CN115201865A - Fault detection and equipment selection method, device, equipment and storage medium - Google Patents
Fault detection and equipment selection method, device, equipment and storage medium Download PDFInfo
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Abstract
The invention belongs to the technical field of navigation, and discloses a fault detection and equipment selection method, a fault detection and equipment selection device, equipment and a storage medium. The method comprises the following steps: acquiring positioning data acquired by N pieces of GNSS equipment; moving the positioning data to a carrier positioning center to obtain target positioning data; establishing a check inequality according to target positioning data acquired by any two pieces of GNSS equipment, and determining a check result of each check inequality; and performing fault detection on the GNSS equipment according to the verification result to obtain a fault detection result, and selecting the optimal GNSS equipment according to the fault detection result. By the aid of the mode, positioning data acquired by the GNSS devices are fully utilized for mutual verification, the defect that GNSS positioning identification is inaccurate is overcome, fault detection accuracy is improved, the optimal GNSS devices are selected in time after faults occur, and reliability of navigation results of the GNSS devices is improved.
Description
Technical Field
The present invention relates to the field of navigation technologies, and in particular, to a method, an apparatus, a device, and a storage medium for fault detection and device selection.
Background
The GNSS sensor is one of key sensors for multi-source fusion positioning of an auto-pilot system of a flying vehicle, and when a positioning result of the GNSS is wrong, a final fusion positioning result is affected catastrophically, so fault detection and switching (FDI) of the GNSS sensor is very necessary.
And (4) carrying out fault detection on the GNSS sensor, namely, checking the correctness of the navigation result. In the existing combined navigation algorithm, fault detection is generally not specially performed on a GNSS sensor, and whether an output result is correct or not is judged only according to a GNSS output flag bit, such as a 'fixed' flag of a navigation result. However, the measured data shows that the output flag bit of the GNSS is not always reliable. This is mainly determined for two reasons:
1. the GNSS calibration algorithm has defects in principle, such as 'false fix' of an RTK positioning result and the like. In the current GNSS algorithm, whether the navigation result is fixed or not is determined by comparing a certain detection amount with a threshold, for example, a conventional RTK fixing condition: the integer ambiguity RATIO is greater than 3, and the mode allows a certain missing detection rate to exist, so that the output flag bit is not credible;
2. when the number of satellites is small, the accuracy of the GNSS navigation result cannot reach an ideal state, and the error of the navigation result is large.
Therefore, the accuracy of the navigation result cannot be accurately verified by using the observation information of a single GNSS sensor.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a fault detection and equipment selection method, a fault detection and equipment selection device, equipment and a storage medium, and aims to solve the technical problem that the correctness of a navigation result cannot be accurately verified by using observation information of a single GNSS sensor.
In order to achieve the above object, the present invention provides a method for fault detection and device selection, comprising the steps of:
acquiring positioning data acquired by N pieces of GNSS equipment, wherein N is more than or equal to 2;
moving the positioning data to a carrier positioning center to obtain target positioning data;
establishing a check inequality according to target positioning data acquired by any two pieces of GNSS equipment, and determining a check result of each check inequality;
performing fault detection on the GNSS device according to the verification result to obtain a fault detection result;
and selecting an optimal GNSS device from the N GNSS devices according to the fault detection result.
Optionally, the positioning data comprises position data, speed data and heading data;
the method for establishing the check inequalities according to the target positioning data acquired by any two pieces of GNSS equipment and determining the check results of the check inequalities comprises the following steps:
respectively constructing a position check inequality, a speed check inequality and a course check inequality according to target positioning data acquired by any two GNSS devices, and determining corresponding position check results, speed check results and course check results;
the performing fault detection on the GNSS device according to the verification result to obtain a fault detection result includes:
and respectively carrying out position fault detection, speed fault detection and course fault detection on the GNSS equipment according to the position verification result, the speed verification result and the course verification result to obtain a fault detection result.
Optionally, the selecting an optimal GNSS device from the N GNSS devices according to the fault detection result includes:
determining a fault type corresponding to each GNSS device according to the fault detection result;
determining a position priority, a speed priority and a course priority corresponding to each GNSS device according to the fault type;
and respectively selecting a first GNSS device for acquiring position data, a second GNSS device for acquiring speed data and a third GNSS device for acquiring heading data from the N GNSS devices according to the position priority, the speed priority and the heading priority.
Optionally, the moving the positioning data to a carrier positioning center to obtain object positioning data includes:
acquiring a first posture from the earth system to the geographic system, a second posture from the geographic system to the carrier system, a target projection of a relative position of a carrier center and a main antenna on the carrier system, a target angular speed of the carrier under the geographic system and a course deviation;
moving the positioning center of each GNSS device to a carrier positioning center according to the first posture, the second posture and the target projection to obtain target position data;
correcting the speed data according to the second posture, the target projection and the target angular speed to obtain target speed data;
and aligning the course data with the course of the carrier according to the course deviation to obtain target course data.
