KR100964003B1 - Apparatus and Method of Gauging the Measurement Noise of the Raw Data observed by GNSS Receivers - Google Patents

Abstract

The present invention relates to an apparatus for calculating the original information measurement noise of a satellite radio navigation system, comprising: an antenna for receiving a signal transmitted from a satellite, and an RF signal received through the antenna, divided into a first signal and a second signal for outputting the signal; The RF signal divider, the first receiver for receiving the first signal, the second receiver for receiving the second signal, and the first receiver and the second receiver are controlled to receive and process the raw information for the same satellite, Difference between frequency bands by subtracting the first time difference result between the receivers for the first frequency band and the second time difference result between the receivers for the second frequency band for the same satellite from the first and second receivers And a raw information measuring noise calculator for calculating the value and calculating the measured noise of the raw information using the difference value between frequency bands. According to the apparatus and method for calculating the original information measurement noise of the satellite radio navigation receiver system, it is possible to improve the measurement noise measurement accuracy of the pseudo range and the carrier phase information without the satellite radio navigation signal simulation device.

Satellite navigation, receiver, raw information measurement noise

Description

Apparatus and Method of Gauging the Measurement Noise of the Raw Data observed by GNSS Receivers

The present invention relates to an apparatus and method for calculating the original information measurement noise of a satellite radio navigation system, and more particularly, to an apparatus and method for calculating the original information measurement noise of a satellite radio navigation system that can increase the accuracy of calculating the original information measurement noise. will be.

Satellite navigation systems provide location and visual information anywhere in the world. The satellite navigation system has been widely used in various fields, including maritime navigation, in that it provides a higher accuracy of positioning services than terrestrial navigation systems such as Loran-C. However, standalone positioning using only a satellite propagation system alone does not satisfy the positioning accuracy required in areas with high traffic volume and high risk of collision between ships, such as harbors. The representative method to solve this problem is DGNSS (Differential Global Navigation Satellite Systems) positioning method using GNSS augmentation system. DGNSS positioning method extracts the error component of satellite signal by using satellite radio navigation receiver for reference station installed in reinforcement system and transmits the extracted error component to neighboring satellite radio navigation user receivers to remove satellite signal error. It is a method to improve the positioning accuracy. In particular, the pseudorange-based DGNSS positioning method used in the offshore maritime navigation field has a small amount of correction information, so there is no burden on information transmission, and the user only needs to perform simple arithmetic processing using the received pseudo distance error correction information. This has the advantage of increasing the positioning accuracy.

DGNSS positioning accuracy affects the size of the raw information measured by the user's satellite navigation receiver using the DGNSS correction information and the accuracy of the calibration information generated by the satellite navigation receiver for the reference station installed in the satellite navigation system. The accuracy of the correction information is affected by the magnitude of the measured noise of the original information measured by the reference station receiver. The reason for this is that the correction information generated by the satellite navigation receiver for the reference station is not only common to the user's satellite radio navigation receiver but also the ion layer / tropospheric delay error, satellite clock error, and satellite orbit error. It is because it contains the original information measurement noise that cannot be removed, and the user's satellite radio navigation receiver cannot remove the measurement noise of the original information measured by the DGNSS positioning method.

For this reason, the measurement of raw information measurement noise of a satellite radio navigation receiver, that is, a receiver for a reference station or a receiver for a user, has been recognized as an important technical field related to DGNSS positioning accuracy. In particular, the measurement and measurement of the raw information measurement noise of satellite radio navigation receiver for reference station is not only at the design and development stage of receiver, but also about the degree of positioning accuracy can be satisfied by DGNSS correction service using the developed receiver. It is also very important for analysis.

Hereinafter, a description will be given of a method of measuring original information noise of a conventional receiver for a satellite radionavigation system.

Prior to the description, the pseudoranges and carrier phases, which are the original information of the satellite radio navigation receiver, are represented by Equations 1 and 2 below.

는 수신장치 A가 위성 i에 주파수 n대역에서 송신한 의사잡음 코드를 수신하여 측정한 의사거리,

는 수신장치 A와 위성 i 사이의 거리,

는 위성 궤도정보 오차로 인한 수신장치 A와 위성 i 사이의 거리오차,

와

는 수신장치 A와 위성 i 사이의 이온층, 대류권 지연오차,

는 위성 i의 클럭 오차,

는 수신장치 A의 클록오차,

는 수신장치 A가 위성 i에 주파수 n대역에서 송신한 의사잡음 코드를 수신하여 측정한 의사거리의 측정잡음이다.here

Is the pseudorange measured by the receiver A receiving the pseudonoise code transmitted to the satellite i in the frequency n band,

Is the distance between receiver A and satellite i,

Is the distance error between receiver A and satellite i due to satellite orbit error,

Wow

Is the ion layer between the receiver A and satellite i, the tropospheric delay error,

Is the clock error of satellite i,

Is the clock error of receiver A,

Is a measurement noise of the pseudo distance measured by the receiver A receiving a pseudo noise code transmitted to the satellite i in the frequency n band.

