordinated positioning and navigation system for space and Earth. and timing network.

完好性是指导航系统发生故障或者误差超限时,向用户及时发出报警的能力,是导航系统的重要评价指标之一,在民用航空、精密进近、智能交通、应急响应等涉及用户生命财产安全的应用领域具有重要价值。现有的SBAS和GBAS完好性模型针对单一的GNSS星基增强定位系统和地基增强系统进行完好性监测,无法满足融合低轨、伪卫星、多源传感器等新要素在内的天地协同PNT网络完好性需要。当前国内外研究机构致力于综合PNT网络构成、定位体制研究,尚未形成较为成熟的完好性监测方案和模型。Integrity refers to the ability to issue an alarm to the user in a timely manner when the navigation system fails or the error exceeds the limit. It is one of the important evaluation indicators of the navigation system. In civil aviation, precision approach, intelligent transportation, emergency response, etc. applications are of great value. The existing SBAS and GBAS integrity models are aimed at monitoring the integrity of a single GNSS satellite-based enhanced positioning system and ground-based enhanced system, which cannot meet the integrity of the PNT network that integrates new elements such as low-orbit, pseudolites, and multi-source sensors. sexual needs. At present, domestic and foreign research institutions are committed to the research of comprehensive PNT network structure and positioning system, but have not yet formed a relatively mature integrity monitoring scheme and model.

发明内容SUMMARY OF THE INVENTION

本发明针对当前室外定位和室内定位手段不协调,并且综合PNT网络完好监测方法不成熟,而导致的室内外联合定位不统一、定位服务风险不可控的问题,提出一种天地协同PNT网络高精度完好性监测方法。该方法主要将天地协同PNT网络划分为系统段、服务段和用户段,分别进行完好性监测关键技术研究,从而建立一种室内外统一的高精度、高可靠完好性定位服务。Aiming at the problems that the current outdoor positioning and indoor positioning methods are not coordinated, and the comprehensive PNT network integrity monitoring method is immature, the indoor and outdoor joint positioning is not unified and the positioning service risk is uncontrollable, and a high-precision sky-earth cooperative PNT network is proposed. Integrity monitoring method. The method mainly divides the PNT network into system segment, service segment and user segment, and conducts research on key technologies of integrity monitoring respectively, so as to establish a unified indoor and outdoor high-precision, high-reliability integrity positioning service.

本发明是通过下述技术方案实现的:The present invention is achieved through the following technical solutions:

一种天地协同PNT网络高精度完好性监测方法,包括以下步骤:A high-precision integrity monitoring method for a sky-earth cooperative PNT network, comprising the following steps:

(1)以GNSS和伪卫星为基础构建天地协同的PNT网络,通过分析多种导航系统定位原理及误差源,建立三级完好性监测模型,依次划分为系统段完好性监测、服务段完好性监测和用户段完好性监测;(1) Build a PNT network based on GNSS and pseudolites. By analyzing the positioning principles and error sources of various navigation systems, a three-level integrity monitoring model is established, which is divided into system segment integrity monitoring and service segment integrity monitoring. Monitoring and user segment integrity monitoring;

(2)系统段在地面布设永久观测站,监测导航源信息和信号完好性。并通过在低轨卫星上安装星载监测接收机,实现北斗导航系统全球域完好性快速监测,同时,低轨星基完好性监测具有不受地面干扰源影响的优势;(2) In the system section, a permanent observation station is set up on the ground to monitor the navigation source information and signal integrity. And by installing on-board monitoring receivers on low-orbit satellites, rapid monitoring of the global domain integrity of the Beidou navigation system can be achieved. At the same time, low-orbit satellite-based integrity monitoring has the advantage of not being affected by ground interference sources;

(3)服务段高精度产品包括GNSS精密卫星轨道、精密卫星钟差和伪卫星精密钟差,通过误差建模和参数估计的方法求解基准站残差,建立服务段高精度产品完好性统一表示模型;(3) The high-precision products in the service segment include GNSS precise satellite orbits, precise satellite clock errors, and precise pseudo-satellite clock errors. By means of error modeling and parameter estimation, the base station residuals are solved, and a unified representation of the integrity of high-precision products in the service segment is established. Model;

(4)用户段完好性监测通过融合多源传感器,以抗差卡尔曼滤波的方法实时估计传感器位置,解决导航信号降效/失效情况下的故障识别与处理难题,并计算用户定位保护水平,实现室内外一体化的高精度定位完好性监测;(4) User segment integrity monitoring By fusing multi-source sensors, the sensor position is estimated in real time by the method of robust Kalman filtering, so as to solve the problem of fault identification and processing in the case of navigation signal degradation/failure, and calculate the user positioning protection level, Realize indoor and outdoor integrated high-precision positioning integrity monitoring;

(5)在天地协同PNT网络的基础上,综合系统段、服务段以及用户段完好性监测方法,建立一种在确定风险水平内,当用户定位保护水平超限时,在规定时间内向用户告警的完好性服务。(5) On the basis of the PNT network in cooperation with the sky and the earth, the integrity monitoring method of the system segment, the service segment and the user segment is integrated to establish a system that alerts the user within a specified time when the user positioning protection level exceeds the limit within the determined risk level. Integrity of service.