Optionally, the respectively constructing a position check inequality, a speed check inequality and a heading check inequality according to the target location data acquired by any two pieces of GNSS equipment, and determining a corresponding position check result, speed check result and heading check result includes:
determining a corresponding estimated variance-covariance matrix according to target positioning data acquired by any two pieces of GNSS equipment;
and respectively constructing a position check inequality, a speed check inequality and a course check inequality according to the target positioning data and the estimated variance-covariance matrix, and determining a corresponding position check result, a corresponding speed check result and a corresponding course check result.
Optionally, the performing fault detection on the GNSS device according to the verification result to obtain a fault detection result includes:
and querying a preset truth table according to the M verification results, determining the GNSS device with the fault, and obtaining a fault detection result, wherein,
m is the number of the check results, N isThe number of GNSS devices, C is used to calculate the number of combinations.
Optionally, the performing fault detection on the GNSS device according to the verification result to obtain a fault detection result includes:
constructing a code corresponding to each check inequality according to the GNSS equipment number corresponding to the check inequality;
constructing a check value vector according to the M check results, wherein,
m is the number of the check results, N is the number of the GNSS devices, and C is used for calculating the combination number;
constructing a code vector according to the M codes;
carrying out inner product on the check value vector and the code vector to obtain check inner product;
and determining the serial number of the GNSS equipment with the fault according to the position corresponding to the preset value in the check inner product, and obtaining a fault detection result.
In addition, in order to achieve the above object, the present invention further provides a fault detection and device selection apparatus, including:
the acquisition module is used for acquiring positioning data acquired by N pieces of GNSS equipment, wherein N is more than or equal to 2;
the conversion module is used for moving the positioning data to a carrier positioning center to obtain target positioning data;
the verification module is used for constructing verification inequalities according to target positioning data acquired by any two pieces of GNSS equipment and determining verification results of the verification inequalities;
the fault detection module is used for carrying out fault detection on the GNSS device according to the verification result to obtain a fault detection result;
and the optimal device selection module is used for selecting an optimal GNSS device from the N GNSS devices according to the fault detection result.
In addition, to achieve the above object, the present invention further provides a fault detecting and device selecting device, including: a memory, a processor, and a fault detection and device selection program stored on the memory and executable on the processor, the fault detection and device selection program configured to implement the fault detection and device selection method as described above.
Furthermore, to achieve the above object, the present invention also provides a storage medium having a fault detection and device selection program stored thereon, which when executed by a processor implements the fault detection and device selection method as described above.
The method comprises the steps of acquiring positioning data acquired by N pieces of GNSS equipment; moving the positioning data to a carrier positioning center to obtain target positioning data; establishing a check inequality according to target positioning data acquired by any two pieces of GNSS equipment, and determining a check result of each check inequality; performing fault detection on the GNSS equipment according to the verification result to obtain a fault detection result; and selecting the optimal GNSS equipment from the N GNSS equipments according to the fault detection result. By the aid of the mode, positioning data acquired by the GNSS devices are fully utilized for mutual verification, the defect that GNSS positioning identification is inaccurate is overcome, fault detection accuracy is improved, the optimal GNSS devices are selected in time after faults occur, and reliability of navigation results of the GNSS devices is improved.
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Fig. 1 is a schematic structural diagram of a fault detection and device selection device of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a first embodiment of a fault detection and device selection method according to the present invention;
FIG. 3 is a flowchart illustrating a second embodiment of a fault detection and device selection method according to the present invention;
FIG. 4 is a flowchart illustrating a third exemplary embodiment of a method for fault detection and device selection according to the present invention;
fig. 5 is a block diagram of a first embodiment of the failure detection and device selection apparatus according to the present invention.
The implementation, functional features and advantages of the present invention will be further described with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a fault detection and device selection device in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the fault detection and device selection device may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a Wireless interface (e.g., a Wireless-Fidelity (Wi-Fi) interface). The Memory 1005 may be a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001 described previously.
Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of the fault detection and device selection apparatus and may include more or fewer components than shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and a failure detection and device selection program.
In the failure detection and device selection device shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 of the fault detection and device selection device of the present invention may be disposed in the fault detection and device selection device, and the fault detection and device selection device calls the fault detection and device selection program stored in the memory 1005 through the processor 1001 and executes the fault detection and device selection method provided by the embodiment of the present invention.
An embodiment of the present invention provides a method for fault detection and device selection, and referring to fig. 2, fig. 2 is a schematic flow diagram of a first embodiment of the method for fault detection and device selection according to the present invention.
In this embodiment, the fault detection and device selection method includes the following steps:
step S10: and acquiring positioning data acquired by N GNSS devices, wherein N is more than or equal to 2.
