CN116736338A - BDS satellite space signal availability evaluation method, BDS satellite space signal availability evaluation system and electronic equipment - Google Patents
BDS satellite space signal availability evaluation method, BDS satellite space signal availability evaluation system and electronic equipment Download PDFInfo
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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
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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
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
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Abstract
The invention provides a BDS satellite space signal availability evaluation method, a BDS satellite space signal availability evaluation system and electronic equipment, which are technically characterized in that: collecting all broadcast ephemeris data broadcasted in a BDS constellation limited time period; aiming at an IGSO satellite and a GEO satellite of a BDS constellation, a 'two-step method' is established to detect the orbit maneuver of the IGSO satellite and the GEO satellite, and the average fault interval time and the average fault restoration time of the orbit maneuver of the IGSO satellite and the GEO satellite are calculated; aiming at IGSO satellites, GEO satellites and MEO satellites of a BDS constellation, detecting abnormal spatial signals of the BDS satellites, and calculating average fault interval time and average fault restoration time of the abnormal spatial signals of the BDS satellites; and (3) integrating the orbit maneuver and the space signal abnormality, establishing an availability integrated evaluation model of the BDS satellite space signal, and evaluating and calculating the availability performance of the BDS satellite space signal. The invention greatly improves the accuracy and reliability of BDS satellite orbit maneuver detection, and provides a new method for BDS satellite space signal availability evaluation from the angle of measured data.
Description
Technical Field
The invention belongs to the technical field of satellite navigation system performance evaluation, and particularly relates to a BDS satellite space signal availability evaluation method, a BDS satellite space signal availability evaluation system and electronic equipment.
Background
Satellite navigation systems have been developed as an important support link for the construction of information systems in all countries around the world as an infrastructure for national security and economic development. With the continuous investment, construction and development of satellite navigation systems in various countries, better system performance is the competitive power of various satellite navigation systems. The satellite navigation system has 4 performance indexes, namely precision, integrity, continuity and availability. The availability refers to the percentage of time that the navigation system can provide available navigation service in the service airspace, reflects the time accumulation statistics that can meet the performance of the navigation system, and is a key performance index for judging whether the navigation system can be used as a unique or main navigation system in the application fields of high precision and high reliability.
Along with the rapid construction, development and gradual widening of application fields of the satellite navigation system, the performance requirements of the satellite navigation system in different fields are more diversified and wider, and particularly in the application fields of airport precise approach, automatic driving and the like related to life safety, such as the approach and departure stages of an airplane, once wrong navigation information is generated, serious aviation accidents are directly caused, and huge threats are caused to life safety. Thus, the integrity, continuity and availability requirements of the system are equally important as compared to the accuracy requirements. The precision is no longer the only index for measuring the performance of the satellite navigation system, and good integrity, continuity and availability are important guarantees for the safety and reliability of the satellite navigation system.
When the satellite navigation system provides extensive service, the user is not only the user of the system, but also the tester of the system, the performance of the satellite navigation system is improved and reduced, and any abnormality can directly affect the user side. Therefore, in each stage of the development of the satellite navigation system, the system performance needs to be monitored and evaluated, the running state of the system is monitored in real time, and whether the system performance can meet the original design requirement is checked, so that scientific basis is provided for the improvement of the system performance, and the modernization process of the satellite navigation system is promoted.
At present, related researches on satellite navigation system performance evaluation have been carried out at home and abroad, but research results mainly aim at a GPS system and rarely relate to a BDS system; in addition, aiming at performance evaluation, particularly usability performance evaluation, of the BDS system, various expected values are mainly adopted, verification analysis of measured data is lacking, and therefore reliability of usability evaluation results of the BDS system is low.
Disclosure of Invention
In order to solve the technical problems, the invention provides a BDS satellite space signal availability evaluation method, a BDS satellite space signal availability evaluation system and electronic equipment.