进一步地,步骤(1)的具体方式为:Further, the concrete mode of step (1) is:

(101)天地协同PNT网络包括天基导航源和地基导航源,天基导航源主要指全球卫星导航系统GNSS,地基导航源主要是伪卫星定位系统。通过统一不同定位手段之间的时间基准和空间基准,融合多种室内外定位方法,建立天地协同的PNT服务网络;(101) The space-terrestrial collaborative PNT network includes space-based navigation sources and ground-based navigation sources. The space-based navigation source mainly refers to the global satellite navigation system GNSS, and the ground-based navigation source mainly refers to the pseudolite positioning system. By unifying the time and space benchmarks between different positioning methods, and integrating a variety of indoor and outdoor positioning methods, a PNT service network that is coordinated between the sky and the ground is established;

(102)影响天地协同PNT网络完好性的误差项包括落地信号功率偏差、S曲线过零点偏差、空间信号测距误差、精密卫星轨道误差、精密卫星钟差、相位偏差、多路径效应、接收机观测误差等。对上述故障源进行分类,可将完好性监测体系划分为系统段完好性监测、服务段完好性监测和用户段完好性监测;(102) The error terms that affect the integrity of the PNT network include landing signal power deviation, S-curve zero-crossing deviation, space signal ranging error, precision satellite orbit error, precision satellite clock error, phase deviation, multipath effect, receiver observation error, etc. By classifying the above fault sources, the integrity monitoring system can be divided into system segment integrity monitoring, service segment integrity monitoring and user segment integrity monitoring;

进一步地,步骤(2)的具体方式为:Further, the concrete mode of step (2) is:

(201)为了监测天地协同PNT网络系统段信号和信息完好性,在室外布设GNSS监测站,在室内布设伪卫星监测站,用于监测落地信号功率偏差、S曲线过零点偏差、空间信号测距精度等误差源。分别对每个导航卫星、伪卫星进行完好性监测和完好性状态标识,当导航卫星或者伪卫星故障个数达到一定比例时,对系统完好性状态进行标识;(201) In order to monitor the signal and information integrity of the PNT network system segment of the sky-earth coordination, GNSS monitoring stations are set up outdoors and pseudolite monitoring stations are set up indoors to monitor landing signal power deviation, S-curve zero-crossing deviation, and signal-in-space ranging. Accuracy and other error sources. Perform integrity monitoring and integrity status identification for each navigation satellite and pseudolite respectively, and mark the system integrity status when the number of failures of navigation satellites or pseudolites reaches a certain proportion;

(202)由于北斗地面监测站无法在全球布站,不能直接监测境外导航卫星,导致北斗系统完好性监测周期过长。设计一种低轨导航增强星座,并在低轨卫星上搭载监测接收机,实时监测北斗导航系统全星座完好性。与地面监测手段相比,低轨星基监测具有不受地面干扰信号和误差源影响的优势。同时,低轨导航增强的北斗/GNSS能够提高整个天基导航系统的完好性性能;(202) Since Beidou ground monitoring stations cannot be deployed around the world and cannot directly monitor overseas navigation satellites, the Beidou system integrity monitoring cycle is too long. A low-orbit navigation augmentation constellation is designed, and monitoring receivers are mounted on low-orbit satellites to monitor the integrity of the entire constellation of the Beidou navigation system in real time. Compared with ground monitoring methods, low-orbit satellite-based monitoring has the advantage of not being affected by ground interference signals and error sources. At the same time, Beidou/GNSS enhanced by low-orbit navigation can improve the integrity performance of the entire space-based navigation system;

进一步地,步骤(3)的具体方式为:Further, the concrete way of step (3) is:

(301)基准站连续跟踪GNSS卫星和伪卫星,通过误差建模的方法改正天线相位偏差、相对论效应、潮汐效应等误差,基于参数估计的方法确定接收机钟差、对流层延迟。使用观测值残差来表示GNSS/LEO精密卫星轨道、精密卫星钟差以及伪卫星精密钟差的综合误差;(301) The base station continuously tracks GNSS satellites and pseudolites, corrects errors such as antenna phase deviation, relativistic effects, and tidal effects by means of error modeling, and determines receiver clock errors and tropospheric delays based on parameter estimation. Use observation residuals to represent the combined errors of GNSS/LEO precision satellite orbits, precision satellite clock errors, and pseudolite precision clock errors;

(302)采用包络法对基准站残差进行数理统计分析,确定数学期望、方差以及概率分布密度。在一定置信概率水平下,当基准站残差超限时,表示服务段高精度产品出现异常,否则,表示服务段高精度产品正常。通过基准站残差评价高精度产品,从而建立服务段完好性统一表示模式;(302) Perform mathematical statistical analysis on the residual of the base station by using the envelope method, and determine the mathematical expectation, variance and probability distribution density. Under a certain confidence probability level, when the residual error of the base station exceeds the limit, it means that the high-precision products in the service segment are abnormal; otherwise, it means that the high-precision products in the service segment are normal. Evaluate high-precision products through the residuals of the base station, so as to establish a unified representation model of the integrity of the service segment;

进一步地,步骤(4)的具体方式为:Further, the concrete mode of step (4) is:

(401)通过融合多源异构传感器,构建弹性化PNT用户定位终端。联合伪距、载波相位观测值以及加速度、角速度观测值,以抗差卡尔曼滤波的方法估计弹性化PNT用户终端位置信息,对故障观测值进行识别和处理,实现用户端自主完好性定位算法;(401) Constructing a flexible PNT user positioning terminal by fusing multi-source heterogeneous sensors. Combine pseudorange, carrier phase observations, acceleration and angular velocity observations to estimate the location information of the elasticized PNT user terminal by means of robust Kalman filtering, identify and process the fault observations, and implement an autonomous integrity positioning algorithm for the user terminal;

(402)弹性化PNT用户终端在识别和剔除故障观测值后,基于观测条件以及服务段播发的完好性参数,计算用户定位保护水平,包括垂直向保护水平和水平向保护水平,当定位保护水平超过告警阈值时,发出警告。(402) After identifying and eliminating the fault observations, the elasticized PNT user terminal calculates the user positioning protection level based on the observation conditions and the integrity parameters broadcasted by the service segment, including the vertical protection level and the horizontal protection level. When the positioning protection level When the alarm threshold is exceeded, a warning is issued.