It is understood that the executing subject of the present embodiment is a fault detection and device selection device, and the fault detection and device selection device may be a navigation control device installed on a flying vehicle, and may also be other devices having the same or similar functions, which is not limited in this embodiment. A plurality of GNSS devices are installed on the aerocar, and each GNSS device collects positioning data according to the collection frequency set by the GNSS device and uploads the positioning data to the fault detection and device selection device. In a particular implementation, the positioning data includes position data, speed data, and heading data.
Step S20: and moving the positioning data to a carrier positioning center to obtain target positioning data.
It should be noted that, in this embodiment, the positioning data acquired by the multiple GNSS devices is reduced to the same carrier positioning center, so as to achieve calibration of the multiple GNSS devices.
Step S30: and establishing a check inequality according to the target positioning data acquired by any two GNSS devices, and determining the check result of each check inequality.
It should be understood that, in this embodiment, by using consistency of outputs of sensors of the same type, whether a difference between target positioning data acquired by any two pieces of GNSS equipment is large is verified through a verification inequality, if yes, a corresponding verification result is determined to be 0, and it is characterized that any one or both of the two pieces of GNSS equipment have a fault; if not, determining that the corresponding verification result is 1, and representing that the two GNSS devices do not have faults.
In one implementation mode, a calibration inequality is constructed based on position data, speed data and course data acquired by any two pieces of GNSS equipment, and if the difference between the position data acquired by the two pieces of GNSS equipment is large or the difference between the acquired speed data is large or the difference between the acquired course data is large, the corresponding calibration result is determined to be 0; and if the difference among the position data, the speed data and the heading data acquired by the two GNSS devices is smaller, determining that the corresponding verification result is 1.
In another implementation manner, a position check inequality, a speed check inequality and a course check inequality are respectively constructed for target positioning data acquired by any two pieces of GNSS equipment, the two pieces of GNSS equipment are checked from the angles of position, speed and course, and the fault occurrence types of the GNSS equipment are further distinguished.
Step S40: and carrying out fault detection on the GNSS equipment according to the verification result to obtain a fault detection result.
It should be noted that, which GNSS devices in the N GNSS devices have a fault are analyzed according to the multiple sets of verification results, so as to obtain a fault detection result. For example, if the verification result of the GNSS device numbered 1 corresponding to the GNSS device numbered 2 is 0, the verification result of the GNSS device numbered 1 corresponding to the GNSS device numbered 3 is 1, and the verification result of the GNSS device numbered 2 corresponding to the GNSS device numbered 3 is 0, it is determined that the GNSS device numbered 2 is faulty.
Optionally, the step S40 includes: and querying a preset truth table according to the M verification results, determining the GNSS device with the fault, and obtaining a fault detection result, wherein,
m is the number of the check results, N is the number of the GNSS devices, and C is used for calculating the combination number.
It should be understood that a preset truth table is constructed in advance, in which the correspondence between the check result corresponding to each check inequality and the faulty device is stored. And inquiring a preset truth table by taking the M verification results as conditions, determining the fault equipment, and obtaining a fault detection result.
Four GNSS devices (numbered 1, 2, 3, and 4 in sequence) are taken as an example for explanation, and the four GNSS devices are combined in pairs to construct a GNSS device
Referring to table 1, table 1 includes a GNSS device combination number and a check inequality name, where K1 is a check inequality corresponding to the GNSS device numbered 1 and the GNSS device numbered 2.
Table 1:
| GNSS device combination numbering | 1-2 | 1-3 | 1-4 | 2-3 | 2-4 | 3-4 |
| Checking inequality names | K1 | K2 | K3 | K4 | K5 | K6 |
Referring to table 2, table 2 is a preset truth table corresponding to the four GNSS devices, and the GNSS device with the fault may be determined by querying table 2 according to the check results corresponding to K1 to K6. For example, when K1=1, K2=1, K3=0, K4=1, K5=0, and K6=0, the lookup table 2 determines that the GNSS device having the failure is the GNSS device No. 4.
According to the table 2, when one or two pieces of GNSS equipment have a fault, the faulty equipment can be accurately detected, and the faulty equipment is isolated. However, when three or more GNSS devices fail, it is only possible to detect that a plurality of GNSS devices fail, but it is not possible to detect which specific GNSS devices fail. Other failure detection modes can be set for further detection, so as to determine whether each piece of GNSS equipment fails.
Table 2:
| fault device | K1 | K2 | K3 | K4 | K5 | K6 |
| Without failure | 1 | 1 | 1 | 1 | 1 | 1 |
| 1 | 0 | 0 | 0 | 1 | 1 | 1 |
| 2 | 0 | 1 | 1 | 0 | 0 | 1 |
| 3 | 1 | 0 | 1 | 0 | 1 | 0 |
| 4 | 1 | 1 | 0 | 1 | 0 | 0 |
| 1,2 | 0 | 0 | 0 | 0 | 0 | 1 |
| 1,3 | 0 | 0 | 0 | 0 | 1 | 0 |
| 1,4 | 0 | 0 | 0 | 1 | 0 | 0 |
| 2,3 | 0 | 0 | 1 | 0 | 0 | 0 |
| 2,4 | 0 | 1 | 0 | 0 | 0 | 0 |
| 3,4 | 1 | 0 | 0 | 0 | 0 | 0 |
| 1,2,3 | 0 | 0 | 0 | 0 | 0 | 0 |
| 1,2,4 | 0 | 0 | 0 | 0 | 0 | 0 |
| 2,3,4 | 0 | 0 | 0 | 0 | 0 | 0 |
| 1,2,3,4 | 0 | 0 | 0 | 0 | 0 | 0 |
Step S50: and selecting the optimal GNSS equipment from the N GNSS equipments according to the fault detection result.