According to a first aspect of the present invention, there is provided a BDS satellite space signal availability evaluation method, comprising:
step 1: collecting all broadcast ephemeris data broadcasted in a BDS constellation limited time period;
step 2: aiming at the inclined geosynchronous orbit satellite and the geosynchronous orbit satellite of the BDS constellation, a two-step method is established to detect orbit movements of the IGSO satellite and the GEO satellite, and the average fault interval time and the average fault restoration time of the orbit movements of the IGSO satellite and the GEO satellite are calculated;
step 3: aiming at the IGSO satellites, the GEO satellites and the MEO satellites of the BDS constellation, a BDS satellite space signal anomaly detection method based on precise ephemeris is established to detect the space signal anomalies of the BDS satellites, and the average fault interval time and the average fault restoration time of the BDS satellite space signal anomalies are calculated respectively;
step 4: and (3) establishing an availability comprehensive evaluation model of the BDS satellite space signal based on the obtained average fault interval time and average fault repair time of the IGSO satellite and GEO satellite orbit maneuver and the average fault interval time and average fault repair time of the BDS satellite space signal abnormality, and evaluating and calculating the availability performance of the BDS satellite space signal according to the availability comprehensive evaluation model.
On the basis of the technical scheme, the invention can also make the following improvements.
Optionally, the establishing a comprehensive evaluation model of the availability of the BDS satellite space signal is expressed as:
wherein A is 1 For availability of BDS constellation IGSO satellites and GEO satellites, A 2 Availability for the BDS constellation MEO satellites; MTBF (methyl tert-butyl function) 1 Expressed as the average time between failure of the IGSO satellite to GEO satellite orbits; MTTR (methyl thiazolyl tetrazolium) 1 Mean time to failure, expressed as IGSO satellite orbit maneuver with GEO satellite orbit maneuver; MTBF (methyl tert-butyl function) 2 Average inter-fault time, denoted BDS satellite space signal anomalies; MTTR (methyl thiazolyl tetrazolium) 2 Mean time to failure recovery, expressed as BDS satellite space signal anomalies.
Optionally, in step 2, the establishing a "two-step method" for detecting the orbital maneuver of the IGSO satellite and the GEO satellite includes "orbital maneuver identification" and "orbital maneuver verification", and specifically includes the following sub-steps:
step 2.1: constructing a broadcast ephemeris time sequence within a limited time period of an IGSO satellite or a GEO satellite;
step 2.2: detecting broadcast ephemeris time sequence of an IGSO satellite or a GEO satellite, marking time periods with continuous or more than N epoch moments of satellite autonomous health marks of SatH21=1 in the broadcast ephemeris sequence, and marking as t i ～t i+n Construction of t i ～t i+n Removing continuous long-half-shaft square root time sequences of the period broadcast ephemeris, and reserving the long-half-shaft square root time sequences with jump, wherein N is more than or equal to 4;
step 2.3: t obtained after rail maneuver identification i ～t i+n Period broadcast ephemeris, using t i-1 Broadcast ephemeris forecast t at time sath1=0 i ～t i+n The satellite orbit of the epoch, labeled "primary orbit"; make the following stepsBy t i+n+1 Broadcast ephemeris forecast t at time sath1=0 i ～t i+n The satellite orbits of the time period, labeled "final orbit"; track mutual difference is calculated and the following judgment is carried out: if the satellite does not orbit, the initial orbit and the final orbit are overlapped; if the satellite orbits, the primary orbit and the final orbit have km-magnitude deviation;
step 2.4: for any IGSO satellite or GEO satellite, counting all t caused by orbital maneuver within one year i ～t i+n And (4) respectively calculating the average fault interval time and the average fault repair time of the orbit maneuver of the IGSO satellite or the GEO satellite in the time period.
Optionally, in step 2.4, the calculating the average time between failures and the average time between failures of the IGSO satellite or GEO satellite orbiting respectively are expressed as:
in the formula, MTBF 1 Expressed as the average time between failure of the IGSO satellite to GEO satellite orbits; MTTR (methyl thiazolyl tetrazolium) 1 Mean time to failure, expressed as IGSO satellite orbit maneuver with GEO satellite orbit maneuver; m is the number of time periods of track maneuver.
