CN115792972A - Method, apparatus, positioning system and medium for determining positioning reliability of navigation system - Google Patents
Method, apparatus, positioning system and medium for determining positioning reliability of navigation system Download PDFInfo
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Abstract
The application discloses a method, a device, a positioning system and a medium for determining positioning reliability of a navigation system, and relates to the technical field of positioning. The method comprises the following steps: acquiring current detection statistics of a corrected product through a detector; inputting the current detection statistic into a pre-established integrity parameter model; the integrity parameter model is established according to historical data of the corrected product and detection statistics acquired by a detector in a corresponding historical time period; outputting actual integrity parameters of the corrected product through the integrity parameter model; and determining the positioning reliability of the navigation positioning system according to the actual integrity parameters. Compared with the previous mode of predicting the real-time service performance of the positioning system only by using historical data, the method provided by the application determines the integrity parameters according to the historical data and the external detection information detected by the detector, so that the obtained integrity parameters are more accurate, and the reliability of GNSS positioning can be more accurately determined according to the integrity parameters.
Description
Technical Field
The present application relates to the field of positioning technologies, and in particular, to a method, an apparatus, a positioning system, and a medium for determining positioning reliability of a navigation system.
Background
A Global Navigation Satellite System (GNSS) can provide all-weather real-time positioning, navigation and time service for Global users, and in order to meet the requirements of fields such as surveying and mapping, automatic driving and monitoring on high-precision positioning, the measurement error of an original GNSS needs to be corrected so as to realize positioning in a centimeter or even millimeter level. As a basis for realizing high-precision Positioning, GNSS correction products required for precision Point Positioning-Real-Time Kinematic (PPP-RTK) mainly include precision orbits, precision clock error, code error, phase error, ionosphere correction, and troposphere correction. Besides the data products, the GNSS correction product service provider needs to provide the accuracy factor and integrity information corresponding to each type of product.
For high-precision positioning service providers capable of providing integrity parameters, a mode of post-processing medium and long-term historical service data is mostly adopted, and parameter values suitable for a long time are obtained through error envelope processing and probability calculation. However, the integrity parameter obtained with this scheme is constant over a longer period. Although this method is free from errors in theory, it requires that the service provider has constant operating conditions, highly consistent hardware, stable system performance, and constant observation environment. However, due to atmospheric activity and various types of maintenance upgrades, it is difficult to obtain accurate integrity parameters using only historical data to predict real-time service performance. If the integrity parameters provided by the service provider are too conservative, the protection level of the terminal is too high, and the availability of the service is further influenced; if the integrity parameter is smaller than the actual value, the protection level of the terminal will be too low, and the positioning safety of the user is threatened.
Therefore, how to obtain more accurate integrity parameters so as to determine the reliability of GNSS positioning according to the integrity parameters is a technical problem that needs to be solved urgently by those skilled in the art.
Disclosure of Invention
The present application provides a method, an apparatus, a positioning system, and a medium for determining positioning reliability of a navigation system, which are used to obtain more accurate integrity parameters, so as to determine reliability of GNSS positioning according to the integrity parameters.
In order to solve the above technical problem, the present application provides a method for determining positioning reliability of a navigation system, including:
acquiring the current detection statistic of a global satellite navigation system correction product through a detector;
inputting the current detection statistic into a pre-established integrity parameter model; wherein the integrity parameter model is established based on historical data of the corrected product and detection statistics obtained by the detector over a corresponding historical period of time;
outputting actual integrity parameters of the corrected product through the integrity parameter model;
and determining the positioning reliability of the navigation positioning system according to the actual integrity parameter.
Preferably, the integrity parameters comprise at least: the probability of the corrected product failure occurring on a single satellite, the probability of the corrected product failure occurring on the entire constellation, the conservative amplification factor of the corrected product error standard deviation, and the conservative envelope deviation of the corrected product error mean value.