는 수신장치 A가 위성 i에 주파수 n대역에서 송신한 반송파를 수신하여 측정한 반송파 위상,

는 위성 i에서 수신장치 A까지 주파수 n대역의 반송파 신호가 도달하는데 소요된 반송파 주기 개수 중에서 정수부를 거리로 환산한 미지정수이며,

는 수신장치 A가 위성 i에 주파수 n대역에서 송신한 반송파를 수신하여 측정한 반송파 위상의 측정잡음을 나타낸다.Also,

Is a carrier phase measured by the receiver A receiving the carrier wave transmitted to the satellite i in frequency n band,

Is an unspecified integer obtained by converting the integer part into the distance from the number of carrier cycles required to reach the carrier signal of frequency n band from satellite i to receiver A,

Denotes the measurement noise of the carrier phase measured by the receiver A receiving the carrier wave transmitted to the satellite i in the frequency n band.

Meanwhile, the measurement noise of the pseudorange and the carrier phase has a white Gaussian noise characteristic, and the magnitude (deviation) σ (υ) of the measurement noise can be expressed by Equations 3 and 4 below.

,

,

,

,

Where E is the mean and var is the variance.

On the other hand, the conventional information measurement noise measurement technique of the conventional receiver for satellite propagation system is classified according to the use of the satellite propagation signal generator. The direct-error measurement technique using the satellite navigation signal simulation apparatus is known as the method of easily measuring the measurement noise of the original information.

,

,

,

,

,

와 위성전파항법 수신장치 또는 측정잡음 계측장치에서 추정한

를 이용하여 원시정보 측정잡음의 크기를 계측하는 방법이다. 따라서 직접-오차차감 측정기법은 반드시 고가의 위 성전파항법신호 모의생성 장치가 구비된 경우에만 적용 가능한 기법이므로 일반적으로 이용하기 어렵다는 문제가 있을 뿐만 아니라 위성전파항법신호 모의생성 장치의 출력이 실제 위성전파항법 신호와 완벽하게 동일한 특성을 갖지 않으므로 직접-오차차감 측정기법을 이용해 계측한 측정잡음이 실제 수신장치 운용환경에서 발생하는 측정잡음과 같지 않다는 문제가 있다.To explain this, the direct-error measurement technique is an error component that can be transmitted by the satellite navigation signal simulation apparatus.

,

,

,

,

,

Estimated by GPS and Satellite Radio Receiver or Measuring Noise Measuring Equipment

This method is to measure the size of the original information measurement noise using. Therefore, the direct-error measurement technique is applicable to the case where the expensive above-mentioned CTE signal generator is provided. Therefore, there is a problem that it is generally difficult to use, and the output of the satellite CNS simulator is actually output. Since it does not have exactly the same characteristics as the radionavigation signal, there is a problem that the measurement noise measured using the direct-error difference measuring technique is not the same as the measurement noise generated in the actual receiver operating environment.

와

라고 하면, 시간차분 측정기법은 연속으로 측정된 의사거리

와

를 차분하여 아래의 수학식5를 구한다.On the other hand, the conventional primitive information measurement noise measurement technique that solves the problem of the direct-error measurement technique by using only the raw information output of the satellite radio navigation receiver without using the satellite radio navigation signal simulation device is a continuous measurement of primitive There is a time difference measuring technique for measuring measurement noise by dividing information and a zero-baseline measuring technique for measuring measurement noise using two receiving devices of the same type. In other words, the pseudoranges measured at k and k-1, respectively

Wow

In other words, the time difference measuring technique is a pseudo distance measured continuously

Wow

Then, the following equation (5) is obtained.

,

,

,

,

,

성분은 0에 가까운 값이 되어 무시할 수 있는 성분으로 바뀐다. 시간차분 측정기법은 이런 특성을 이용하여

를 구 한다. If the time interval (i.e. period) of k and k-1 is very short in Equation 5 above, Equation 5

,

,

,

,

,

The component is close to zero, turning it into a negligible component. The time difference measurement technique uses these characteristics

Obtain

와

는 아래의 수학식6과 같은 관계를 갖고 있으므로

로부터 얻고자 하는 의사거리 측정잡음의 크기(편차)

를 아래의 수학식7을 이용하여 산출한다.Pseudorange measurement noise

Wow

Since has the relationship as shown in Equation 6 below

Magnitude (deviation) of pseudorange measurement noise

Is calculated using Equation 7 below.

