CN115248449A - Method and device for monitoring integrity of medium and high orbit navigation satellite by using low orbit satellite - Google Patents

Method and device for monitoring integrity of medium and high orbit navigation satellite by using low orbit satellite Download PDF

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Publication number
CN115248449A
CN115248449A CN202210776358.8A CN202210776358A CN115248449A CN 115248449 A CN115248449 A CN 115248449A CN 202210776358 A CN202210776358 A CN 202210776358A CN 115248449 A CN115248449 A CN 115248449A
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orbit
satellite
integrity
medium
low
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熊钍林
王遂生
陈林
潘虹臣
杨溢
吕飞仁
张凌志
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CETC 29 Research Institute
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CETC 29 Research Institute
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/20—Integrity monitoring, fault detection or fault isolation of space segment
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/28—Satellite selection
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/35—Constructional details or hardware or software details of the signal processing chain
    • G01S19/37—Hardware or software details of the signal processing chain

Abstract

The invention discloses a method and a device for monitoring the integrity of a high-orbit navigation satellite by using a low-orbit satellite. According to the invention, a large amount of high-precision real-time integrity monitoring data can be obtained by using a large amount of low-orbit satellite GNSS receivers as integrity data monitoring acquisition and calculation devices, and integrity monitoring information is transmitted to a medium-high orbit satellite by using a short message transceiving system, so that the cost of a data link is greatly saved, the transmission of the integrity information is realized, and the real-time performance of the monitoring data is ensured; the method has the advantages that the medium and high orbit satellite can receive the goodness monitoring information of a plurality of low orbit satellites, the goodness monitoring information is combined, multi-dimensional judgment is carried out, integrity judgment is achieved, and integrity monitoring of the medium and high orbit navigation satellite with high precision, real time, high reliability, autonomous operation and low cost is achieved.

Description

Method and device for monitoring integrity of medium and high orbit navigation satellite by using low orbit satellite
Technical Field
The invention relates to the technical field of navigation, in particular to a method and a device for monitoring the integrity of a medium-high orbit navigation satellite by using a low orbit satellite.
Background
The Global Navigation Satellite System (GNSS) can provide high-precision, speed-measuring and time-service services for ground, air and medium-low orbit aircraft users, has the characteristics of wide coverage, all weather and high precision, and plays an important role in the military and civil fields of precise weapon striking, surveying and mapping, transportation and the like. With the successive use of multiple satellite navigation systems, the users, especially tasks closely related to life safety, have higher and higher requirements on alarm reliability, alarm time and cost, and navigation satellite integrity monitoring faces greater and greater challenges.
At present, there are three main methods for Integrity Monitoring, namely Receiver Autonomous Integrity Monitoring RAIM (Receiver Autonomous Integrity Monitoring), ground enhanced Integrity Monitoring GAIM (Ground Integrity Monitoring), and Satellite Autonomous Integrity Monitoring SAIM (Satellite Autonomous Integrity Monitoring).
RAIM is a method for monitoring the autonomous integrity of a GNSS receiver, and the method utilizes a plurality of satellites in the view of the GNSS receiver to carry out consistency check, thereby eliminating abnormal satellites and improving the integrity of the GNSS receiver. However, the method is suitable for terminal application, and when the satellite fails, the warning information cannot be broadcast to other users.
GAIM ground enhanced autonomous integrity monitoring requires a channel to establish a large number of monitoring stations, collects signals broadcast by all satellites in the view of the monitoring stations, generates measured values and calculates errors, judges whether navigation signals broadcast by the satellites are within an error range on the basis of the measured values and the errors, and if the navigation signals exceed a threshold, informs users in a service area of not using the signals of the navigation satellites through a ground-to-air data link, so that the warning time is long and the precision is low. Meanwhile, in order to expand the monitoring range and the reliability of the monitoring data, a plurality of ground stations are generally required to be established to form a network and a data processing center, and the cost is high.