Preferably, establishing the integrity parameter model comprises:
obtaining the historical data of the corrected product and the detection statistics of the corrected product detected by the detector over the corresponding historical period of time;
determining a first integrity parameter benchmark for the corrected product based on the historical data and a detection statistic benchmark based on the detection statistic;
determining a plurality of sets of parameter models according to the detection statistics;
acquiring a second integrity parameter benchmark corresponding to each parameter model and an average detection statistic corresponding to each parameter model;
determining an amplification factor of the integrity parameter corresponding to each parameter model according to the first integrity parameter benchmark, the detection statistic benchmark, the second integrity parameter benchmark corresponding to each parameter model and the average detection statistic corresponding to each parameter model, and establishing the integrity parameter model according to the detection statistic benchmark, the amplification factor and the first integrity parameter benchmark;
correspondingly, the outputting of the actual integrity parameters of the corrected product by the integrity parameter model comprises:
selecting a target parameter model from all the parameter models;
and determining the actual integrity parameter of the corrected product according to the detection statistic basis, the corresponding amplification factor of the target parameter model, the first integrity parameter basis and the current detection statistic.
Preferably, said determining a first integrity parameter benchmark for the corrected product from the historical data comprises:
acquiring the first historical data provided by a first user and the second historical data provided by a second user;
obtaining a difference between the first historical data and the second historical data to determine an error for the corrected product;
determining the first integrity parameter benchmark for the corrected product by an envelope algorithm for the error.
Preferably, the determining a detection statistic basis from the detection statistic comprises:
acquiring the detection statistics corresponding to each moment in the historical time period;
judging whether the detection statistic corresponding to each moment is in a preset range or not;
if so, averaging the detection statistics corresponding to all the moments to serve as the detection statistic reference;
if not, rejecting the detection statistic corresponding to the moment when the detection statistic exceeds the preset range; and calculating the average value of the detection statistics corresponding to all the remaining moments except the moment corresponding to the eliminated detection statistics in all the moments to be used as the detection statistic reference.
Preferably, said determining a plurality of sets of parametric models from said detection statistics comprises:
when the detection statistics corresponding to each moment is obtained, the environmental condition of the navigation positioning system at each moment is obtained; wherein the environment at least comprises a hardware environment, a system performance and an observation environment;
and under the condition that the environmental conditions meet corresponding preset requirements, determining the detection statistics at corresponding moments as a group of parameter models so as to determine a plurality of groups of parameter models.
Preferably, the selecting a target parametric model from all the parametric models comprises:
when the current detection statistic is obtained, obtaining the current environment condition of the navigation positioning system;
and selecting the corresponding parameter model which is the same as the current environment from the parameter models according to the current environment to serve as the target parameter model.
In order to solve the above technical problem, the present application further provides an apparatus for determining positioning reliability of a navigation system, including:
the acquisition module is used for acquiring the current detection statistic of the global satellite navigation system correction product through the detector;
the input module is used for inputting the current detection statistic into a pre-established integrity parameter model; wherein the integrity parameter model is established based on historical data of the corrected product and detection statistics obtained by the detector over a corresponding historical period of time;
an output module for outputting actual integrity parameters of the corrected product via the integrity parameter model;
and the determining module is used for determining the positioning reliability of the navigation positioning system according to the actual integrity parameter.
In order to solve the above technical problem, the present application further provides a positioning system, including:
a memory for storing a computer program;
a processor for implementing the steps of the method for determining the positioning reliability of a navigation system when executing the computer program.
In order to solve the above technical problem, the present application further provides a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the above steps of the method for determining the positioning reliability of a navigation system.
The method for determining the positioning reliability of the navigation system comprises the following steps: acquiring the current detection statistic of a global satellite navigation system correction product through a detector; inputting the current detection statistic into a pre-established integrity parameter model; the integrity parameter model is established according to historical data of the corrected product and detection statistics acquired by a detector in a corresponding historical time period; outputting actual integrity parameters of the corrected product through the integrity parameter model; and determining the positioning reliability of the navigation positioning system according to the actual integrity parameters. Compared with the previous mode of predicting the real-time service performance of the positioning system only by using historical data, the method provided by the application determines the integrity parameters according to the external detection information detected by the detector besides the historical data, so that the obtained integrity parameters are more accurate, and the reliability of GNSS positioning can be more accurately determined according to the integrity parameters.