, ,

,,

,

,

,

,

,

성분이 무시할 수 있을 정도의 값을 갖지 않는 경우가 있다는 문제가 있다. 여기서 제거되지 않고 남은

,

,

,

,

,

성분은

값으로 오인되어 위성전파항법 수신장치의 측정잡음 계측 오차를 크게 하는 문제를 일으킨다.This time difference measurement technique has the advantage that it can measure pseudo range measurement noise in real GNSS satellite signal receiving environment without satellite navigation signal simulation device, but theoretically, the measurement condition must be very fast to measure measurement noise accurately. In fact, even if the time difference measurement technique is applied by collecting the raw information measured at a measurement cycle of 10 Hz

,

,

,

,

,

There is a problem that the component may not have a negligible value. Not removed from here

,

,

,

,

,

Ingredient

It is misinterpreted as a value and causes a problem of increasing measurement noise measurement error of the satellite radio navigation receiver.

Meanwhile, the zero-baseline measurement technique collects raw information using two receiving devices of the same type, that is, A and B, and differentiates the collected raw information between receivers as shown in Equations 8 and 9 below.

,

,

,

,

는 모두 제거되고, 오직 측정잡음의 차분값(

,

)과

만 남게 된다. 여기서 의사거리와 반송파 위상의 측정잡음 차분값은 아래의 수학식 10 및 11과 같은 특성을 갖는다.Here, since the receivers A and B use a zero-baseline environment, that is, the same antenna, Equations 8 and 9

,

,

,

,

Are all removed, and only the difference between measured noise (

,

)and

Only remains. Here, the measured noise difference value between the pseudorange and the carrier phase has the same characteristics as in Equations 10 and 11 below.

,

,

,

,

성분을 제거하기 위해 아래의 수학식 12 및 13과 같이 수신기간 차분결과를 위성 i와 위성 j에 대해 다시 차분하고, 이때 계측된 잡음이 아래의 수학식 14 및 15와 같은 특성을 갖는다고 가정하며, 이를 이용하여 원시정보 측정잡음의 크기,

와

를 계측해 낸다.In addition, the zero-baseline measurement technique

In order to remove the components, the difference between receivers is re-differentiated for satellite i and satellite j as shown in Equations 12 and 13 below, and it is assumed that the measured noise has the characteristics as shown in Equations 14 and 15 below. By using this, the size of the original information measured noise,

Wow

Measure out.

,

,

,

,

However, since the measurement noise of the raw information is not the same for each satellite, Equations 14 and 15 assumed by the zero-baseline measurement technique do not actually hold. For this reason, the zero-baseline measurement technique also accurately measures the measurement noise. I can't.

The present invention has been made to solve the above problems, and provides an apparatus and method for calculating the original information measurement noise of the satellite radio navigation system that can improve the measurement accuracy of the measurement information of the satellite radio navigation receiver. There is a purpose.

In order to achieve the above object, the original information measuring noise calculating apparatus of the satellite radio navigation system according to the present invention comprises: an antenna for receiving a signal transmitted from a satellite; An RF signal divider configured to divide and output an RF signal received through the antenna into a first signal and a second signal; A first receiver for receiving the first signal; A second receiver for receiving the second signal; Controlling the first receiver and the second receiver to receive and process the raw information for the same satellite, and a first time during the receiver for the first frequency band for the same satellite from the first receiver and the second receiver. A difference between frequency bands obtained by subtracting a difference result and a second time difference result between receivers for a second frequency band for the same satellite from the first and second receivers is obtained, and the difference between the frequency bands is used. And a source information measurement noise calculator for calculating the measurement noise of the source information.

Preferably, the source information measurement noise calculator estimates a trend line having a slope and an offset component from the difference between the frequency bands, verifies the estimation result of the trend line by a significance verification equation, and then the components of the trend line are effective. If it is determined that the measured noise is calculated from the value obtained by removing the trend line component from the difference between the frequency bands, and if it is determined that the component of the trend line is invalid, the measured noise is calculated from the difference between the frequency bands.

In addition, in order to achieve the above object, the method of calculating the original information measurement noise of the satellite radio navigation receiving system according to the present invention is a. A first time difference between the first receiver for receiving the first signal and the second signal distributed from the antenna for receiving the signal transmitted from the satellite, and the receiver for the first frequency band for the same satellite in the second receiver; Calculating a result and a second time difference result between receivers for a second frequency band for the same satellite from the first and second receivers; Obtaining a difference value between frequency bands obtained by subtracting the first time difference result and the second time difference result; All. And calculating measurement noise using the difference value between the frequency bands.