The SAIM satellite autonomous integrity monitoring technology is proposed in 2001, and is used for supporting integrity monitoring of self ranging signals and data by a satellite, and the monitoring mainly comprises the following contents: signal power anomaly, pseudo code distortion, carrier phase consistency, satellite clock acceleration anomaly, and the like. The system has the advantages that the monitoring on satellite signals and clock abnormity is single, meanwhile, the system depends on a navigation satellite platform, a self clock and a power supply system, the provided alarm is not high in reliability, and the autonomous operation capability is not provided.
In the three existing methods, RAIM can only eliminate abnormal satellite signals at the user side of the GNSS receiver, and cannot broadcast alarm information to other users; GAIM needs to establish a large number of ground monitoring stations, and has long warning time and high cost; the SAIM needs to depend on a satellite platform, a self clock and a power supply system, so that the abnormity capable of being monitored is limited, and the alarm reliability is low.
Therefore, how to establish a navigation satellite integrity monitoring system with high alarm reliability, strong real-time performance, high precision, low cost and autonomous operation is a technical problem which needs to be solved urgently.
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 method and a device for monitoring the integrity of a middle-high orbit navigation satellite by using a low-orbit satellite, and aims to solve the technical problems of low alarm reliability, long time and high cost of the existing navigation satellite integrity monitoring system.
In order to achieve the above object, the present invention provides a method for monitoring the integrity of a medium-high orbit navigation satellite by using a low orbit satellite, the method comprising the steps of:
acquiring precise orbit information of a low-orbit satellite;
receiving signals of medium and high orbit navigation satellites in a view range by utilizing a GNSS receiver carried by a plurality of low orbit satellites, and screening the received signals according to precise orbit information to obtain signal measurement information of a plurality of medium and high orbit navigation satellites;
according to the signal measurement information, integrity calculation is carried out on the medium and high orbit navigation satellite, and first integrity monitoring information is obtained;
sending the first integrity monitoring information to a medium and high orbit navigation satellite by using a short message transmitter;
the medium and high orbit navigation satellite determines the self integrity state based on all the received first integrity monitoring information and self-generated second integrity monitoring information;
broadcasting the integrity status to a user.
Optionally, the step of obtaining the precise orbit information of the low orbit satellite specifically includes: the low-orbit satellite receives navigation information by using a carried GNSS receiver to realize precise orbit determination so as to obtain self precise orbit information.
Optionally, the receiving, by a GNSS receiver mounted on a plurality of low-earth orbit satellites, signals of a medium-and-high-earth orbit navigation satellite within a view range, and performing a signal screening step on the received signals according to precise orbit information specifically include:
the low-earth orbit satellite receives signals of a middle-high orbit navigation satellite in a view range by utilizing a carried GNSS receiver, and determines position information corresponding to the middle-high orbit navigation satellite based on the signals;
and determining elevation angle values of the medium and high orbit navigation satellites and the low orbit satellite according to the position information of the medium and high orbit navigation satellite and the precise orbit information of the low orbit satellite, and eliminating signals corresponding to the elevation angle values which do not meet the screening condition.
In the invention, integrity monitoring is carried out by utilizing a plurality of GNSS receivers carried by low-orbit satellites so as to generate a large amount of high-precision real-time monitoring data; the integrity monitoring information is transmitted through the existing short message system, so that the link cost is greatly saved.
Optionally, the screening condition is that the elevation angle value is greater than 10 °.
Optionally, the integrity calculation includes signal power calculation, clock error calculation, positioning accuracy calculation, and signal quality calculation, and the obtaining of the first integrity monitoring information includes determining whether the medium and high orbit navigation satellite is a faulty satellite according to results of the signal power calculation, the clock error calculation, the positioning accuracy calculation, and the signal quality calculation.
Optionally, when the first integrity monitoring information is sent to the medium and high orbit navigation satellite, if the medium and high orbit navigation satellite is a faulty satellite, the first integrity monitoring information is sent to the medium and high orbit navigation satellite with the highest priority.
Optionally, the step of determining the integrity state of the medium and high orbit navigation satellite based on all the received first integrity monitoring information and second integrity monitoring information generated by the medium and high orbit navigation satellite specifically includes:
if all the first integrity monitoring information received by the medium and high orbit navigation satellite meets the fault judgment condition and the second integrity monitoring information generated by the medium and high orbit navigation satellite is in fault, determining that the self integrity state is in fault;
the fault determination condition is that more than a preset number of low-orbit satellites send first integrity monitoring information with faults to the medium-high orbit navigation satellite.