In addition, the application also provides a device, a positioning system and a medium for determining the positioning reliability of the navigation system, and the device, the positioning system and the medium have the same or corresponding technical characteristics and the same effects as the method for determining the positioning reliability of the navigation system.
Drawings
In order to more clearly illustrate the embodiments of the present application, the drawings required for the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained by those skilled in the art without inventive effort.
Fig. 1 is a flowchart of a method for determining positioning reliability of a navigation system according to an embodiment of the present application;
FIG. 2 is a block diagram of an apparatus for determining positioning reliability of a navigation system according to an embodiment of the present application;
FIG. 3 is a block diagram of a positioning system provided in accordance with another embodiment of the present application;
fig. 4 is a flowchart of a method for dynamically calculating integrity parameters of GNSS corrected products based on detected information according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without any creative effort belong to the protection scope of the present application.
The core of the application is to provide a method, a device, a positioning system and a medium for determining the positioning reliability of a navigation system, which are used for obtaining more accurate integrity parameters so as to determine the reliability of GNSS positioning according to the integrity parameters.
The GNSS generally consists of three parts, namely a ground control part, a space control part and a user device. The ground control part usually consists of a main control station, a ground antenna, a monitoring station and a communication auxiliary system, wherein the main control station is responsible for managing and coordinating the work of the whole ground control system; the ground antenna injects a message to the satellite under the control of the master control station; the monitoring station is an automatic data collection center; communication assists in the transmission of system load data. The space control section includes a plurality of satellites. The user equipment part mainly consists of a receiver and an antenna. The satellite continuously sends the position coordinate information of the current satellite and the time stamp when the position coordinate is sent to the ground, and after the user receives the position information sent by a plurality of satellites and the corresponding time stamps at the same time, the distance between the user and the satellite can be calculated, and the position of the user is determined.
In order to meet the requirements of the fields of surveying and mapping, automatic driving, monitoring and the like on high-precision positioning, the measurement error of the original GNSS needs to be corrected so as to realize positioning in centimeter or even millimeter level. As a basis for realizing high-precision positioning, GNSS correction products required for PPP-RTK mainly include precision orbits, precision clock offsets, code offsets, phase offsets, ionosphere corrections, and troposphere corrections. In addition to providing the data products themselves, the PPP-RTK positioning service provider also needs to provide the accuracy factors and integrity information corresponding to each type of products. Currently, some high-precision positioning service providers do not directly provide integrity parameters to users, but rather, users set a set of empirical values for calculating the protection level. Although this approach is simple, the computed integrity result is not trusted and cannot be truly commercially applied. For high-precision positioning service providers capable of providing integrity parameters, reliability prediction of a positioning system according to historical service data is mostly adopted. Taking the quarter as an example, after the quarter is finished, a group of integrity parameters can be obtained by processing error data of all products in the quarter, the group of integrity parameters are continuously broadcast to users for use in two quarters, and calculation and updating are carried out again after the second quarter is finished for use in the next quarter. It follows that the integrity parameter obtained with this scheme is constant over a longer period. Although this method is free from errors in theory, it requires that the service provider has constant operating conditions, highly consistent hardware, stable system performance, and constant observation environment. However, due to the influence of atmospheric activities and various maintenance upgrades, it is difficult to obtain accurate integrity parameters by using only historical data to predict real-time service performance, and especially, the fault probability and envelope parameters in a short period become large due to accidental service system faults.
The realization of high-precision and high-integrity positioning based on GNSS depends on a corrected data product, integrity parameters of the corrected data are necessary input for calculating protection level of a positioning terminal, and the accuracy and the conservatism of the corrected data determine the integrity monitoring quality of a positioning result. The method aims to solve the problem of accurate calculation of integrity parameters of GNSS corrected products, aims to provide corresponding integrity parameters for all corrected products in real time, and improves the sensitivity and accuracy of the corrected products while guaranteeing the conservative property of the parameters.
Therefore, according to the method, external detection information detected by a detector in real time is introduced besides historical data, a dynamic calculation method of the integrity parameters of the service products is provided, the obtained integrity parameters are accurate, and the reliability of GNSS positioning is determined according to the integrity parameters.