Optionally, in step 3, the establishing a "BDS satellite space signal anomaly detection method based on precise ephemeris" detects BDS satellite space signal anomalies, which specifically includes the following sub-steps:
step 3.1: calculating satellite orbit coordinates and clock errors which are equidistant from the precise ephemeris by utilizing BDS satellite broadcast ephemeris, and calculating orbit errors and clock error by taking the satellite orbit coordinates and clock errors provided by the precise ephemeris as references;
step 3.2: setting a track error threshold and a clock error threshold; if any error does not meet the condition, judging the coarse difference data block, and marking the coarse difference data block as a space signal abnormality;
step 3.3: the broadcast ephemeris rough difference data block of each BDS satellite after identification is processed according to the parameters of the satellite clockSequencing the time under test, combining the time under test into a group of space signal abnormal time sequences, dividing the space signal abnormal time sequences into a plurality of time periods according to the time period number, and recording as t i ～t i+n ；
Step 3.4: and counting all ti-ti+n time periods caused by abnormal space signals in one year of each BDS satellite, and calculating the average fault interval time and the average fault restoration time of the abnormal space signals of the BDS satellites.
Optionally, in step 3.4, the average fault interval time and the average fault repair time of the BDS satellite space signal anomaly are expressed as:
in the formula, MTBF 2 Average inter-fault time, denoted BDS satellite space signal anomalies; MTTR (methyl thiazolyl tetrazolium) 2 Average fault repair time expressed as BDS satellite space signal anomalies; m is the number of time periods during which the spatial signal is abnormal.
Optionally, the orbit error threshold is set to be the orbit error of IGSO satellite and MEO satellite <10m, and the orbit error of GEO satellite <50m; setting a clock error threshold as follows: the clock difference is <30ns.
According to a second aspect of the present invention, there is provided a BDS satellite space signal availability evaluation system comprising:
the data acquisition module is used for acquiring all broadcast ephemeris data broadcasted in a BDS constellation limited time period;
the first calculation module is used for establishing a two-step method for detecting orbit maneuver of the IGSO satellite and the GEO satellite aiming at the IGSO satellite and the GEO satellite of the BDS constellation, and calculating the average fault interval time and the average fault restoration time of the orbit maneuver of the IGSO satellite and the GEO satellite;
the second calculation module is used for establishing a BDS satellite space signal abnormality detection method based on precise ephemeris for the IGSO satellite, the GEO satellite and the MEO satellite of the BDS constellation to detect the space signal abnormality of the BDS satellite, and calculating the average fault interval time and the average fault restoration time of the BDS satellite space signal abnormality respectively;
the availability comprehensive evaluation model building module is used for building an availability comprehensive evaluation model of the BDS satellite space signal based on the obtained average fault interval time and average fault repair time of the IGSO satellite and the GEO satellite in orbit, and the average fault interval time and average fault repair time of the BDS satellite space signal abnormality, and evaluating and calculating the availability performance of the BDS satellite space signal according to the availability comprehensive evaluation model.
According to a third aspect of the present invention there is provided an electronic device comprising a memory, a processor for implementing the steps of a BDS satellite space signal availability assessment method when executing a computer program stored in the memory.
The invention has the technical effects and advantages that:
the invention detects BDS IGSO satellite and GEO satellite orbit maneuver based on the two-step method of orbit maneuver identification and orbit maneuver verification, detects BDS satellite space signal anomaly by establishing the BDS satellite space signal anomaly detection method based on precise ephemeris, then synthesizes orbit maneuver and space signal anomaly, establishes a comprehensive evaluation model of BDS satellite space signal availability, evaluates and evaluates BDS satellite space signal availability performance, and provides a new method for BDS satellite space signal availability evaluation from the perspective of measured data.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
FIG. 1 is a flowchart of a BDS satellite space signal availability evaluation method according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a "track maneuver identification" flowchart in a "two-step process" provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of "track maneuver verification" in a "two-step process" provided by an embodiment of the present invention;
fig. 4 is a flowchart of a method for detecting abnormal BDS satellite space signals based on precise ephemeris according to an embodiment of the invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It can be appreciated that, based on the defects in the background art, the embodiment of the present invention provides a method for evaluating the availability of BDS satellite space signals, please refer to fig. 1, wherein the method comprises the following steps:
step 1: collecting all broadcast ephemeris data broadcasted in a BDS constellation limited time period;
it should be noted that, the beidou satellite navigation system (Beidou Navigation Satellite System), abbreviated as: BDS. The BDS constellation includes three orbits, geostationary orbit (geostationary Earth orbit, GEO), inclined geosynchronous orbit (IGSO-synchronous orbits), and medium circular earth orbit (medium Earth orbit, MEO).