In the invention, the integrity judgment combines the monitoring results of a plurality of low-orbit satellites and the self integrity monitoring result.
In addition, in order to achieve the above object, the present invention provides an apparatus for monitoring the integrity of a medium-to-high orbit navigation satellite using a low orbit satellite, the apparatus comprising:
the acquisition module is used for acquiring precise orbit information of the low-orbit satellite;
the screening module is used for receiving signals of the medium and high orbit navigation satellites in the view range by utilizing a GNSS receiver carried by a plurality of low orbit satellites, and screening the received signals according to the precise orbit information to obtain signal measurement information of a plurality of medium and high orbit navigation satellites;
the calculation module is used for carrying out integrity calculation on the medium and high orbit navigation satellite according to the signal measurement information to obtain first integrity monitoring information;
the transmitting module is used for transmitting the first integrity monitoring information to a medium and high orbit navigation satellite by using a short message transmitter;
the determining module is used for determining the self integrity state of the medium and high orbit navigation satellite based on all the received first integrity monitoring information and the self-generated second integrity monitoring information;
a broadcast module for broadcasting the health status to a user.
The embodiment of the invention provides a method and a device for monitoring the integrity of a medium-high orbit navigation satellite by using a low-orbit satellite, wherein the method comprises the steps of acquiring high-precision measurement information of a large number of medium-high orbit satellites and precision orbit information of the low-orbit satellite by using GNSS receivers of a large number of low-orbit satellites; receiving signals of a medium and high orbit navigation satellite in a view range by using a low orbit satellite, and screening the received signals according to precise orbit information to obtain a medium and high orbit navigation satellite capable of being monitored; according to the monitored navigation satellite, integrity calculation is carried out to obtain first integrity monitoring information; sending the first integrity monitoring information to a medium and high orbit navigation satellite through a short message transmitter; the monitored medium and high orbit navigation satellite receives all first integrity monitoring information by using a short message receiver; the monitored medium and high orbit satellite determines the self integrity state by utilizing the first integrity monitoring information of a plurality of low orbit satellites and the second integrity monitoring information generated by the monitored medium and high orbit satellite; broadcasting the health status to a user in real time. According to the invention, a large amount of high-precision real-time integrity monitoring data can be obtained by using a large amount of low-orbit satellite GNSS receivers as integrity data monitoring acquisition and calculation devices, so that the integrity of a medium-high orbit navigation satellite can be monitored; the short message transceiving system is utilized to transmit the integrity monitoring information to the medium and high orbit satellite, so that the cost of a data link is greatly saved, the integrity information is transmitted, and the real-time performance of the monitoring data is ensured; the method has the advantages that the medium and high orbit satellites can be used for receiving the goodness monitoring information of a plurality of low orbit satellites, and the goodness monitoring information is combined to carry out multi-dimensional judgment, so that the completeness judgment is realized. Finally, the integrity monitoring system with high precision, real time, high reliability, autonomous operation and low cost can be realized.
Drawings
FIG. 1 is a schematic flow chart of a method for monitoring the integrity of a medium and high orbit navigation satellite by using a low orbit satellite;
FIG. 2 is a schematic diagram of Beidou satellite visibility simulation within ten days for a single low-orbit satellite;
FIG. 3 is a diagram of a system architecture for monitoring the integrity of medium and high orbit navigation satellites using low orbit satellites;
fig. 4 is a block diagram of a device for monitoring the integrity of a medium/high orbit navigation satellite by using a low orbit satellite.
The implementation, functional features and advantages of the objects of the present invention will be further explained 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.
The Global Navigation Satellite System (GNSS) can provide high-precision, speed-measuring and time-service services for ground, air and medium-low orbit aircraft users, has the characteristics of wide coverage, all weather and high precision, and plays an important role in the military and civil fields of precise weapon striking, surveying and mapping, transportation and the like. With the successive use of multiple satellite navigation systems, a great number of users, especially tasks closely related to life safety, have higher and higher requirements on alarm reliability, time and precision, and navigation satellite integrity monitoring faces greater and greater challenges.