In order that those skilled in the art will better understand the disclosure, the following detailed description is given with reference to the accompanying drawings. Fig. 1 is a flowchart of a method for determining positioning reliability of a navigation system according to an embodiment of the present disclosure, where as shown in fig. 1, the method includes:
s10: current detection statistics of the gnss correction product are obtained by the detector.
The GNSS correction product mainly comprises a precision orbit, a precision clock error, a code deviation, a phase deviation, ionosphere correction, troposphere correction and the like. Taking the number of satellites in precise orbit as an example, the number of current satellites of the GNSS correction product is acquired by the detector, for example, it is assumed that the number of currently acquired satellites is 15.
S11: inputting the current detection statistic into a pre-established integrity parameter model; wherein the integrity parameter model is established based on historical data of the corrected product and detection statistics obtained by the detector over a corresponding historical period of time.
S12: and outputting the actual integrity parameters of the corrected product through the integrity parameter model.
S13: and determining the positioning reliability of the navigation positioning system according to the actual integrity parameters.
In the previous scheme, the integrity parameters are determined according to historical data of corrected products, but due to the influence of atmospheric activity and various dimension upgrading, accurate integrity parameters are difficult to obtain in a mode of predicting real-time service performance by using the historical data only, and particularly, the fault probability and envelope parameters in a short period are increased due to accidental service system faults. Thus, in this embodiment, in addition to the historical data of the corrected product, the integrity parameter of the corrected product is determined based on detection statistics acquired by the detector over a corresponding historical period of time. The duration and time of the acquired historical data are not limited and are determined according to actual conditions.
And establishing an integrity parameter model according to the data and the detection statistics in the historical time period. And processing the medium and long-term historical service data when the integrity parameter model is established, obtaining a group of parameters as a reference, then fitting the detector test statistic of the corresponding time period, solving a fitting formula, and establishing the good integrity parameter model. And inputting the current detection statistic into the established integrity parameter model to obtain the actual integrity parameter of the corrected product, and determining the reliability of the navigation positioning system through the integrity parameter.
The method for determining the positioning reliability of the navigation system provided by the embodiment comprises the following steps: acquiring the current detection statistic of a global satellite navigation system correction product through a detector; inputting the current detection statistic into a pre-established integrity parameter model; the integrity parameter model is established according to historical data of the corrected product and detection statistics acquired by a detector in a corresponding historical time period; outputting actual integrity parameters of the corrected product through the integrity parameter model; and determining the positioning reliability of the navigation positioning system according to the actual integrity parameters. Compared with the previous mode of predicting the real-time service performance of the positioning system only by using historical data, in the method provided by the embodiment, the integrity parameters are determined according to the external detection information detected by the detector besides the historical data, so that the obtained integrity parameters are more accurate, and the reliability of GNSS positioning can be more accurately determined according to the integrity parameters.
The integrity parameters are necessary input for calculating the integrity protection level at the terminal by a high-precision positioning user, represent the statistical characteristics of product errors, and are conservatively processed by means of modeling, enveloping and the like, so that the confidence of the result is improved. In order to enable a more accurate assessment of the reliability of GNSS positioning, a preferred embodiment is that the integrity parameters comprise at least: probability P of correcting product failure on single satellite sat Probability P of corrected product fault appearing on whole constellation const The conservative amplification factor alpha of the error standard deviation of the corrected product and the conservative envelope deviation b of the mean value of the error of the corrected product.
The integrity parameters provided by this embodiment at least include the four integrity parameters listed above, and compared with a method for determining reliability of GNSS positioning by using one integrity parameter alone, the method provided by this embodiment can determine reliability of GNSS positioning more accurately through multiple integrity parameters.