In this embodiment, the defined period of time is preferably one year.
Step 2: aiming at the IGSO satellite and the GEO satellite of the BDS constellation, a two-step method is established to detect the orbital maneuver of the IGSO satellite and the GEO satellite, and the average fault interval time and the average fault repair time of the orbital maneuver of the IGSO satellite and the GEO satellite are calculated and recorded as MTBF 1 With MTTR 1 ；
Please refer to fig. 2 and 3, the two-step method for detecting the orbital maneuver of the IGSO satellite and the GEO satellite provided by the invention comprises the following steps:
step 2.1: constructing a broadcast ephemeris time sequence of IGSO satellites (or GEO satellites) for one year;
step 2.2: rail maneuver identification: detecting broadcast ephemeris time sequence of an IGSO satellite (or a GEO satellite), marking time periods with continuous or more than or equal to 4 epoch moments of satellite autonomous health identification (SatH 1) of SatH 1=1 in the broadcast ephemeris time sequence, and marking as t i ～t i+n Then, construct t i ～t i+n Long half-axis square root of period broadcast ephemerisTime series, eliminating the succession +.>Sequence, keep the jump +.>A sequence;
step 2.3: and (3) rail maneuver verification: t obtained after rail maneuver identification i ～t i+n Period broadcast ephemeris, using t i-1 Broadcast ephemeris forecast t at time sath1=0 i ～t i+n The satellite orbit of the epoch, labeled "primary orbit"; using t i+n+1 Broadcast ephemeris forecast t at time sath1=0 i ～t i+n The satellite orbits of the time period, labeled "final orbit"; then, track mutual difference is calculated and the following judgment is made: if the satellite does not orbit, the initial orbit and the final orbit are overlapped; if the satellite orbits, there will be a deviation of the order of km between the "primary orbit" and the "final orbit".
Step 2.4: for any IGSO satellite (or GEO satellite), counting all t caused by orbital maneuver within one year i ～t i+n The time period, then, calculates the mean time between failures MTBF of the orbiting of the IGSO satellite (or GEO satellite), respectively, as follows 1 Mean time to failure MTTR 1 。
Where m is the number of time periods of track maneuver.
Step 3: aiming at IGSO satellites, GEO satellites and MEO satellites of a BDS constellation, a BDS satellite space signal anomaly detection method based on precise ephemeris is established to detect the space signal anomalies of the BDS satellites, and the average fault interval time and the average fault repair time of the BDS satellite space signal anomalies are calculated respectively and recorded as MTBF (mean time between failure) 2 With MTTR 2 ；
Please refer to fig. 4, the method for detecting abnormal spatial signal of BDS satellite based on precise ephemeris provided by the present invention comprises the following steps:
step 3.1: calculating satellite orbit coordinates and clock errors which are equidistant from the precise ephemeris by utilizing BDS satellite broadcast ephemeris, and calculating orbit errors and clock error by taking the satellite orbit coordinates and clock errors provided by the precise ephemeris as references;
step 3.2: the track error threshold is set as follows: IGSO satellites and MEO satellites <10m, GEO satellites <50m; setting a clock error threshold as follows: clock difference <30ns; if any error does not meet the condition, judging the coarse difference data block, and marking the coarse difference data block as a space signal abnormality;
step 3.3: the broadcast ephemeris coarse difference data block of each BDS satellite after identification is sequenced according to the reference time TOC of the satellite clock, combined into a group of space signal abnormal time sequences, and the space signal abnormal time sequences are divided into a plurality of time periods according to the time period number and recorded as t i ～t i+n ；
Step 3.4: counting all t caused by abnormal spatial signals in one year of each BDS satellite i ～t i+n The period of time, then, the BDS satellite space signal anomalies are calculated as followsMean Time Between Failure (MTBF) 2 Mean time to failure MTTR 2 。
Where m is the number of periods of spatial signal anomalies.