本发明的有益效果在于:The beneficial effects of the present invention are:

1、本发明针对当前完好性监测方法无法满足多种定位手段融合、室内外定位统一的问题,设计了一种天地协同PNT网络完好性监测方法,并统一了GNSS/LEO/PL/INS多种定位手段时间基准和空间基准,构建了天地协同PNT网络。1. Aiming at the problem that the current integrity monitoring method cannot meet the integration of multiple positioning methods and the unified indoor and outdoor positioning, the present invention designs a method for monitoring the integrity of the PNT network in coordination with the sky and the ground, and unifies various GNSS/LEO/PL/INS. The time and space benchmarks of the positioning means are used to construct the PNT network of space-earth coordination.

2、本发明根据天地协同PNT网络故障树特性,建立系统段、服务段和用户段三级完好性监测模型。通过在地面上布设GNSS/LEO/PL接收机,并设计一种低轨导航增强星座,实现了北斗/GNSS信号和信息快速完好性监测。2. The present invention establishes a three-level integrity monitoring model of the system segment, the service segment and the user segment according to the fault tree characteristics of the PNT network in cooperation with the sky and the earth. By arranging GNSS/LEO/PL receivers on the ground and designing a low-orbit navigation augmentation constellation, the rapid integrity monitoring of BeiDou/GNSS signals and information is realized.

3、本发明使用误差建模和参数估计的方法确定观测站残差,建立服务段高精度产品的统一完好性表示模型。3. The present invention uses the method of error modeling and parameter estimation to determine the residual error of the observation station, and establishes a unified integrity representation model of the high-precision products in the service section.

4、本发明融合多源异构传感器,以抗差卡尔曼滤波的方法实时估计用户终端位置并识别异常观测值,结合服务段完好性参数和观测条件,计算定位保护水平。4. The present invention fuses multi-source heterogeneous sensors, estimates the user terminal location in real time and identifies abnormal observation values by means of robust Kalman filtering, and calculates the location protection level in combination with service segment integrity parameters and observation conditions.

5、本发明综合系统段、服务段以及用户段完好性监测方法,建立一种在确定风险水平内,当用户定位保护水平超限时,在规定时间内向用户告警的完好性服务,从而突破天地协同PNT网络应用于无人驾驶、人工智能等领域的完好性制约瓶颈,填补当前国内外在综合PNT网络的完好性监测算法方面的技术空白。5. The present invention integrates the system segment, service segment and user segment integrity monitoring method, and establishes an integrity service that alerts the user within a specified time when the user positioning protection level exceeds the limit within the determined risk level, thereby breaking through the cooperation between heaven and earth The application of PNT network to the integrity of unmanned driving, artificial intelligence and other fields restricts the bottleneck, filling the current technical gap in the integrity monitoring algorithm of comprehensive PNT network at home and abroad.

附图说明Description of drawings

图1为本发明实施例中天地协同PNT网络完好性监测方法的流程图。FIG. 1 is a flowchart of a method for monitoring the integrity of a PNT network in an embodiment of the present invention.

具体实施方式Detailed ways

为了更好地说明本发明的目的和优点,下面结合附图和具体实施方式对本发明的技术方案做进一步说明。In order to better illustrate the purpose and advantages of the present invention, the technical solutions of the present invention are further described below with reference to the accompanying drawings and specific embodiments.

一种天地协同PNT网络高精度完好性监测方法,该方法基于GNSS/LEO等天基导航系统、伪卫星/超宽带/5G等地基导航系统组成的天地协同的定位、导航与授时网络,通过分析多种导航系统误差源及完好性风险模型,建立综合PNT完好性监测体系,依次分为系统段完好性监测、服务段完好性监测和用户段完好性监测。系统段基于GNSS/LEO/伪卫星/超宽带/5G基准站,监测天基导航源和地基导航源信号和信息完好性,利用低轨星座轨道短周期特性,解决北斗导航系统全球域完好性快速监测难题。服务段通过误差建模和参数估计的方法获取基准站残差,设计了一种服务段高精度产品完好性统一数理表示方法。用户段融合多源异构传感器,实现室内外无缝高精度定位自主完好性算法。A high-precision integrity monitoring method for a sky-earth cooperative PNT network. A variety of navigation system error sources and integrity risk models are established to establish a comprehensive PNT integrity monitoring system, which is divided into system segment integrity monitoring, service segment integrity monitoring, and user segment integrity monitoring. The system section is based on GNSS/LEO/pseudolite/ultra-wideband/5G reference stations, monitors the signal and information integrity of space-based and ground-based navigation sources, and uses the short-period characteristics of low-orbit constellation orbits to solve the global domain integrity of Beidou navigation system quickly. Monitoring challenges. In the service section, the residuals of the base station are obtained by means of error modeling and parameter estimation, and a unified mathematical representation method of high-precision product integrity in the service section is designed. The user segment integrates multi-source heterogeneous sensors to realize the autonomous integrity algorithm for seamless indoor and outdoor high-precision positioning.