In practice, in order to establish the integrity parameter model, a preferred embodiment is that establishing the integrity parameter model comprises:
acquiring historical data of a corrected product and detection statistics of the corrected product detected by a detector in a corresponding historical time period;
determining a first integrity parameter benchmark of the corrected product according to the historical data and determining a detection statistic benchmark according to the detection statistic;
determining a plurality of groups of parameter models according to the detection statistics;
acquiring a second integrity parameter reference corresponding to each parameter model and average detection statistics corresponding to each parameter model;
and determining the amplification coefficient of the integrity parameter corresponding to each parameter model according to the first integrity parameter reference, the detection statistic reference, the second integrity parameter reference corresponding to each parameter model and the average detection statistic corresponding to each parameter model, and establishing an integrity parameter model according to the detection statistic reference, the amplification coefficient and the first integrity parameter reference.
After determining the integrity parameter model, outputting actual integrity parameters of the corrected product via the integrity parameter model comprises:
selecting a target parameter model from all parameter models;
and determining the actual integrity parameter of the corrected product according to the detection statistic basis, the corresponding amplification factor of the target parameter model, the first integrity parameter basis and the current detection statistic.
Wherein determining a first integrity parameter benchmark for the corrected product based on the historical data comprises:
acquiring first historical data provided by a first user and second historical data provided by a second user;
obtaining a difference between the first historical data and the second historical data to determine an error of the corrected product;
a first integrity parameter baseline of the corrected product is determined for the error by an envelope algorithm.
Determining a detection statistic reference from the detection statistic comprises:
acquiring detection statistics corresponding to each moment in a historical period;
judging whether the detection statistic corresponding to each moment is in a preset range or not;
if so, averaging the detection statistics corresponding to all the moments to serve as a detection statistic reference;
if not, rejecting the detection statistic corresponding to the moment when the detection statistic exceeds the preset range; and calculating the average value of the detection statistics corresponding to all the remaining moments except the moments corresponding to the elimination detection statistics as the detection statistic reference.
The first user may be considered a location provider; the second user may be considered a third party, i.e., a trial-type person. The preset range is not limited, for example, the preset range of the number of satellites of the precise orbit product is 8 to 15, when the number of the satellites is less than 8 or more than 15, the satellites can be removed, and then the number of the remaining satellites corresponding to all the moments is averaged to be used as the reference of the number of the satellites; when the number of satellites at all times is 9 to 15, the number of satellites corresponding to all times can be averaged to serve as a reference for the number of satellites.
Here the integrity parameter includes the probability P that a corrected product failure occurs on a single satellite sat Probability P of corrected product fault appearing on whole constellation const The process of establishing an integrity parameter model and determining the actual integrity parameter of the corrected product according to the established integrity parameter model will be described by taking the conservative amplification factor alpha of the corrected product error standard deviation and the conservative envelope deviation b of the corrected product error mean value as examples.
Based on the middle and long term historical product data stored by the positioning provider and the truth results provided by the third party, firstly, the product error is calculated, and then the integrity parameter benchmark alpha of each product is determined by utilizing the envelope algorithm base ，b base ，
For test statistic basis q base The method only needs to eliminate the coarse difference of the test statistic results stored in the corresponding time period and then average the results. However, the average value calculated according to the long-term data has the possibility that error distribution cannot be described conservatively under the condition of extreme faults, so that a real-time detector is introduced to carry out real-time floating estimation on the integrity parameters.
N sets of parametric models are determined based on the size of the test statistic, denoted i =1 1 ，…，T N-1 ＜q＜T N ，T N < q, where q denotes the test statistic, T i Indicated are intervals. For each model, determining its corresponding integrity parameter reference, a ref，i ，b ref，i ，
And averaging the test statistics under each model to obtain
Will be provided with
Are recorded as corresponding to the ith model alpha, b, P respectively sat ，P const The amplification factor of the parameter is solved based on the following formula:
after the integrity parameter amplification coefficients of all correction models of the scheme are determined, the real-time dynamic calculation of the integrity parameters of the modified product can be realized based on the following formula:
wherein q is RT Test statistic calculated in real time corresponding to the service system, a out ，b out ，
Is the final output service product integrity parameter.
In the method provided by the embodiment, a group of parameters is obtained as a reference according to historical service data, then the size of the detector test statistic in the corresponding time period is fitted, a fitting formula is solved, and finally the integrity parameter in actual operation is calculated by using the formula. Because the method introduces real-time quality information of product errors on the basis of historical data, the obtained result is more accurate.