It should be noted that the optimal GNSS device is any device that does not have a fault among the N GNSS devices, the optimal GNSS device that does not have a fault is selected from the N GNSS devices according to a fault detection result, and the positioning data is acquired by the optimal GNSS device.
In the embodiment, positioning data acquired by N pieces of GNSS equipment are acquired; moving the positioning data to a carrier positioning center to obtain target positioning data; establishing a check inequality according to target positioning data acquired by any two pieces of GNSS equipment, and determining a check result of each check inequality; performing fault detection on the GNSS equipment according to the verification result to obtain a fault detection result; and selecting an optimal GNSS device from the N GNSS devices according to the fault detection result. By the aid of the mode, mutual verification is performed by fully utilizing positioning data acquired by the plurality of GNSS devices, the defect of inaccuracy of GNSS positioning identification is overcome, fault detection accuracy is improved, the optimal GNSS device is selected in time after a fault occurs, and reliability of a navigation result of the GNSS device is improved.
Referring to fig. 3, fig. 3 is a flowchart illustrating a fault detection and device selection method according to a second embodiment of the present invention. Based on the first embodiment, the positioning data of the fault detection and equipment selection method of this embodiment includes position data, speed data, and heading data;
the step S30 includes:
step S301: and respectively constructing a position check inequality, a speed check inequality and a course check inequality according to the target positioning data acquired by any two GNSS devices, and determining a corresponding position check result, a corresponding speed check result and a corresponding course check result.
It should be understood that the position check inequality is used to check whether the difference between the position data collected by any two GNSS devices is large; the speed check inequality is used for checking whether the difference between the speed data acquired by any two pieces of GNSS equipment is large or not; the course check inequality is used for checking whether the difference between the course data acquired by any two pieces of GNSS equipment is large. If the difference between the position data acquired by the two GNSS devices is large, determining that the corresponding position verification result is 0, and representing that the position data acquired by any one or two of the two GNSS devices is inaccurate; if the difference between the position data acquired by the two GNSS devices is not large, the corresponding position verification result is determined to be 1, and the position data acquired by the two GNSS devices are represented accurately.
Step S40, comprising:
step S401: and respectively carrying out position fault detection, speed fault detection and course fault detection on the GNSS equipment according to the position verification result, the speed verification result and the course verification result to obtain a fault detection result.
The following description will be given taking position failure detection as an example: obtaining position data acquired by N GNSS devices, moving to the same carrier positioning center to obtain target position data, and combining every two to construct
Position check inequality, determining correctness of check inequality to obtain position check result, and checking the position according to the position check result
And carrying out position fault detection on the position verification result to determine which GNSS devices in the N GNSS devices acquire inaccurate position data. Assuming that N =4, referring to table 1 and table 2, if the checking result of the position checking inequality is: k1=0, K2=1, K3=1, K4=0, K5=0, K6=1, and look-up table 2 determines that the position data acquired by GNSS device number 2 is inaccurate. By analogy, according to
The speed fault detection is carried out according to the speed check result
And (5) carrying out course fault detection on the course verification result.
Further, the step S50 includes:
step S501: and determining the fault type corresponding to each GNSS device according to the fault detection result.
It should be understood that it is determined which GNSS devices acquire inaccurate position data, which GNSS devices acquire inaccurate velocity data, and which GNSS devices acquire inaccurate heading data according to the fault detection result, and the positioning data acquired by each GNSS device is analyzed to determine the fault type.
Step S502: and determining the position priority, the speed priority and the course priority corresponding to each GNSS device according to the fault type.
It should be noted that, referring to table 3, table 3 is a priority level schematic table, and the corresponding location priority level, speed priority level and heading priority level are determined according to the fault type lookup table 3 of each GNSS device. For example, if the GNSS device numbered 1: and if the position is fixed and the solution is sudden change, the speed is fault-free, and the course is normal, determining that the corresponding position priority is 2, the speed priority is 1 and the course priority is 0.
Table 3:
step S503: and respectively selecting a first GNSS device for acquiring position data, a second GNSS device for acquiring speed data and a third GNSS device for acquiring course data from the N GNSS devices according to the position priority, the speed priority and the course priority.