如图1所示,该方法的具体步骤如下:As shown in Figure 1, the specific steps of the method are as follows:

(1)以天基导航源和地基导航源为基础构建天地协同的PNT网络,建立三级完好性监测体系,依次为系统段完好性监测、服务段完好性监测和用户段完好性监测;(1) Based on the space-based navigation source and the ground-based navigation source, build a PNT network of sky-earth coordination, and establish a three-level integrity monitoring system, which is the integrity monitoring of the system segment, the integrity monitoring of the service segment, and the integrity monitoring of the user segment;

(101)天基导航源包括以北斗/GPS/GLONASS/GALILEO为主的全球卫星导航系统GNSS,以及低轨卫星导航增强系统LEO,地基导航源包括伪卫星定位系统PL、超宽带定位系统和5G基站。通过统一不同定位手段之间的时间基准Tsys和空间基准Xsys,融合多种室内外定位方法F(Tsys,Xsys),建立天地协同的PNT服务网络;(101) Space-based navigation sources include the global satellite navigation system GNSS dominated by Beidou/GPS/GLONASS/GALILEO, and low-orbit satellite navigation augmentation system LEO, and ground-based navigation sources include pseudolite positioning system PL, ultra-wideband positioning system and 5G base station. By unifying the time reference T sys and the spatial reference X sys between different positioning means, and integrating a variety of indoor and outdoor positioning methods F (T sys , X sys ), a PNT service network of space-earth coordination is established;

(102)天地协同PNT网络误差源主要包括落地信号功率偏差Sbias、S曲线过零点偏差SCB、空间信号测距误差SISRE、精密卫星轨道误差ΔXGNSS、ΔXLEO、ΔXPL、精密卫星钟差ΔTGNSS、ΔTLEO、ΔTPL、相位偏差FCB、多路径效应MP、接收机观测误差ε等。对上述误差源进行分类,可将完好性监测模型划分为系统段完好性监测、服务段完好性监测和用户段完好性监测;(102) The error sources of the sky-earth cooperative PNT network mainly include the landing signal power deviation S bias , the S-curve zero-crossing point deviation SCB, the space signal ranging error SISRE, the precision satellite orbit error ΔX GNSS , ΔX LEO , ΔX PL , and the precision satellite clock error ΔT GNSS , ΔT LEO , ΔT PL , phase deviation FCB, multipath effect MP, receiver observation error ε, etc. By classifying the above error sources, the integrity monitoring model can be divided into system segment integrity monitoring, service segment integrity monitoring, and user segment integrity monitoring;

(2)系统段完好性监测是在地面开阔环境或者室内布设GNSS/LEO/PL永久观测站,监测天基导航源、地基导航源的信息和信号完好性。在低轨卫星上安装星载监测接收机,利用低轨星座轨道短周期特性,解决北斗导航系统因全球布站困难而导致的快速完好性监测难题。当监测到导航信号或者信息异常时,向完好性监测模型发出警告,否则进入下一个监测阶段;(2) Integrity monitoring of the system segment is to set up GNSS/LEO/PL permanent observation stations in the open ground environment or indoors to monitor the information and signal integrity of space-based navigation sources and ground-based navigation sources. Install on-board monitoring receivers on low-orbit satellites, and use the short-period characteristics of low-orbit constellation orbits to solve the problem of rapid integrity monitoring of the Beidou navigation system due to the difficulty of deploying stations around the world. When a navigation signal or abnormal information is detected, a warning is sent to the integrity monitoring model, otherwise, the next monitoring stage is entered;

(201)通过在室外布设GNSS/LEO监测站,在室内布设PL监测站,用于监测落地信号功率偏差Sbias、S曲线过零点偏差SCB、空间信号测距误差SISRE等误差源。分别对每个GNSS/LEO导航卫星、PL卫星进行完好性监测和完好性状态标识

Figure BDA0003777544520000071
当导航卫星或者伪卫星故障个数达到一定比例时,对系统完好性状态
Figure BDA0003777544520000072
进行标识:(201) By arranging GNSS/LEO monitoring stations outdoors and PL monitoring stations indoors, they are used to monitor error sources such as landing signal power deviation S bias , S curve zero-crossing point deviation SCB, and signal-in-space ranging error SISRE. Integrity monitoring and integrity status identification for each GNSS/LEO navigation satellite and PL satellite respectively
Figure BDA0003777544520000071
When the number of failures of navigation satellites or pseudolites reaches a certain proportion, the system integrity status is
Figure BDA0003777544520000072
To identify:

Figure BDA0003777544520000081
Figure BDA0003777544520000081

式中,

Figure BDA0003777544520000082
是导航系统中第i颗卫星的信号和信息完好性标识,当所监测的卫星信号和信息正常是为1,异常时为0。In the formula,
Figure BDA0003777544520000082
It is the signal and information integrity indicator of the i-th satellite in the navigation system. It is 1 when the monitored satellite signal and information are normal, and 0 when it is abnormal.

Figure BDA0003777544520000083
Figure BDA0003777544520000083

式中,Hsystem为导航系统完好性标识,当正常工作卫星超过80%时,导航系统正常,用1来表示,当正常工作卫星数少于80%时,导航系统异常,用0来表示。In the formula, H system is the integrity indicator of the navigation system. When the number of normal working satellites exceeds 80%, the navigation system is normal, which is represented by 1. When the number of normal operating satellites is less than 80%, the navigation system is abnormal, which is represented by 0.