To obtain multiple sets of parametric models, a preferred embodiment is that determining multiple sets of parametric models from the detection statistics comprises:
when the detection statistics corresponding to each moment are obtained, the environmental condition of the navigation positioning system at each moment is obtained; wherein, the environment at least comprises a hardware environment, a system performance and an observation environment;
and under the condition that the environmental conditions meet corresponding preset requirements, determining the detection statistics at corresponding moments as a group of parameter models so as to determine a plurality of groups of parameter models.
The preset requirement is not limited and is determined according to the actual situation. For example, detection statistics corresponding to the same time instance in the environment can be classified into a set of parameter models.
The method for dividing the multiple sets of parameter models provided by the embodiment determines the multiple sets of parameter models according to the environmental conditions, so that the method has better universality and adaptability.
Based on the above multiple sets of parameter models, in practice, in order to determine the target parameter model more accurately, it is a preferred embodiment that selecting the target parameter model from all the parameter models includes:
when the current detection statistic is obtained, obtaining the current environment condition of the navigation positioning system;
and selecting a corresponding parameter model which is the same as the current environment from the parameter models according to the current environment to serve as a target parameter model.
Because the different parameter models are respectively determined under different environments, the parameter model corresponding to the current environment where the navigation positioning system is located can be selected from the parameter models to serve as the target parameter model, and therefore the integrity parameters of the corrected product can be accurately determined according to the target parameter model.
In the above embodiments, the method for determining the positioning reliability of the navigation system is described in detail, and the application also provides a corresponding embodiment of the apparatus for determining the positioning reliability of the navigation system. It should be noted that the present application describes the embodiments of the apparatus portion from two perspectives, one is from the perspective of the function module, and the other is from the perspective of the hardware.
Fig. 2 is a block diagram of an apparatus for determining positioning reliability of a navigation system according to an embodiment of the present application. The present embodiment is based on the angle of the function module, including:
an obtaining module 10, configured to obtain, by a detector, current detection statistics of a gnss correction product;
the input module 11 is used for inputting the current detection statistic into a pre-established integrity parameter model; wherein, the integrity parameter model is established according to the historical data of the corrected product and the detection statistics acquired by the detector in the corresponding historical time period;
an output module 12, configured to output actual integrity parameters of the corrected product through the integrity parameter model;
and the determining module 13 is used for determining the reliability of the positioning of the navigation positioning system according to the actual integrity parameters.
Since the embodiment of the apparatus portion and the embodiment of the method portion correspond to each other, please refer to the description of the embodiment of the method portion for the embodiment of the apparatus portion, and details are not repeated here.
The device for determining the positioning reliability of the navigation system provided by the embodiment utilizes the acquisition module to acquire the current detection statistic of a global satellite navigation system correction product through the detector; inputting the current detection statistic into a pre-established integrity parameter model through an input module; wherein, the integrity parameter model is established according to the historical data of the corrected product and the detection statistics acquired by the detector in the corresponding historical time period; outputting the actual integrity parameters of the corrected product through an integrity parameter model by using an output module; and determining the positioning reliability of the navigation positioning system according to the actual integrity parameters by using a determination module. Compared with the previous method of predicting the real-time service performance of the positioning system only by using historical data, in the device provided by the embodiment, the integrity parameter is determined according to the external detection information detected by the detector besides the historical data, so that the obtained integrity parameter is more accurate, and the reliability of GNSS positioning can be more accurately determined according to the integrity parameter.
Fig. 3 is a block diagram of a positioning system according to another embodiment of the present application. In this embodiment, based on the hardware angle, as shown in fig. 3, the positioning system includes:
a memory 20 for storing a computer program;
a processor 21 for implementing the steps of the method of determining the positioning reliability of a navigation system as mentioned in the above embodiments when executing the computer program.