Currently, there are three major methods for Integrity Monitoring, namely Receiver Autonomous Integrity Monitoring RAIM (Receiver Autonomous Integrity Monitoring), ground enhanced Integrity Monitoring GAIM (Ground Integrity Monitoring), and Satellite Autonomous Integrity Monitoring SAIM (Satellite Autonomous Integrity Monitoring).
RAIM is a method for monitoring the autonomous integrity of a GNSS receiver, and the method utilizes a plurality of satellites in the view of the GNSS receiver to carry out consistency check, thereby eliminating abnormal satellites and improving the integrity of the GNSS receiver. However, the method is suitable for terminal application, and when the satellite fails, the warning information cannot be broadcast to other users.
GAIM ground enhanced autonomous integrity monitoring requires a channel to establish a large number of monitoring stations, collects signals broadcast by all satellites in the view of the monitoring stations, generates measured values and calculates errors, judges whether navigation signals broadcast by the satellites are within an error range on the basis of the measured values and the errors, and if the navigation signals exceed a threshold, informs users in a service area of not using the signals of the navigation satellites through a ground-to-air data link, so that the warning time is long and the precision is low. Meanwhile, in order to expand the monitoring range and improve the reliability of the monitoring data, a plurality of ground stations are usually required to be established to form a network and a data processing center, which is high in cost.
The SAIM satellite autonomous integrity monitoring technology is proposed in 2001, and is used for supporting integrity monitoring of self ranging signals and data by a satellite, and the monitoring mainly comprises the following contents: signal power anomaly, pseudo code distortion, carrier phase consistency, satellite clock acceleration anomaly, and the like. The system has single monitoring on satellite signals and clock abnormity, and simultaneously depends on a navigation satellite platform, a clock and a power supply system, the provided alarm is not high in reliability, and the autonomous operation capability is not realized.
In the three existing methods, RAIM can only eliminate abnormal satellite signals at the user side of the GNSS receiver, and cannot broadcast alarm information to other users; GAIM needs to establish a large number of ground monitoring stations, and has long warning time and high cost; SAIM needs to depend on a satellite platform, a self clock and a power supply system, and has limited abnormality monitoring capability and low alarm reliability.
Therefore, how to establish a navigation satellite integrity monitoring system with high alarm reliability, strong real-time performance, high precision, low cost and autonomous operation is a technical problem which needs to be solved urgently.
To solve this problem, various embodiments of the method for monitoring the integrity of medium and high orbit navigation satellites by using low orbit satellites are proposed. According to the method for monitoring the integrity of the medium and high orbit navigation satellite by using the low orbit satellite, provided by the invention, a large amount of high-precision real-time integrity monitoring data can be obtained by using a large amount of low orbit satellite GNSS receivers as integrity data monitoring acquisition and calculation devices, so that the integrity of the medium and high orbit navigation satellite can be monitored; the short message transceiving system is utilized to transmit the integrity monitoring information to the medium and high orbit satellite, so that the cost of a data link is greatly saved, the integrity information is transmitted, and the real-time performance of the monitoring data is ensured; the method has the advantages that the medium and high orbit satellites can be used for receiving the goodness monitoring information of a plurality of low orbit satellites, and the goodness monitoring information is combined to carry out multi-dimensional judgment, so that the completeness judgment is realized. Finally, the integrity monitoring system with high precision, real time, high reliability, autonomous operation and low cost can be realized.
The embodiment of the invention provides a method for monitoring the integrity of a medium-high orbit navigation satellite by using a low orbit satellite, and referring to fig. 1, fig. 1 is a flow schematic diagram of the method for monitoring the integrity of the medium-high orbit navigation satellite by using the low orbit satellite.
In this embodiment, the method for monitoring the integrity of the medium and high orbit navigation satellite by using the low orbit satellite includes the following steps:
and step S100, acquiring precise orbit information of the low orbit satellite.
Specifically, when acquiring the precise orbit information of the low earth orbit satellite, the precise orbit determination may be realized by receiving the navigation information for the low earth orbit satellite using the GNSS receiver mounted thereon, so as to acquire the precise orbit information of the low earth orbit satellite itself.