(202)设计一种低轨导航增强星座,该星座由4个轨道倾角相差45°的轨道面组成,每个轨道面上有3颗真近点角相差120°的卫星,轨道高度为1000公里。在LEO卫星Z轴负方向安装监测接收机,利用低轨卫星轨道周期短的特性,实时监测北斗导航系统全星座完好性:(202) Design a low-orbit navigation augmentation constellation. The constellation consists of 4 orbital planes with orbital inclinations differing by 45°, and each orbital plane has 3 satellites with true anomalies differing by 120°, and the orbital altitude is 1000 kilometers. . Install a monitoring receiver in the negative direction of the Z-axis of the LEO satellite, and use the characteristics of the short orbital period of the low-orbit satellite to monitor the integrity of the entire constellation of the Beidou Navigation System in real time:

Figure BDA0003777544520000084
Figure BDA0003777544520000084

式中,T是轨道周期,GM为地球引力常数,a为轨道高度。对于北斗MEO卫星,轨道周期约为12.9小时,对于轨道高度为1000公里的LEO卫星,轨道周期约为1.7小时。经仿真分析,本发明所设计的低轨星座能够实时监测北斗导航系统全星座完好性。同时,低轨星基完好性监测具有不受地面干扰信号IFS和多径误差源MP影响的优势。低轨导航增强的北斗/GNSS能够提高整个天基导航系统的完好性性能,包括最小可探测偏差和故障检测率;where T is the orbital period, GM is the Earth's gravitational constant, and a is the orbital height. For Beidou MEO satellites, the orbital period is about 12.9 hours, and for LEO satellites with an orbital altitude of 1000 km, the orbital period is about 1.7 hours. Through simulation analysis, the low-orbit constellation designed by the present invention can monitor the integrity of the entire constellation of the Beidou navigation system in real time. At the same time, the LEO satellite-based integrity monitoring has the advantage of not being affected by the ground interference signal IFS and the multipath error source MP. LEO-enhanced BeiDou/GNSS can improve the integrity performance of the entire space-based navigation system, including minimum detectable deviation and failure detection rate;

(3)服务段高精度产品包括GNSS精密卫星轨道XGNSS、精密卫星钟差ΔTGNSS和伪卫星精密钟差ΔTPL,通过误差建模和参数估计的方法求解GNSS/LEO/PL基准站残差,从而建立服务段高精度产品完好性统一表示模型。当监测到服务段高精度产品异常时,向完好性监测模型发出警告,否则进入下一个监测阶段;(3) High-precision products in the service segment include GNSS precision satellite orbit X GNSS , precision satellite clock error ΔT GNSS and pseudolite precision clock error ΔT PL , and the GNSS/LEO/PL reference station residuals are solved by error modeling and parameter estimation. , so as to establish a unified representation model of high-precision product integrity in the service segment. When the abnormality of the high-precision products in the service segment is detected, a warning is sent to the integrity monitoring model, otherwise, the next monitoring stage is entered;

(301)基准站连续跟踪GNSS卫星和伪卫星PL,通过误差建模的方法改正天线相位中心偏差δpco、相对论效应δrel、潮汐效应δtide等误差,基于参数估计的方法确定接收机钟差ΔTr、对流层延迟Trop。使用观测值残差来表示GNSS/LEO精密卫星轨道XGNSS/LEO、精密卫星钟差ΔTGNSS/LEO以及伪卫星精密钟差ΔTPL的综合误差:vGNSS/LEO=P-ρ+c·ΔTGNSS/LEO-c·ΔTr+Trop+δpcoreltide (301) The base station continuously tracks the GNSS satellites and pseudolites PL, corrects the antenna phase center deviation δ pco , relativistic effect δ rel , tidal effect δ tide and other errors by means of error modeling, and determines the receiver clock error based on the method of parameter estimation ΔTr , tropospheric delay Trop. Use the residuals of observations to represent the combined errors of the GNSS/LEO precise satellite orbit X GNSS/LEO , the precise satellite clock error ΔT GNSS/LEO and the pseudolite precise clock error ΔT PL : v GNSS/LEO =P-ρ+c·ΔT GNSS/LEO -c·ΔT r +Trop+δ pcoreltide

vPL=P-ρ+c·ΔTPL-c·ΔTr v PL =P-ρ+c·ΔT PL -c·ΔT r

式中,vGNSS/LEO是GNSS或者LEO卫星的综合误差,vPL表示伪卫星PL的综合误差,P为GNSS/LEO/PL伪距观测值,ρ为接收机到GNSS/LEO/PL卫星的几何距离,c为光速。In the formula, vGNSS/LEO is the comprehensive error of GNSS or LEO satellite, vPL is the comprehensive error of pseudolite PL , P is the GNSS/LEO/PL pseudorange observation value, and ρ is the distance from the receiver to the GNSS/LEO/PL satellite. Geometric distance, c is the speed of light.

(302)采用包络法对基准站残差进行数理统计分析,确定数学期望、方差以及概率分布密度。在一定置信概率水平下,当基准站残差超限时,表示服务段高精度产品出现异常,否则,表示服务段高精度产品正常。通过基准站残差评价高精度产品,从而建立服务段完好性统一表示模式;(302) Perform mathematical statistical analysis on the residual of the base station by using the envelope method, and determine the mathematical expectation, variance and probability distribution density. Under a certain confidence probability level, when the residual error of the base station exceeds the limit, it means that the high-precision products in the service segment are abnormal; otherwise, it means that the high-precision products in the service segment are normal. Evaluate high-precision products through the residuals of the base station, so as to establish a unified representation model of the integrity of the service segment;

(302)采用包络法对基准站残差v进行数理统计分析,确定数学期望E(v)、标准σ(v)以及概率分布密度f(v):(302) Use the envelope method to perform mathematical statistical analysis on the residual v of the base station, and determine the mathematical expectation E(v), the standard σ(v) and the probability distribution density f(v):