The processor 21 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and the like. The Processor 21 may be implemented in hardware using at least one of a Digital Signal Processor (DSP), a Field-Programmable Gate Array (FPGA), and a Programmable Logic Array (PLA). The processor 21 may also include a main processor and a coprocessor, where the main processor is a processor for Processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 21 may be integrated with a Graphics Processing Unit (GPU) which is responsible for rendering and drawing the content required to be displayed by the display screen. In some embodiments, the processor 21 may further include an Artificial Intelligence (AI) processor for processing computational operations related to machine learning.
The memory 20 may include one or more computer-readable storage media, which may be non-transitory. Memory 20 may also include high speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In this embodiment, the memory 20 is at least used for storing a computer program 201, wherein the computer program is loaded and executed by the processor 21, and is capable of implementing relevant steps of the method for determining the positioning reliability of a navigation system disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 20 may also include an operating system 202, data 203, and the like, and the storage manner may be a transient storage manner or a permanent storage manner. Operating system 202 may include, among other things, windows, unix, linux, etc. The data 203 may include, but is not limited to, data related to the above-mentioned method of determining the positioning reliability of the navigation system, and the like.
In some embodiments, the positioning system may also include a display screen 22, an input/output interface 23, a communication interface 24, a power supply 25, and a communication bus 26.
Those skilled in the art will appreciate that the configuration shown in FIG. 3 does not constitute a limitation of the positioning system and may include more or fewer components than those shown.
The positioning system provided by the embodiment of the application comprises a memory and a processor, wherein when the processor executes a program stored in the memory, the following method can be realized: the method for determining the positioning reliability of the navigation system has the same effect.
The application also provides a corresponding embodiment of the computer readable storage medium. The computer-readable storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps as set forth in the above-mentioned method embodiments.
It is to be understood that if the method in the above embodiments is implemented in the form of software functional units and sold or used as a stand-alone product, it can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium and executes all or part of the steps of the methods described in the embodiments of the present application, or all or part of the technical solutions. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The computer-readable storage medium provided by the present application includes the above-mentioned method for determining positioning reliability of a navigation system, and the effects are the same as above.
In order to make the technical field of the present invention better understand, the present application is further described in detail with reference to fig. 4 and the detailed description. Fig. 4 is a flowchart of a method for dynamically calculating integrity parameters of GNSS correction products based on detected information according to an embodiment of the present application, as shown in fig. 4, the method includes:
s14: determining the integrity parameter benchmark a of each product by using an error envelope algorithm based on the historical stored medium-long term data and the third-party truth value result base ，b base ，
And test statistic basis q base ；
S15: determining N sets of parameter calculation models according to the sizes of the test statistic, and calculating the average test statistic under each model
And the integrity parameter base under each group of modelsQuasi-alpha ref，i ，b ref，i ，
S16: calculating all the integrity parameter amplification coefficients under each model
S17: and calculating the integrity parameters of the corrected product in real time by using the established model.
In the method provided by the embodiment, the real-time detection information of the detector is introduced into the integrity parameter calculation, the parameter reference value is determined based on the existing medium-long term statistical method, and the integrity parameter dynamic calculation is realized by combining the size of the test statistic. By establishing an algorithm for calculating integrity parameters of GNSS correction products in real time, the accuracy, sensitivity and applicability of the algorithm are improved on the premise of ensuring the conservative property of the parameters, and the integrity monitoring performance of high-precision positioning based on GNSS is further improved.
The method, apparatus, positioning system and medium for determining positioning reliability of a navigation system provided by the present application are described in detail above. The embodiments are described in a progressive mode in the specification, the emphasis of each embodiment is on the difference from the other embodiments, and the same and similar parts among the embodiments can be referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description. It should be noted that, for those skilled in the art, without departing from the principle of the present application, the present application can also make several improvements and modifications, and those improvements and modifications also fall into the protection scope of the claims of the present application.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus 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 apparatus. Without further limitation, an element defined by the phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. A method of determining positioning reliability of a navigation system, comprising:
acquiring the current detection statistic of a global satellite navigation system correction product through a detector;
inputting the current detection statistic into a pre-established integrity parameter model; wherein the integrity parameter model is established based on historical data of the corrected product and detection statistics obtained by the detector over a corresponding historical period of time;
outputting actual integrity parameters of the corrected product through the integrity parameter model;
and determining the positioning reliability of the navigation positioning system according to the actual integrity parameter.