Step 4: comprehensive track maneuver and space signal abnormality, according to the acquired MTBF 1 With MTTR 1 And MTBF 2 With MTTR 2 And (3) establishing an availability comprehensive evaluation model (shown in the formulas (1) and (2)) of the BDS satellite space signals, and evaluating and calculating the availability performance of the BDS satellite space signals based on the availability comprehensive evaluation model.
Wherein A is 1 For availability of BDS constellation IGSO satellites and GEO satellites, A 2 Is availability of the BDS constellation MEO satellite.
In summary, the embodiments of the present invention detect the orbital maneuver of the IGSO satellite and the GEO satellite in the beidou satellite navigation system based on the two-step method of the orbital maneuver identification and the orbital maneuver verification, detect the abnormal BDS satellite space signal by establishing the method of detecting the abnormal BDS satellite space signal based on the precise ephemeris, and then, integrate the orbital maneuver and the abnormal space signal, establish the integrated evaluation model of the BDS satellite space signal availability, and evaluate and calculate the BDS satellite space signal availability performance. The method of the invention greatly improves the accuracy and reliability of BDS satellite orbit maneuver detection, and provides a new method for BDS satellite space signal availability evaluation from the angle of measured data.
According to a second aspect of the present invention, a BDS satellite space signal availability evaluation system provided by an embodiment of the present invention includes:
the data acquisition module is used for acquiring all broadcast ephemeris data broadcasted in a BDS constellation limited time period;
the first calculation module is used for establishing a two-step method for detecting orbit maneuver of the IGSO satellite and the GEO satellite aiming at the IGSO satellite and the GEO satellite of the BDS constellation, and calculating the average fault interval time and the average fault restoration time of the orbit maneuver of the IGSO satellite and the GEO satellite;
the second calculation module is used for establishing a BDS satellite space signal abnormality detection method based on precise ephemeris for the IGSO satellite, the GEO satellite and the MEO satellite of the BDS constellation to detect the space signal abnormality of the BDS satellite, and calculating the average fault interval time and the average fault restoration time of the BDS satellite space signal abnormality respectively;
the availability comprehensive evaluation model building module is used for building an availability comprehensive evaluation model of the BDS satellite space signal based on the obtained average fault interval time and average fault repair time of the IGSO satellite and the GEO satellite in orbit, and the average fault interval time and average fault repair time of the BDS satellite space signal abnormality, and evaluating and calculating the availability performance of the BDS satellite space signal according to the availability comprehensive evaluation model.
It can be understood that the BDS satellite space signal availability evaluation system provided by the present invention corresponds to the BDS satellite space signal availability evaluation method provided by the foregoing embodiment, and the relevant technical features of the BDS satellite space signal availability evaluation system may refer to the relevant technical features of the BDS satellite space signal availability evaluation method, which are not described herein again.
According to a third aspect of the present invention, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the BDS satellite space signal availability evaluation method when executing the computer program.
According to a fourth invention, the present embodiment provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the BDS satellite space signal availability evaluation method.
It should be understood that parts of the specification not specifically set forth herein are all prior art.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Finally, it should be noted that: the foregoing description is only illustrative of the preferred embodiments of the present invention, and although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements or changes may be made without departing from the spirit and principles of the present invention.