Figure BDA0003777544520000101
Figure BDA0003777544520000101

在一定置信概率水平下,当基准站残差超限时,表示服务段高精度产品出现异常,否则,表示服务段高精度产品正常。通过基准站残差评价高精度产品,从而建立服务段完好性统一表示模式:Under a certain confidence probability level, when the residual error of the base station exceeds the limit, it means that the high-precision products in the service segment are abnormal; otherwise, it means that the high-precision products in the service segment are normal. The high-precision products are evaluated by the residuals of the base station, so as to establish a unified representation model of the integrity of the service segment:

Figure BDA0003777544520000102
Figure BDA0003777544520000102

式中,Hproduct是服务段高精度产品完好性标识,当t时刻残差标准差统计量σ[v(t)]不超限时Hproduct=σ[v(t)],当t时刻残差标准差统计量超限时Hproduct=0,表示完好性异常。In the formula, H product is the high-precision product integrity mark of the service segment. When the residual standard deviation statistic σ[v(t)] at time t does not exceed the limit, H product = σ[v(t)], when the residual error at time t is When the standard deviation statistic exceeds the limit, H product = 0, indicating that the integrity is abnormal.

(4)用户段完好性监测通过融合多源传感器,以抗差卡尔曼滤波的方法实时估计传感器位置X,解决GNSS/PL信号降效、失效情况下的故障识别与处理难题,并计算用户定位保护水平σPL,实现室内外一体化的高精度定位完好性监测IO-RAIM;(4) User segment integrity monitoring By fusing multi-source sensors, the sensor position X is estimated in real time by the method of robust Kalman filtering, so as to solve the problem of fault identification and processing in the case of GNSS/PL signal degradation and failure, and calculate the user location. The protection level is σ PL , and IO-RAIM can realize high-precision positioning and integrity monitoring of indoor and outdoor integration;

(401)为解决单一的定位手段难以实现室内外及城市复杂环境下的完好性定位的问题,通过融合GNSS/LEO/PL/INS等多源传感器,构建弹性化PNT用户定位终端。联合GNSS/LEO/PL的伪距观测值P、载波相位观测值L与INS的加速度a、角加速度观测值w组成的观测向量Obs,以抗差卡尔曼滤波的方法估计弹性化PNT用户终端位置X,对故障观测值Δ进行识别和处理,实现用户端自主完好性定位算法:(401) In order to solve the problem that a single positioning method is difficult to achieve complete positioning in indoor and outdoor and urban complex environments, a flexible PNT user positioning terminal is constructed by integrating multi-source sensors such as GNSS/LEO/PL/INS. Combined with the observation vector Obs composed of the pseudorange observation value P of GNSS/LEO/PL, the carrier phase observation value L, and the acceleration a and angular acceleration observation value w of INS, the elasticized PNT user terminal position is estimated by the method of robust Kalman filter. X, identify and process the fault observation value Δ, and implement the user-side autonomous integrity positioning algorithm:

Obs=AX-VObs=AX-V

Figure BDA0003777544520000111
Figure BDA0003777544520000111

上式中,矩阵A是由根据观测值构成的参数估计系数矩阵,V是残差向量。当第i个残差向量超过限值2×Hproduct时认为该观测值是故障观测值,否则视为正常观测值。In the above formula, matrix A is a parameter estimation coefficient matrix composed of observed values, and V is a residual vector. When the ith residual vector exceeds the limit 2×H product , the observation is considered to be a fault observation, otherwise it is regarded as a normal observation.

(402)弹性化PNT用户终端在识别和剔除故障观测值Δ后,基于观测条件以及服务段播发的高精度产品完好性参数Hproduct,计算用户定位保护水平σPL,包括水平向保护水平σHPL和垂直向保护水平σVPL(402) After identifying and eliminating the fault observation value Δ, the elasticized PNT user terminal calculates the user positioning protection level σ PL based on the observation conditions and the high-precision product integrity parameter H product broadcast by the service segment, including the horizontal protection level σ HPL and the vertical protection level σ VPL :

σPL=3×Hporduct×PDOPσ PL = 3 × H porduct × PDOP

σHPL=3×Hporduct×HPDOPσ HPL = 3 × H porduct × HPDOP

σVPL=3×Hporduct×VPDOPσ VPL = 3 × H porduct × VPDOP

式中,PDOP是根据观测条件生成的定位精度因子,HDOP是水平方向的定位精度因子,VDOP是垂直方向的定位精度因子。当定位保护水平超过告警阈值时,向用户发出警告,从而避免因漏警而产生的完好性风险。In the formula, PDOP is the positioning precision factor generated according to the observation conditions, HDOP is the positioning precision factor in the horizontal direction, and VDOP is the positioning precision factor in the vertical direction. When the location protection level exceeds the alarm threshold, a warning is issued to the user, thereby avoiding the integrity risk caused by missing alarms.

该方法通过分析GNSS、LEO、伪卫星、惯导等多个导航系统的定位原理及故障树,统一多种定位系统时间基准和空间基准,分别建立系统段信号及信息监测,服务段高精度产品监测,用户段自主定位完好性监测的三级完好性模型,解决了不同定位系统完好性模型统一表示的难题,为天地协同PNT网络提供了高精度、高可靠的定位服务保障。By analyzing the positioning principles and fault trees of multiple navigation systems such as GNSS, LEO, pseudolites, inertial navigation, etc., the method unifies the time and space benchmarks of various positioning systems, and establishes the signal and information monitoring of the system segment respectively, with high precision in the service segment. The three-level integrity model for product monitoring and user segment autonomous positioning integrity monitoring solves the problem of unified representation of the integrity models of different positioning systems, and provides a high-precision and high-reliability positioning service guarantee for the PNT network.