And S200, receiving signals of the medium and high orbit navigation satellites in the visual field range by utilizing a GNSS receiver carried by a plurality of low orbit satellites, and screening the received signals according to the precise orbit information to obtain signal measurement information of a plurality of medium and high orbit navigation satellites.
Specifically, when the received signals are screened, the signals of middle and high orbit navigation satellites in the view range can be received by the low orbit satellites through the mounted GNSS receiver, and the position information corresponding to the middle and high orbit navigation satellites is determined based on the signals; and determining elevation angle values of the medium and high orbit navigation satellites and the low orbit satellite according to the position information of the medium and high orbit navigation satellite and the precise orbit information of the low orbit satellite, and eliminating signals corresponding to the elevation angle values which do not meet the screening condition.
In a preferred embodiment, the screening condition is an elevation value greater than 10 °.
Step S300, according to the signal measurement information, integrity calculation is carried out on the medium and high orbit navigation satellite, and first integrity monitoring information is obtained.
Specifically, in the integrity calculation, the integrity calculation may be performed on the medium and high earth orbit navigation satellite through a signal power calculation, a clock error calculation, a positioning accuracy calculation, and a signal quality calculation to obtain the first integrity monitoring information.
On the basis, the step of obtaining the first integrity monitoring information is to specifically judge whether the medium and high orbit navigation satellite is a fault satellite according to the results of the signal power calculation, the clock error calculation, the positioning precision calculation and the signal quality calculation.
And S400, sending the first integrity monitoring information to a medium and high orbit navigation satellite by using a short message transmitter.
Specifically, when the first integrity monitoring information is sent to the medium and high orbit navigation satellite, if the medium and high orbit navigation satellite is a faulty satellite, the first integrity monitoring information is sent to the medium and high orbit navigation satellite with the highest priority.
Step S500, the middle and high orbit navigation satellite determines the self integrity state based on all the received first integrity monitoring information and the self-generated second integrity monitoring information.
Specifically, the medium and high orbit navigation satellite determines the self integrity state based on all the received first integrity monitoring information and the self-generated second integrity monitoring information through the following judgment process:
if all the first integrity monitoring information received by the medium and high orbit navigation satellite meets the fault judgment condition and the second integrity monitoring information generated by the medium and high orbit navigation satellite is in fault, determining that the self integrity state is in fault;
the fault determination condition is that more than a preset number of low-orbit satellites send first integrity monitoring information with faults to the medium-high orbit navigation satellite.
Step S600, broadcasting the health status to the user.
Specifically, the Beidou navigation satellite with medium and high orbit directly writes the integrity judgment result into the telegraph text, and immediately broadcasts the telegraph text to the user in the next second.
In the embodiment, a method for monitoring the integrity of a medium-high orbit navigation satellite by using a low-orbit satellite is provided, and a large amount of high-precision real-time integrity monitoring data can be obtained by using a large amount of low-orbit satellite GNSS receivers as integrity data monitoring acquisition and calculation devices, so as to monitor the integrity of the medium-high orbit navigation satellite; the short message transmitter is carried on the low-orbit satellite, and the first integrity monitoring information is sent to the medium-and high-orbit satellite, so that the cost of a data link is greatly saved, and the real-time performance of the monitoring data is ensured; the characteristic that the medium and high orbit satellite can receive the first integrity monitoring information of a plurality of low orbit satellites is utilized, the second integrity monitoring information of the medium and high orbit satellite is combined, multi-dimensional judgment is carried out, and the reliability of integrity alarm is improved.
For convenience of understanding, the present embodiment provides a specific example of using a low-orbit satellite to monitor the integrity of a high-orbit navigation satellite, which is as follows:
in a first aspect of this embodiment, a method for acquiring raw observation data using low earth orbit satellites is provided. At present, domestic commercial spaceflight is rising, a plurality of commercial low-orbit satellite constellations emerge, the low-orbit satellites are provided with GNSS receivers, the cost is saved, and meanwhile, a data monitoring system distributed in the whole world can be established; the low orbit satellite is not influenced by the ground environment, has good visibility to the medium and high orbit satellites, and can acquire a large amount of monitoring data as shown in FIG. 2; the low orbit satellite has fast moving speed relative to the medium and high orbit, and the positioning precision can be fast converged to centimeter level. The invention utilizes the characteristics of large quantity of low-orbit satellites, good visibility to medium-high orbit satellites, high positioning precision and quick convergence time to continuously obtain large quantity of high-precision real-time monitoring data.