Claims (10)
1. A BDS satellite space signal availability assessment method, characterized in that the assessment method comprises the steps of:
step 1: collecting all broadcast ephemeris data broadcasted in a BDS constellation limited time period;
step 2: aiming at the IGSO satellite and GEO satellite orbits of the BDS constellation, a 'two-step method' is established to detect the orbital maneuver of the IGSO satellite and the GEO satellite, and the average fault interval time and the average fault restoration time of the orbital maneuver of the IGSO satellite and the GEO satellite are calculated;
step 3: aiming at the IGSO satellites, the GEO satellites and the MEO satellites of the BDS constellation, a BDS satellite space signal anomaly detection method based on precise ephemeris is established to detect the space signal anomalies of the BDS satellites, and the average fault interval time and the average fault restoration time of the BDS satellite space signal anomalies are calculated respectively;
step 4: and (3) establishing an availability comprehensive evaluation model of the BDS satellite space signal based on the obtained average fault interval time and average fault repair time of the IGSO satellite and GEO satellite orbit maneuver and the average fault interval time and average fault repair time of the BDS satellite space signal abnormality, and evaluating and calculating the availability performance of the BDS satellite space signal according to the availability comprehensive evaluation model.
2. A method for evaluating the availability of BDS satellite space signals according to claim 1, wherein said establishing a comprehensive evaluation model of the availability of BDS satellite space signals is expressed as:
wherein A is 1 For availability of BDS constellation IGSO satellites and GEO satellites, A 2 Availability for the BDS constellation MEO satellites; MTBF (methyl tert-butyl function) 1 Expressed as the average time between failure of the IGSO satellite to GEO satellite orbits; MTTR (methyl thiazolyl tetrazolium) 1 Mean time to failure, expressed as IGSO satellite orbit maneuver with GEO satellite orbit maneuver; MTBF (methyl tert-butyl function) 2 Average inter-fault time, denoted BDS satellite space signal anomalies; MTTR (methyl thiazolyl tetrazolium) 2 Represented as an average of BDS satellite space signal anomaliesBarrier repair time.
3. A BDS satellite space signal availability evaluation method according to claim 1, wherein in step 2, the establishing of the "two-step method" for detecting the orbital maneuver of the IGSO satellite and the GEO satellite includes "orbital maneuver identification" and "orbital maneuver verification", specifically including the following sub-steps:
step 2.1: constructing a broadcast ephemeris time sequence within a limited time period of an IGSO satellite or a GEO satellite;
step 2.2: detecting broadcast ephemeris time sequence of an IGSO satellite or a GEO satellite, marking time periods with continuous or more than N epoch moments of satellite autonomous health marks of SatH21=1 in the broadcast ephemeris sequence, and marking as t i ～t i+n Construction of t i ～t i+n Removing continuous long-half-shaft square root time sequences of the period broadcast ephemeris, and reserving the long-half-shaft square root time sequences with jump, wherein N is more than or equal to 4;
step 2.3: t obtained after rail maneuver identification i ～t i+n Period broadcast ephemeris, using t i-1 Broadcast ephemeris forecast t at time sath1=0 i ～t i+n The satellite orbit of the epoch, labeled "primary orbit"; using t i+n+1 Broadcast ephemeris forecast t at time sath1=0 i ～t i+n The satellite orbits of the time period, labeled "final orbit"; track mutual difference is calculated and the following judgment is carried out: if the satellite does not orbit, the initial orbit and the final orbit are overlapped; if the satellite orbits, the primary orbit and the final orbit have km-magnitude deviation;
step 2.4: for any IGSO satellite or GEO satellite, counting all t caused by orbital maneuver within one year i ～t i+n And (4) respectively calculating the average fault interval time and the average fault repair time of the orbit maneuver of the IGSO satellite or the GEO satellite in the time period.
4. A BDS satellite space signal availability assessment method according to claim 3, wherein in step 2.4, said calculating the average inter-fault time and average repair time of an IGSO satellite or GEO satellite orbit maneuver respectively is expressed as:
in the formula, MTBF 1 Expressed as the average time between failure of the IGSO satellite to GEO satellite orbits; MTTR (methyl thiazolyl tetrazolium) 1 Mean time to failure, expressed as IGSO satellite orbit maneuver with GEO satellite orbit maneuver; m is the number of time periods of track maneuver.