总之,本发明解决了综合PNT网络中多种定位手段完好性监测方法不协调、北斗导航系统全球域完好性监测周期长、服务段高精度产品完好性难以统一表示、用户段室内外一体化完好性监测技术不成熟等难题。本发明适用于民用航空、精密进近、无人驾驶、智能交通、灾害救援等涉及用户生命财产安全的应用场景,在国民经济建设以及安全保障中具有重要价值。In a word, the present invention solves the inconsistency of the monitoring methods for the integrity of various positioning means in the integrated PNT network, the long period of monitoring the integrity of the Beidou navigation system in the global domain, the difficulty of uniformly expressing the integrity of high-precision products in the service section, and the integrity of the indoor and outdoor integration of the user section. Sexual monitoring technology is immature and other problems. The invention is suitable for application scenarios involving the safety of users' life and property, such as civil aviation, precision approach, unmanned driving, intelligent transportation, disaster rescue, etc., and has important value in national economic construction and safety guarantee.

以上详细描述了本发明的具体实施方式。应当理解,本领域的普通技术无需创造性劳动就可以根据本发明的构思出诸多变化和修改。因此,凡技术领域中的技术人员依本发明的构思在现有技术的基础上通过逻辑分析、推理或者有限实验可以得到的技术方案,皆应在由权利要求书所确定的保护范围内。Specific embodiments of the present invention have been described above in detail. It should be understood that those skilled in the art can make many changes and modifications according to the concept of the present invention without creative efforts. Therefore, any technical solutions that can be obtained by those skilled in the technical field through logical analysis, reasoning or limited experiments on the basis of the prior art according to the concept of the present invention shall fall within the protection scope determined by the claims.

Claims (5)