In a second aspect of the present embodiment, a method for broadcasting integrity data using a short message transmitter is provided. And carrying a short message transmitter on the low-orbit satellite, coding and compressing the integrity calculation result data, and broadcasting the integrity monitoring data to the medium-orbit satellite and the high-orbit satellite through the short message transmitter. The invention utilizes the low-orbit satellite to carry out integrity calculation on the monitoring data in real time, and broadcasts the calculation result to the medium-and-high-orbit satellite in real time through the short message transmitter, thereby ensuring the instantaneity of the integrity data and greatly shortening the warning time.
In a third aspect of this embodiment, a method for performing integrity identification determination by fusing multiple low-earth orbit satellites and medium-high-earth orbit satellites is provided. The medium and high orbit satellites receive integrity monitoring results of the satellite broadcasted by a plurality of low orbit satellites by using the short message receiver carried by the medium and high orbit satellites, the medium and high orbit satellites carry out data comprehensive processing on the received integrity monitoring results of the satellite, judgment is made by fusing the integrity data of the medium and high orbit satellites, and the judgment result is broadcasted to users through telegraph messages. The invention utilizes the integrity monitoring results of a plurality of low orbit satellites and fuses the integrity data of the satellites to make judgment, thereby improving the reliability of alarm information; the warning information can be filled in the electronic message in real time and broadcasted to the user, thereby shortening the warning time.
In this embodiment, as shown in fig. 3, a method for monitoring integrity of a medium-high orbit navigation satellite by using a low-orbit satellite is provided, in which a GNSS receiver of the low-orbit satellite is used to monitor integrity of a medium-high orbit navigation satellite, a short message transmitter is mounted on the low-orbit satellite to transmit an integrity monitoring result back to the medium-high orbit navigation satellite in real time, a short message receiver mounted on the medium-high orbit navigation satellite can receive integrity monitoring data of a plurality of low-orbit satellites, perform multi-dimensional comprehensive judgment on the plurality of integrity monitoring data, and transmit warning information in a telegraph text in real time by a telegraph text.
The following describes a specific implementation method for monitoring the integrity of the medium and high orbit satellites by using the low orbit satellite, for example, the integrity of the medium and high orbit Beidou satellite by using the low orbit satellite.
The first step is as follows: the low-orbit satellite receives the signal of the medium-high orbit satellite by utilizing a GNSS receiver of the low-orbit satellite, generates a large amount of high-precision observation data, and realizes precise orbit determination through calculation to obtain precise orbit information of the low-orbit satellite;
the second step: the low-orbit satellite receives all Beidou navigation satellite signals in the view range by utilizing a GNSS receiver of the low-orbit satellite, performs signal screening on the received Beidou navigation satellite, and rejects satellites with elevation angles lower than 10 degrees (which can be set according to actual conditions);
the third step: and (3) carrying out integrity calculation on the screened satellite by the low-orbit satellite, wherein the calculation content comprises the following steps: information such as signal power, clock error, positioning accuracy, signal quality and the like; the low-orbit satellite judges the integrity result once, if the satellite is judged to be a fault satellite, the priority level of message broadcasting is set to be the highest, and if the satellite is judged to be a normal satellite, the monitoring result is broadcasted according to a fixed sequence;
the fourth step: compressing and coding the integrity monitoring result, and broadcasting information to a designated medium and high orbit Beidou navigation satellite in real time through a short message transmitter;
the fifth step: the middle and high orbit Beidou navigation satellite receives the integrity monitoring result of the low orbit satellite broadcast in real time through the short message receiver;
and a sixth step: the middle and high orbit Beidou navigation satellite carries out multidimensional judgment on the integrity monitoring results of a plurality of low orbit satellites, if at least 3 (settable) low orbit satellite integrity monitoring results show that the satellite has faults, and meanwhile, the integrity monitoring results of the satellite are in accordance, the satellite is judged to have faults;
the seventh step: and the Beidou navigation satellite with the medium and high orbit directly writes the integrity judgment result into the telegraph text, and immediately broadcasts the telegraph text to the user in the next second.