2. The method of determining navigation system positioning reliability according to claim 1, wherein the integrity parameters include at least: the probability of the corrected product fault appearing on a single satellite, the probability of the corrected product fault appearing on the whole constellation, the conservative amplification factor of the corrected product error standard deviation and the conservative envelope deviation of the corrected product error mean value.
3. The method of determining navigation system positioning reliability of claim 2, wherein building the integrity parameter model comprises:
obtaining the historical data of the correction product and the detection statistics of the correction product detected by the detector over the corresponding historical period;
determining a first integrity parameter benchmark for the corrected product based on the historical data and a detection statistic benchmark based on the detection statistic;
determining a plurality of sets of parameter models according to the detection statistics;
acquiring a second integrity parameter benchmark corresponding to each parameter model and an average detection statistic corresponding to each parameter model;
determining an amplification factor of the integrity parameter corresponding to each parameter model according to the first integrity parameter benchmark, the detection statistic benchmark, the second integrity parameter benchmark corresponding to each parameter model and the average detection statistic corresponding to each parameter model, and establishing the integrity parameter model according to the detection statistic benchmark, the amplification factor and the first integrity parameter benchmark;
correspondingly, the outputting of the actual integrity parameters of the corrected product by the integrity parameter model comprises:
selecting a target parameter model from all the parameter models;
and determining the actual integrity parameter of the corrected product according to the detection statistic basis, the corresponding amplification factor of the target parameter model, the first integrity parameter basis and the current detection statistic.
4. The method of determining navigation system position fix reliability of claim 3, wherein said determining a first integrity parameter benchmark for the correction product based on the historical data comprises:
acquiring the first historical data provided by a first user and the second historical data provided by a second user;
obtaining a difference between the first historical data and the second historical data to determine an error in the corrected product;
determining the first integrity parameter benchmark of the corrected product by an envelope algorithm for the error.
5. The method of determining navigation system positioning reliability according to claim 3 or 4, wherein the determining a detection statistic reference from the detection statistic comprises:
acquiring the detection statistics corresponding to each moment in the historical time period;
judging whether the detection statistic corresponding to each moment is in a preset range or not;
if so, averaging the detection statistics corresponding to all the moments to serve as the detection statistic reference;
if not, rejecting the detection statistic corresponding to the moment when the detection statistic exceeds the preset range; and calculating the average value of the detection statistics corresponding to all the remaining moments except the moment corresponding to the eliminated detection statistics in all the moments to be used as the detection statistic reference.
6. The method of determining navigation system positioning reliability of claim 5, wherein the determining sets of parametric models from the detection statistics comprises:
when the detection statistics corresponding to each moment is obtained, the environmental condition of the navigation positioning system at each moment is obtained; wherein the environment at least comprises a hardware environment, a system performance and an observation environment;
and under the condition that the environmental conditions meet corresponding preset requirements, determining the detection statistics at corresponding moments as a group of parameter models so as to determine a plurality of groups of parameter models.
7. The method of claim 6, wherein the selecting the target parametric model from all the parametric models comprises:
when the current detection statistic is obtained, obtaining the current environment condition of the navigation positioning system;
and selecting the corresponding parameter model which is the same as the current environment from the parameter models according to the current environment to serve as the target parameter model.
8. An apparatus for determining positioning reliability of a navigation system, comprising:
the acquisition module is used for acquiring the current detection statistic of the global satellite navigation system correction product through the detector;
the input module is used for inputting the current detection statistic into a pre-established integrity parameter model; wherein the integrity parameter model is established based on historical data of the corrected product and detection statistics obtained by the detector over a corresponding historical period of time;
an output module for outputting actual integrity parameters of the corrected product via the integrity parameter model;
and the determining module is used for determining the positioning reliability of the navigation positioning system according to the actual integrity parameter.
9. A positioning system, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the method of determining the positioning reliability of a navigation system as claimed in any one of claims 1 to 7 when executing said computer program.
10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the steps of the method of determining a positioning reliability of a navigation system according to any one of claims 1 to 7.
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