5. A method for evaluating availability of BDS satellite space signals according to claim 1, wherein in step 3, the establishing of the "precise ephemeris-based method for detecting abnormal BDS satellite space signals" detects abnormal BDS satellite space signals, specifically comprises the following sub-steps:
step 3.1: calculating satellite orbit coordinates and clock errors which are equidistant from the precise ephemeris by utilizing BDS satellite broadcast ephemeris, and calculating orbit errors and clock error by taking the satellite orbit coordinates and clock errors provided by the precise ephemeris as references;
step 3.2: setting a track error threshold and a clock error threshold; if any error does not meet the condition, judging the coarse difference data block, and marking the coarse difference data block as a space signal abnormality;
step 3.3: the broadcast ephemeris coarse difference data block of each BDS satellite after identification is sequenced according to the reference time of the satellite clock and combined into a group of space signal abnormal time sequences, and the space signal abnormal time sequences are divided into a plurality of time periods according to the time period number and recorded as t i ～t i+n ；
Step 3.4: counting all t caused by abnormal spatial signals in one year of each BDS satellite i ～t i+n Time period ofAnd calculating the average fault interval time and the average fault repair time of the BDS satellite space signal abnormality.
6. A method for evaluating the availability of BDS satellite space signals according to claim 5, wherein in step 3.4, the mean time between failure and mean time between failure of the computed BDS satellite space signal anomaly are expressed as:
in the formula, MTBF 2 Average inter-fault time, denoted BDS satellite space signal anomalies; MTTR (methyl thiazolyl tetrazolium) 2 Average fault repair time expressed as BDS satellite space signal anomalies; m is the number of time periods during which the spatial signal is abnormal.
7. A BDS satellite space signal availability assessment method according to claim 6, wherein the set orbit error threshold is: the orbit error of the IGSO satellite and the MEO satellite is less than 10m, and the orbit error of the GEO satellite is less than 50m; setting a clock error threshold as follows: the clock difference is <30ns.
8. A BDS satellite space signal availability assessment system, comprising:
the data acquisition module is used for acquiring all broadcast ephemeris data broadcasted in a BDS constellation limited time period;
the first calculation module is used for establishing a two-step method for detecting orbit maneuver of the IGSO satellite and the GEO satellite aiming at the IGSO satellite and the GEO satellite of the BDS constellation, and calculating the average fault interval time and the average fault restoration time of the orbit maneuver of the IGSO satellite and the GEO satellite;
the second calculation module is used for establishing a BDS satellite space signal abnormality detection method based on precise ephemeris for the IGSO satellite, the GEO satellite and the MEO satellite of the BDS constellation to detect the space signal abnormality of the BDS satellite, and calculating the average fault interval time and the average fault restoration time of the BDS satellite space signal abnormality respectively;
the availability comprehensive evaluation model building module is used for building an availability comprehensive evaluation model of the BDS satellite space signal based on the obtained average fault interval time and average fault repair time of the IGSO satellite and the GEO satellite in orbit, and the average fault interval time and average fault repair time of the BDS satellite space signal abnormality, and evaluating and calculating the availability performance of the BDS satellite space signal according to the availability comprehensive evaluation model.
9. A BDS satellite space signal availability assessment system according to claim 8, wherein said establishing a comprehensive assessment model of availability of BDS satellite space signals is expressed as:
wherein A is 1 For availability of BDS constellation IGSO satellites and GEO satellites, A 2 Availability for the BDS constellation MEO satellites; MTBF (methyl tert-butyl function) 1 Expressed as the average time between failure of the IGSO satellite to GEO satellite orbits; MTTR (methyl thiazolyl tetrazolium) 1 Mean time to failure, expressed as IGSO satellite orbit maneuver with GEO satellite orbit maneuver; MTBF (methyl tert-butyl function) 2 Average inter-fault time, denoted BDS satellite space signal anomalies; MTTR (methyl thiazolyl tetrazolium) 2 Mean time to failure recovery, expressed as BDS satellite space signal anomalies.
10. An electronic device comprising a memory, a processor for implementing the steps of a BDS satellite space signal availability assessment method according to any one of claims 1-7 when executing a computer program stored in the memory.
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