It should be understood that a GNSS device with low location priority is preferentially selected for collecting location data, a GNSS device with low speed priority is preferentially selected for collecting speed data, and a GNSS device with low heading priority is preferentially selected for collecting heading data. And respectively acquiring position data, speed data and course data through the first GNSS device, the second GNSS device and the third GNSS device. In the embodiment, the optimal GNSS devices corresponding to the position, the speed and the course are separately selected, the navigation information of a plurality of GNSS devices is utilized to the maximum extent, and the reliability and the stability of the navigation result are improved.
It should be noted that, if the location priorities, the speed priorities, or the heading priorities of the plurality of GNSS devices are consistent, the receiver used at the previous time is preferentially selected, thereby avoiding frequent switching.
Specifically, the step S301 includes: determining a corresponding estimated variance-covariance matrix according to target positioning data acquired by any two pieces of GNSS equipment; and respectively constructing a position check inequality, a speed check inequality and a course check inequality according to the target positioning data and the estimated variance-covariance matrix, and determining a corresponding position check result, a corresponding speed check result and a corresponding course check result.
It should be understood that the position data, velocity data, and heading data output by any two GNSS devices are assumed to be modified as follows: x is the number of 1 ,v 1 ,θ 1 ,x 2 ,v 2 ,θ 2 (ii) a The corresponding estimated variance-covariance matrix is:
according to the error propagation rule, the following check inequality is constructed:
where trace (.) represents the trace of the matrix.
Accordingly, the step S20 includes: acquiring a first posture from the earth system to the geographic system, a second posture from the geographic system to the carrier system, a target projection of a relative position of a carrier center and a main antenna on the carrier system, a target angular speed of the carrier under the geographic system and a course deviation; moving the positioning center of each GNSS device to a carrier positioning center according to the first attitude, the second attitude and the target projection to obtain target position data; correcting the speed data according to the second posture, the target projection and the target angular speed to obtain target speed data; and aligning the course data with the course of the carrier according to the course deviation to obtain target course data.
It should be understood that, according to the attitude of the carrier and the antenna lever arm of the GNSS device, the positioning center of all GNSS devices is moved to the positioning center of the carrier, which is specifically converted by the following formula:
wherein x is 0 Is the central position of the carrier under the earth centered earth fixed system (ECEF); x is the number of GNSS The phase center position of the main antenna of the earth-centered earth-fixed system (ECEF) is directly output by the GNSS equipment; b is the projection of the relative position of the carrier center and the main antenna on the carrier system, is a constant value and can be obtained through measurement;
the attitude from an earth system (ECEF) to a geographic system (an northeast coordinate system, ENU) is estimated according to a positioning result;
the attitude from the geographic coordinate system to the carrier coordinate system can be obtained by recursion of the combined navigation result at the last moment.
In a particular implementation thereof,
determined by the following equation:
where λ, L are latitude and longitude.
Note that, the velocity data is corrected by the following equation:
wherein, the first and the second end of the pipe are connected with each other,
is the angular velocity of the carrier under geographic conditions.
In a specific implementation, for the heading data, the heading data of the GNSS device is aligned with the heading of the carrier according to the rotation parameters by the following formula:
θ 0 ＝θ GNSS -dθ；
wherein, theta 0 The carrier course; theta GNSS The course is a double-antenna course and is directly output by GNSS equipment; d theta is course deviation when theta is GNSS And theta 0 When the difference is small, d theta is a certain value and can be obtained by advanced calibration.
In the embodiment, a position check inequality, a speed check inequality and a course check inequality are respectively constructed according to target positioning data acquired by any two pieces of GNSS equipment, and a corresponding position check result, a corresponding speed check result and a corresponding course check result are determined; respectively carrying out position fault detection, speed fault detection and course fault detection on the GNSS device according to the position verification result, the speed verification result and the course verification result to obtain a fault detection result; determining a fault type corresponding to each GNSS device according to the fault detection result; determining the position priority, the speed priority and the course priority corresponding to each GNSS device according to the fault type; and respectively selecting a first GNSS device for acquiring position data, a second GNSS device for acquiring speed data and a third GNSS device for acquiring course data from the N GNSS devices according to the position priority, the speed priority and the course priority. Through the mode, the position data, the speed data and the course data acquired by the GNSS equipment are separately verified, so that the fault detection mode is more comprehensive, and the fault detection result is more accurate. The optimal GNSS equipment corresponding to the position, the speed and the course is separately selected, the navigation information of a plurality of GNSS equipment is utilized to the maximum extent, the problem that the GNSS equipment is abandoned due to single observation fault is avoided, and the reliability and the stability of the navigation result of the GNSS equipment are improved.
Referring to fig. 4, fig. 4 is a flowchart illustrating a method for fault detection and device selection according to a third embodiment of the present invention. Based on the second embodiment, the step S40 of the method for detecting a fault and selecting a device in this embodiment includes:
step S402: and constructing codes corresponding to the check inequalities according to the GNSS equipment numbers corresponding to the check inequalities.
Step S403: constructing a check value vector according to the M check results, wherein,
m is the number of the check results, N is the number of the GNSS devices, and C is used for calculating the combination number.