1.一种天地协同PNT网络完好性监测方法,其特征在于,包括如下步骤:1. a method for monitoring the integrity of the PNT network in coordination with heaven and earth, is characterized in that, comprises the steps: (1)以GNSS和伪卫星为基础构建天地协同的PNT网络,通过分析多种导航系统定位原理及误差源,建立三级完好性监测模型,依次划分为系统段完好性监测、服务段完好性监测和用户段完好性监测;(1) Build a PNT network based on GNSS and pseudolites. By analyzing the positioning principles and error sources of various navigation systems, a three-level integrity monitoring model is established, which is divided into system segment integrity monitoring and service segment integrity monitoring. Monitoring and user segment integrity monitoring; (2)系统段完好性监测在地面布设永久观测站,监测导航源信息和信号完好性,并通过在低轨卫星上安装星载监测接收机,实现北斗导航系统全球域完好性快速监测;(2) Integrity monitoring of the system segment Set up permanent observation stations on the ground to monitor the integrity of navigation source information and signals, and install on-board monitoring receivers on low-orbit satellites to quickly monitor the global domain integrity of the Beidou Navigation System; (3)在服务段建立高精度产品,包括GNSS精密卫星轨道、精密卫星钟差和伪卫星精密钟差,通过误差建模和参数估计的方法求解基准站残差,建立服务段高精度产品完好性统一表示模型;(3) Establish high-precision products in the service section, including GNSS precision satellite orbits, precision satellite clock errors, and pseudolite precision clock errors, and solve the base station residuals through error modeling and parameter estimation, and establish high-precision products in the service section. Sexual unified representation model; (4)用户段完好性监测通过融合多源传感器,以抗差卡尔曼滤波的方法实时估计传感器位置,解决导航信号降效/失效情况下的故障识别与处理问题,并计算用户定位保护水平,实现室内外一体化的高精度定位完好性监测;(4) User segment integrity monitoring By fusing multi-source sensors, the sensor position is estimated in real time by the method of robust Kalman filtering, so as to solve the problem of fault identification and processing in the case of navigation signal degradation/failure, and calculate the user positioning protection level, Realize indoor and outdoor integrated high-precision positioning integrity monitoring; (5)在天地协同PNT网络的基础上,综合系统段、服务段以及用户段完好性监测方法,建立一种在确定风险水平内,当用户定位保护水平超限时,在规定时间内向用户告警的完好性服务。(5) On the basis of the PNT network based on the cooperation between the sky and the earth, the integrity monitoring method of the system segment, the service segment and the user segment is integrated, and a method is established within the determined risk level, when the user positioning protection level exceeds the limit, the user is alerted within a specified time. Integrity of service. 2.根据权利要求1所述的一种天地协同PNT网络完好性监测方法,其特征在于,步骤(1)的具体方式为:2 . The method for monitoring the integrity of the PNT network in coordination with the sky and the ground according to claim 1 , wherein the specific method of step (1) is: (101)天地协同PNT网络包括天基导航源和地基导航源,天基导航源为全球卫星导航系统GNSS,地基导航源为伪卫星定位系统;通过统一不同定位手段之间的时间基准和空间基准,融合多种室内外定位方法,建立天地协同的PNT服务网络;(101) The space-ground collaborative PNT network includes space-based navigation sources and ground-based navigation sources. The space-based navigation source is the global satellite navigation system GNSS, and the ground-based navigation source is the pseudolite positioning system; by unifying the time reference and space reference between different positioning means , Integrate a variety of indoor and outdoor positioning methods to establish a PNT service network that is coordinated by the sky and the ground; (102)影响天地协同PNT网络完好性的误差项包括落地信号功率偏差、S曲线过零点偏差、空间信号测距误差、精密卫星轨道误差、精密卫星钟差、相位偏差、多路径效应、接收机观测误差,对这些误差项进行分类,将完好性监测体系划分为系统段完好性监测、服务段完好性监测和用户段完好性监测。(102) The error terms that affect the integrity of the PNT network of the space-earth coordination include landing signal power deviation, S-curve zero-crossing deviation, space signal ranging error, precision satellite orbit error, precision satellite clock error, phase deviation, multipath effect, receiver Observe errors, classify these error terms, and divide the integrity monitoring system into system segment integrity monitoring, service segment integrity monitoring, and user segment integrity monitoring. 3.根据权利要求1所述的一种天地协同PNT网络完好性监测方法,其特征在于,步骤(2)的具体方式为:3 . The method for monitoring the integrity of the PNT network in accordance with claim 1 , wherein the specific method of step (2) is: (201)为了监测天地协同PNT网络系统段信号和信息完好性,在室外布设GNSS监测站,在室内布设伪卫星监测站,用于监测落地信号功率偏差、S曲线过零点偏差、空间信号测距精度;分别对每个导航卫星、伪卫星进行完好性监测和完好性状态标识,当导航卫星或者伪卫星故障个数达到预设比例时,对系统完好性状态进行标识;(201) In order to monitor the signal and information integrity of the PNT network system segment of the sky-earth collaboration, GNSS monitoring stations are set up outdoors and pseudolite monitoring stations are set up indoors to monitor landing signal power deviation, S-curve zero-crossing deviation, and signal-in-space ranging. Accuracy: Integrity monitoring and integrity status identification are performed for each navigation satellite and pseudolite respectively, and the system integrity status is identified when the number of failures of navigation satellites or pseudolites reaches a preset proportion; (202)由于北斗地面监测站无法在全球布站,不能直接监测境外导航卫星,导致北斗系统完好性监测周期过长,采用低轨导航增强星座,并在低轨卫星上搭载监测接收机,实时监测北斗导航系统全星座完好性。(202) Because Beidou ground monitoring stations cannot be deployed around the world and cannot directly monitor overseas navigation satellites, the Beidou system integrity monitoring cycle is too long. The low-orbit navigation augmentation constellation is used, and monitoring receivers are mounted on low-orbit satellites to achieve real-time monitoring. Monitor the integrity of the entire constellation of the Beidou Navigation System. 4.根据权利要求1所述的一种天地协同PNT网络完好性监测方法,其特征在于,步骤(3)的具体方式为:4 . The method for monitoring the integrity of the PNT network in coordination with the sky and the earth according to claim 1 , wherein the specific method of step (3) is: (301)基准站连续跟踪GNSS卫星和伪卫星,通过误差建模的方法改正天线相位偏差、相对论效应、潮汐效应的误差,基于参数估计的方法确定接收机钟差、对流层延迟,使用观测值残差来表示GNSS/LEO精密卫星轨道、精密卫星钟差以及伪卫星精密钟差的综合误差;(301) The base station continuously tracks GNSS satellites and pseudolites, corrects the errors of antenna phase deviation, relativistic effect, and tidal effect by means of error modeling, and determines the receiver clock error and tropospheric delay based on the method of parameter estimation. Difference to represent the comprehensive error of GNSS/LEO precision satellite orbit, precision satellite clock error and pseudolite precision clock error; (302)采用包络法对基准站残差进行数理统计分析,确定数学期望、方差以及概率分布密度;当基准站残差超限时,表示服务段高精度产品出现异常,否则,表示服务段高精度产品正常;通过基准站残差评价服务段高精度产品,从而建立服务段完好性的统一表示模式。(302) Use the envelope method to perform mathematical statistical analysis on the residuals of the base station to determine the mathematical expectation, variance and probability distribution density; when the residuals of the base station exceed the limit, it means that the high-precision products in the service section are abnormal, otherwise, it means that the service section is high The precision products are normal; the high-precision products of the service segment are evaluated by the residuals of the base station, so as to establish a unified representation model of the integrity of the service segment. 5.根据权利要求1所述的一种天地协同PNT网络完好性监测方法,其特征在于,步骤(4)的具体方式为:5 . The method for monitoring the integrity of the PNT network in coordination with heaven and earth according to claim 1 , wherein the specific method of step (4) is: (401)通过融合多源异构传感器,构建弹性化PNT用户定位终端;联合伪距、载波相位观测值以及加速度、角速度观测值,以抗差卡尔曼滤波的方法估计弹性化PNT用户终端位置信息,对故障观测值进行识别和处理,实现用户端自主完好性定位算法;(401) Construct flexible PNT user terminal by fusing multi-source heterogeneous sensors; combine pseudorange, carrier phase observations, and acceleration and angular velocity observations to estimate flexible PNT user terminal location information using robust Kalman filtering , identify and process the fault observations, and implement the user-side autonomous integrity positioning algorithm; (402)弹性化PNT用户终端在识别和剔除故障观测值后,基于观测条件以及服务段播发的完好性参数,计算用户定位保护水平,包括垂直向保护水平和水平向保护水平,当定位保护水平超过告警阈值时,发出警告。(402) After identifying and eliminating the fault observations, the elasticized PNT user terminal calculates the user positioning protection level based on the observation conditions and the integrity parameters broadcasted by the service segment, including the vertical protection level and the horizontal protection level. When the positioning protection level When the alarm threshold is exceeded, a warning is issued.
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