By utilizing the integrity monitoring method provided by the invention, the integrity alarm time can be shortened, and the fault event can be alarmed in near real time; the alarm precision is improved and can reach centimeter level; the reliability of the alarm can be improved, and the alarm reliability can be improved by the order of magnitude through multi-satellite data fusion processing; the existing short message system can be utilized, so that the cost is greatly saved; the automatic on-orbit integrity monitoring, fault diagnosis and processing can be realized without ground intervention. By utilizing the integrity monitoring method provided by the invention, an integrity monitoring system with high precision, real time, high reliability, autonomous operation and low cost can be realized.
It should be noted that, in the method for monitoring the integrity of the medium-high orbit navigation satellite by using the low-orbit satellite, a large number of low-orbit satellite GNSS receivers are used as integrity data monitoring acquisition and calculation devices, so that a large number of high-precision real-time integrity monitoring data can be obtained; the method utilizes the short message transmitter to broadcast the integrity monitoring result to the middle and high rails, thereby greatly saving the cost of a data link and simultaneously ensuring the real-time performance of the monitoring data; the method utilizes the characteristic that the medium and high orbit satellites can receive the integrity monitoring results of a plurality of low orbit satellites, integrates self integrity data to carry out comprehensive decision, and improves the reliability of integrity monitoring.
By utilizing the integrity monitoring method provided by the invention, the integrity alarm time can be shortened, and the fault event can be alarmed in near real time; the alarm precision is improved and can reach the centimeter level; the reliability of the alarm can be improved, and the alarm reliability can be improved by the order of magnitude through multi-satellite data fusion processing; the existing short message system can be utilized, so that the cost is greatly saved; the integrity monitoring system can autonomously realize on-track integrity monitoring, fault diagnosis and processing, does not need ground intervention, and realizes high-precision, real-time, high-reliability, autonomous operation and low cost.
Referring to fig. 4, fig. 4 is a block diagram illustrating an embodiment of an apparatus for monitoring integrity of a medium/high orbit navigation satellite using a low orbit satellite according to the present invention.
As shown in fig. 4, the apparatus for monitoring the integrity of a medium and high orbit navigation satellite by using a low orbit satellite according to an embodiment of the present invention includes:
the acquisition module 10 is used for acquiring precise orbit information of a low orbit satellite;
the screening module 20 is configured to receive signals of medium and high orbit navigation satellites within a view range by using GNSS receivers carried by a plurality of low orbit satellites, and perform signal screening on the received signals according to precise orbit information to obtain signal measurement information of a plurality of medium and high orbit navigation satellites;
the calculation module 30 is configured to perform integrity calculation on the medium and high orbit navigation satellite according to the signal measurement information to obtain first integrity monitoring information;
the transmitting module 40 is configured to send the first integrity monitoring information to a medium and high orbit navigation satellite by using a short message transmitter;
a determining module 50, configured to determine an integrity status of the medium and high orbit navigation satellite based on all received first integrity monitoring information and second integrity monitoring information generated by the medium and high orbit navigation satellite;
a broadcasting module 60 for broadcasting the health status to the user.
Other embodiments or specific implementation manners of the device for monitoring the integrity of the medium and high orbit navigation satellite by using the low orbit satellite can refer to the above method embodiments, and are not described herein again.

Claims (8)

1. A method for monitoring the integrity of a medium to high orbit navigation satellite by using a low orbit satellite is characterized by comprising the following steps:
acquiring precise orbit information of a low-orbit satellite;
receiving signals of medium and high orbit navigation satellites in a view range by utilizing a GNSS receiver carried by a plurality of low orbit satellites, and screening the received signals according to precise orbit information to obtain signal measurement information of a plurality of medium and high orbit navigation satellites;
according to the signal measurement information, integrity calculation is carried out on the medium and high orbit navigation satellite, and first integrity monitoring information is obtained;
sending the first integrity monitoring information to a medium and high orbit navigation satellite by using a short message transmitter;
the method comprises the steps that a medium and high orbit navigation satellite determines the self integrity state based on all received first integrity monitoring information and second integrity monitoring information generated by the medium and high orbit navigation satellite;
broadcasting the integrity status to a user.