Step S404: a code vector is constructed from the M codes.
Step S405: and performing inner product on the check value vector and the code vector to obtain check inner product.
Step S406: and determining the serial number of the GNSS equipment with the fault according to the position corresponding to the preset value in the check inner product, and obtaining a fault detection result.
It should be understood that four GNSS devices (numbered 1, 2, 3, and 4 in sequence) are taken as an example for illustration, and the four GNSS devices are combined in pairs to construct a GNSS
Referring to table 4, table 4 includes a GNSS device combination number, a check inequality name, and a check inequality code. And the check inequality code comprises N bits, each bit in the code represents equipment corresponding to one serial number, wherein the bits in the code are positioned according to the serial numbers of the two pieces of GNSS equipment corresponding to the check inequality, the numerical value corresponding to the bit to which the serial number belongs is set to be 1, and the other positions are set to be 0, so that the code corresponding to the check inequality is obtained.
Table 4:
| GNSS device combination numbering | 1-2 | 1-3 | 1-4 | 2-3 | 2-4 | 3-4 |
| Checking inequality names | K1 | K2 | K3 | K4 | K5 | K6 |
| Checking inequality codes | 1100 | 1010 | 1001 | 0110 | 0101 | 0011 |
In a specific implementation, assuming that K1=1, K2=0, K3=1, K4=0, K5=1, and K6=0, the check value vector constructed according to step S403 is expressed as: a = [ 1010 10] T 。
Referring to table 4, step S404 is performedConstructing a code vector according to the 6 check inequality codes, wherein the code vector is expressed as: b = [1100 1010 0110 0101 0011 ]] T 。
It should be noted that the check inner product is obtained by inner-product the check value vector and the code vector according to the following formula:
λ＝a T b＝2202。
and analyzing the check inner product, determining the position of a preset value '0', determining the number of the GNSS equipment with the fault, such as the check inner product lambda =2202, and determining that the third bit is 0, so that the 3 rd GNSS equipment can be judged to have the fault, which is consistent with the query result of the preset truth table.
As another example, the check value vector is represented as a = [ 001 00 0 =] T And determining that the second bit and the third bit are 0 by the calculated check inner product lambda =1001, and then judging that the 2 nd GNSS device and the 3 rd GNSS device have faults.
The fault detection performed by checking the inner product judgment for the four GNSS devices is summarized as follows:
4 3 appear in lambda, which represents that all receivers work normally;
3, 2 and 10 appear in lambda to represent the fault of one receiver, and the corresponding position of 0 in the code is the serial number of the faulty GNSS device;
2 1 and 20 appear in lambda to represent the faults of the two receivers, and the corresponding position of 0 in the code is the serial number of the faulty GNSS device;
λ =0, three and more receivers fail;
if other conditions occur, the fault detection method is invalid, and other fault detection methods can be adopted for fault detection.
In a specific implementation, after step S406, in order to further locate the GNSS device having the fault, the method further includes: and when the number of the GNSS devices with faults is determined to be larger than or equal to N-1, respectively detecting each GNSS device according to a preset single device detection strategy, and determining the GNSS devices with faults.
It should be noted that the preset single device detection strategy may be any strategy that is set in advance and is used for detecting whether each GNSS device fails.
In the embodiment, positioning data acquired by N pieces of GNSS equipment are acquired; moving the positioning data to a carrier positioning center to obtain target positioning data; establishing a check inequality according to target positioning data acquired by any two pieces of GNSS equipment, and determining a check result of each check inequality; constructing codes corresponding to the check inequalities according to the GNSS equipment numbers corresponding to the check inequalities; constructing a check value vector according to the M check results; constructing a code vector according to the M codes; carrying out inner product on the check value vector and the code vector to obtain a check inner product; determining the serial number of the GNSS equipment with the fault according to the position corresponding to the preset value in the check inner product, and obtaining a fault detection result; and selecting the optimal GNSS equipment according to the fault detection result. By the aid of the mode, the serial numbers of the GNSS equipment with faults are analyzed by checking inner products, coding is facilitated, and compared with the fact that a truth table is set, the occupied memory of an algorithm is reduced, fault detection time is saved, and fault detection efficiency is improved.
In addition, an embodiment of the present invention further provides a storage medium, where a fault detection and device selection program is stored on the storage medium, and when executed by a processor, the fault detection and device selection program implements the fault detection and device selection method described above.
Since the storage medium adopts all technical solutions of all the above embodiments, at least all the beneficial effects brought by the technical solutions of the above embodiments are achieved, and details are not repeated herein.
Referring to fig. 5, fig. 5 is a block diagram illustrating a first embodiment of the fault detection and device selection apparatus according to the present invention.
As shown in fig. 5, the apparatus for detecting a fault and selecting a device according to an embodiment of the present invention includes:
the obtaining module 10 is configured to obtain positioning data collected by N pieces of GNSS apparatus, where N is greater than or equal to 2.