2. The method for monitoring the integrity of a medium and high orbit navigation satellite by using a low orbit satellite as claimed in claim 1, wherein the step of obtaining precise orbit information of the low orbit satellite specifically comprises: the low-earth orbit satellite receives the navigation information by utilizing the carried GNSS receiver to realize precise orbit determination so as to obtain self precise orbit information.
3. The method for monitoring the integrity of a medium and high orbit navigation satellite using a low orbit satellite as claimed in claim 1, wherein the steps of receiving the signals of the medium and high orbit navigation satellite in the field of view using a plurality of GNSS receivers carried by the low orbit satellite and performing signal screening on the received signals according to precise orbit information specifically comprise:
the low-earth orbit satellite receives signals of a middle-high orbit navigation satellite in a view range by utilizing a carried GNSS receiver, and determines position information corresponding to the middle-high orbit navigation satellite based on the signals;
and determining elevation angle values of the medium and high orbit navigation satellites and the low orbit satellite according to the position information of the medium and high orbit navigation satellite and the precise orbit information of the low orbit satellite, and eliminating signals corresponding to the elevation angle values which do not meet the screening condition.
4. The method for monitoring the integrity of a medium and high orbit navigation satellite using a low orbit satellite according to claim 3, wherein the screening criteria is an elevation value greater than 10 °.
5. The method as claimed in claim 1, wherein the integrity calculation includes a signal power calculation, a clock error calculation, a positioning accuracy calculation and a signal quality calculation, and the obtaining the first integrity monitoring information includes determining whether the medium-high orbit navigation satellite is a fault satellite according to the signal power calculation, the clock error calculation, the positioning accuracy calculation and the signal quality calculation.
6. The method of claim 5, wherein when the first integrity monitoring message is sent to the medium-high orbit navigation satellite, the first integrity monitoring message is sent to the medium-high orbit navigation satellite with highest priority if the medium-high orbit navigation satellite is a failed satellite.
7. The method for monitoring the integrity of a medium and high orbit navigation satellite using a low orbit satellite according to claim 1, wherein the step of determining the integrity status of the medium and high orbit navigation satellite based on all the received first integrity monitoring information and the second integrity monitoring information generated by the medium and high orbit navigation satellite specifically comprises:
if all the first integrity monitoring information received by the medium and high orbit navigation satellite meets the fault judgment condition and the second integrity monitoring information generated by the medium and high orbit navigation satellite is in fault, determining that the self integrity state is in fault;
the fault determination condition is that more than a preset number of low-orbit satellites send first integrity monitoring information with faults to the medium-high orbit navigation satellite.
8. An apparatus for monitoring integrity of a high earth navigation satellite using a low earth satellite, the apparatus comprising:
the acquisition module is used for acquiring precise orbit information of the low orbit satellite;
the screening module is used for receiving signals of the medium and high orbit navigation satellites in a view range by utilizing a GNSS receiver carried by a plurality of low orbit satellites, and screening the received signals according to the precise orbit information to obtain signal measurement information of a plurality of medium and high orbit navigation satellites;
the calculation module is used for carrying out integrity calculation on the medium and high orbit navigation satellite according to the signal measurement information to obtain first integrity monitoring information;
the transmitting module is used for transmitting the first integrity monitoring information to a medium and high orbit navigation satellite by using a short message transmitter;
the determining module is used for determining the self integrity state of the medium and high orbit navigation satellite based on all the received first integrity monitoring information and the self-generated second integrity monitoring information;
a broadcasting module for broadcasting the health status to a user.
CN202210776358.8A 2022-07-01 2022-07-01 Method and device for monitoring integrity of medium and high orbit navigation satellite by using low orbit satellite Pending CN115248449A (en)

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