And the conversion module 20 is configured to move the positioning data to a carrier positioning center to obtain target positioning data.
The verification module 30 is configured to construct a verification inequality according to the target location data acquired by any two GNSS devices, and determine a verification result of each verification inequality.
And the fault detection module 40 is configured to perform fault detection on the GNSS device according to the verification result to obtain a fault detection result.
An optimal device selecting module 50, configured to select an optimal GNSS device from the N GNSS devices according to the fault detection result.
It should be understood that the above is only an example, and the technical solution of the present invention is not limited in any way, and in a specific application, a person skilled in the art may set the technical solution as needed, and the present invention is not limited in this respect.
In the embodiment, positioning data acquired by N pieces of GNSS equipment are acquired; moving the positioning data to a carrier positioning center to obtain target positioning data; establishing a check inequality according to target positioning data acquired by any two pieces of GNSS equipment, and determining a check result of each check inequality; performing fault detection on the GNSS device according to the check result to obtain a fault detection result; and selecting the optimal GNSS equipment from the N GNSS equipments according to the fault detection result. By the aid of the mode, positioning data acquired by the GNSS devices are fully utilized for mutual verification, the defect that GNSS positioning identification is inaccurate is overcome, fault detection accuracy is improved, the optimal GNSS devices are selected in time after faults occur, and reliability of navigation results of the GNSS devices is improved.
It should be noted that the above-mentioned work flows are only illustrative and do not limit the scope of the present invention, and in practical applications, those skilled in the art may select some or all of them according to actual needs to implement the purpose of the solution of the present embodiment, and the present invention is not limited herein.
In addition, the technical details that are not described in detail in this embodiment may refer to the method for detecting a fault and selecting a device provided in any embodiment of the present invention, and are not described herein again.
In one embodiment, the positioning data includes position data, speed data, and heading data;
the calibration module 30 is further configured to respectively construct a position calibration inequality, a speed calibration inequality and a course calibration inequality according to the target positioning data acquired by any two pieces of GNSS equipment, and determine a corresponding position calibration result, a corresponding speed calibration result and a corresponding course calibration result;
the fault detection module 40 is further configured to perform position fault detection, speed fault detection, and course fault detection on the GNSS device according to the position verification result, the speed verification result, and the course verification result, respectively, to obtain a fault detection result.
In an embodiment, the optimal device selecting module 50 is further configured to determine a fault type corresponding to each GNSS device according to the fault detection result; determining the position priority, the speed priority and the course priority corresponding to each GNSS device according to the fault type; and respectively selecting a first GNSS device for acquiring position data, a second GNSS device for acquiring speed data and a third GNSS device for acquiring heading data from the N GNSS devices according to the position priority, the speed priority and the heading priority.
In an embodiment, the conversion module 20 is further configured to obtain a first posture from the earth system to the geographic system, a second posture from the geographic system to the carrier system, a target projection of a relative position between a center of the carrier and the main antenna on the carrier system, a target angular velocity of the carrier under the geographic system, and a heading deviation; moving the positioning center of each GNSS device to a carrier positioning center according to the first attitude, the second attitude and the target projection to obtain target position data; correcting the speed data according to the second posture, the target projection and the target angular speed to obtain target speed data; and aligning the course data with the carrier course according to the course deviation to obtain target course data.
In an embodiment, the checking module 30 is further configured to determine a corresponding estimated variance-covariance matrix according to the target positioning data collected by any two GNSS devices; and respectively constructing a position check inequality, a speed check inequality and a course check inequality according to the target positioning data and the estimated variance-covariance matrix, and determining a corresponding position check result, a corresponding speed check result and a corresponding course check result.
In an embodiment, the fault detection module 40 is further configured to query a preset truth table according to the M verification results, determine that there is a faulty GNSS device, and obtain a fault detection result, wherein,
m is the number of the check results, N is the number of the GNSS devices, and C is used for calculating the number of the combinations.
In an embodiment, the fault detection module 40 is further configured to construct a code corresponding to each check inequality according to a GNSS device number corresponding to the check inequality; constructing a check value vector according to the M check results, wherein,
m is the number of the check results, N is the number of the GNSS devices, and C is used for calculating the combination number; constructing a code vector according to the M codes; carrying out inner product on the check value vector and the code vector to obtain check inner product; and determining the serial number of the GNSS equipment with the fault according to the position corresponding to the preset value in the check inner product, and obtaining a fault detection result.
Further, it is to be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of other like elements in a process, method, article, or system comprising the element.
The above-mentioned serial numbers of the embodiments of the present invention are only for description, and do not represent the advantages and disadvantages of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g. Read Only Memory (ROM)/RAM, magnetic disk, optical disk), and includes several instructions for enabling a terminal device (e.g. a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes performed by the present invention or directly or indirectly applied to other related technical fields are also included in the scope of the present invention.
Claims (10)
1. A fault detection and equipment selection method is characterized by comprising the following steps:
acquiring positioning data acquired by N pieces of GNSS equipment, wherein N is more than or equal to 2;
moving the positioning data to a carrier positioning center to obtain target positioning data;
establishing a check inequality according to target positioning data acquired by any two pieces of GNSS equipment, and determining a check result of each check inequality;
performing fault detection on the GNSS equipment according to the verification result to obtain a fault detection result;
and selecting the optimal GNSS equipment from the N GNSS equipments according to the fault detection result.
2. The fault detection and device selection method of claim 1, wherein the positioning data comprises position data, speed data, and heading data;
the method for constructing a check inequality according to the target positioning data acquired by any two pieces of GNSS equipment and determining the check result of each check inequality comprises the following steps:
respectively constructing a position check inequality, a speed check inequality and a course check inequality according to target positioning data acquired by any two GNSS devices, and determining corresponding position check results, speed check results and course check results;
the performing fault detection on the GNSS device according to the verification result to obtain a fault detection result includes:
and respectively carrying out position fault detection, speed fault detection and course fault detection on the GNSS equipment according to the position verification result, the speed verification result and the course verification result to obtain a fault detection result.
3. The method of claim 2, wherein the selecting an optimal GNSS device from the N GNSS devices according to the fault detection result comprises:
determining a fault type corresponding to each GNSS device according to the fault detection result;
determining the position priority, the speed priority and the course priority corresponding to each GNSS device according to the fault type;
and respectively selecting a first GNSS device for acquiring position data, a second GNSS device for acquiring speed data and a third GNSS device for acquiring course data from the N GNSS devices according to the position priority, the speed priority and the course priority.
4. The method for fault detection and device selection according to claim 2, wherein the moving the location data to a carrier location center to obtain object location data comprises:
acquiring a first posture from the earth system to the geographic system, a second posture from the geographic system to the carrier system, a target projection of a relative position of a carrier center and a main antenna on the carrier system, a target angular speed of the carrier under the geographic system and a course deviation;
moving the positioning center of each GNSS device to a carrier positioning center according to the first attitude, the second attitude and the target projection to obtain target position data;
correcting the speed data according to the second posture, the target projection and the target angular speed to obtain target speed data;
and aligning the course data with the carrier course according to the course deviation to obtain target course data.
5. The method as claimed in claim 2, wherein the step of respectively constructing a position check inequality, a speed check inequality and a heading check inequality according to the target positioning data collected by any two GNSS devices and determining a corresponding position check result, a corresponding speed check result and a corresponding heading check result comprises:
determining a corresponding estimation variance-covariance matrix according to target positioning data acquired by any two pieces of GNSS equipment;
and respectively constructing a position check inequality, a speed check inequality and a course check inequality according to the target positioning data and the estimated variance-covariance matrix, and determining a corresponding position check result, a corresponding speed check result and a corresponding course check result.
6. The method for fault detection and device selection according to any one of claims 1 to 5, wherein the performing fault detection on the GNSS device according to the verification result to obtain a fault detection result comprises:
inquiring a preset truth table according to the M checking results, determining the GNSS equipment with faults, and obtaining a fault detection result, wherein,
m is the number of the check results, N is the number of the GNSS devices, and C is used for calculating the combination number.
7. The method for fault detection and device selection according to any one of claims 1 to 5, wherein the performing fault detection on the GNSS device according to the verification result to obtain a fault detection result comprises:
constructing a code corresponding to each check inequality according to the GNSS equipment number corresponding to the check inequality;
constructing a check value vector according to the M check results, wherein,
m is the number of the check results, N is the number of the GNSS devices, and C is used for calculating the combination number;
constructing a code vector according to the M codes;
carrying out inner product on the check value vector and the code vector to obtain check inner product;
and determining the serial number of the GNSS equipment with the fault according to the position corresponding to the preset value in the check inner product, and obtaining a fault detection result.
8. A fault detection and device selection apparatus, the fault detection and device selection apparatus comprising:
the acquisition module is used for acquiring positioning data acquired by N pieces of GNSS equipment, wherein N is more than or equal to 2;
the conversion module is used for moving the positioning data to a carrier positioning center to obtain target positioning data;
the verification module is used for constructing verification inequalities according to target positioning data acquired by any two pieces of GNSS equipment and determining verification results of the verification inequalities;
the fault detection module is used for carrying out fault detection on the GNSS equipment according to the verification result to obtain a fault detection result;
and the optimal equipment selection module is used for selecting optimal GNSS equipment from the N pieces of GNSS equipment according to the fault detection result.
9. A fault detection and device selection device, the device comprising: a memory, a processor, and a fault detection and device selection program stored on the memory and executable on the processor, the fault detection and device selection program configured to implement the fault detection and device selection method of any one of claims 1 to 7.
10. A storage medium having stored thereon a fault detection and device selection program which, when executed by a processor, implements a fault detection and device selection method according to any one of claims 1 to 7.
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