Preferably the multi-stage is multi-1. Estimating a trend line having a slope and an offset component from the difference between the frequency bands; C-2. Determining whether the estimation result of the trend line is significant by a significance verification formula; C-3. Calculating the measured noise from a value obtained by removing the trend line component from the difference between the frequency bands when it is determined that the trend line component is valid in the multi-step; C-4. And calculating measurement noise from the difference value between the frequency bands when it is determined that the component of the trend line is invalid in step C-2.

According to the apparatus and method for calculating the original information measurement noise of the satellite radio navigation system according to the present invention, it is possible to improve the measurement noise measurement accuracy of pseudorange and carrier phase information without the need for a satellite radio navigation signal simulation device.

The method of calculating the original information measurement noise according to the present invention is to analyze whether the reference station receiver which has been developed in the design and development stage of the reference station receiver for the satellite radio navigation reinforcement system satisfies the positioning accuracy to be serviced. It can also be used effectively.

Hereinafter, with reference to the accompanying drawings will be described in more detail the apparatus and method for calculating the original information measurement noise of the satellite radio navigation system according to an embodiment of the present invention.

1 is a block diagram showing an apparatus for calculating original information measurement noise according to the present invention.

Referring to FIG. 1, the raw information measuring noise calculating apparatus 100 includes an antenna 110, an RF (RF) signal splitter 120, first and second receivers 130 and 140, and a raw information measuring noise calculator ( 150 and storage device 160.

The antenna 110 receives a signal transmitted from a satellite.

The RF signal splitter 120 divides the RF signal received through the antenna 110 into a first signal and a second signal, and outputs the first and second signals. The first signal and the second signal are signals having the same characteristics, such as signal strength and bandwidth.

The first receiver 130 is controlled by the raw information measurement noise calculator 150 and calculates and outputs raw information including a pseudo distance from the satellite and a carrier phase from the first signal received from the RF signal splitter 120.

The second receiver 140 is controlled by the raw information measurement noise calculator 150 and calculates and outputs raw information including a pseudo distance from the satellite and a carrier phase from the second signal received from the RF signal splitter 120.

The raw information measurement noise calculator 150 controls the first receiver 130 and the second receiver 140 to receive and process the raw information for the same satellite.

In addition, the raw information measurement noise calculator 150 and the first time difference between the receiver for the first frequency band for the same satellite from the raw information output from the first receiver 130 and the second receiver 140 and From the first receiver 130 and the second receiver 140, the difference between the frequency bands obtained by subtracting the result of the second time difference between the receivers for the second frequency band for the same satellite is obtained, and the difference between the frequency bands is obtained. To calculate the measurement noise of the original information.

Preferably, the source information measurement noise calculator 150 estimates a trend line having a slope and an offset component from the difference between frequency bands, verifies the estimation result of the trend line by a significance verification equation, and then the components of the trend line are effective. If it is determined that the measured noise is calculated from the value obtained by removing the trend line component from the difference between the frequency bands, the measured noise is calculated from the difference between the frequency bands.

The storage device 160 stores the measured noise calculated by the source information measuring noise calculator 150.

Preferably, the storage device 160 is formed of a structure having a display unit (not shown) and an input unit for instructing and setting the measurement so as to monitor the measurement noise received and calculated by the source information measurement noise calculator 150. It is preferable.

Meanwhile, as illustrated in FIG. 2, the raw information measuring noise calculator 150 includes an information collecting unit 151, a difference processing unit 152 between raw information receivers, a measurement noise trend line estimation processing unit 153, a significance verification, and a measurement noise analysis. A processing unit 154, a measurement information database DB generation and transmission / reception processing unit 155, and a receiver control unit 156 are provided.

The information collector 151 collects information output from the first and second receivers 130 and 140.

The difference processing unit 152 between the original information receivers performs a first time difference result between the receivers and the first receiver 130 and the first receiver during the first frequency band for the same satellite from the original information collected by the information collecting unit 151. From the two receivers 140, the difference between frequency bands is obtained by subtracting the result of the second time difference between receivers for the second frequency band for the same satellite.

The measurement noise trend line estimation processor 153 estimates a trend line having a slope and an offset component from the difference between frequency bands.

The significance verification and measurement noise analysis processor 154 verifies the estimated result of the estimated trend line by the significance verification equation, and if it is determined that the components of the trend line are valid, the noise analysis processor 154 measures the value from the difference between the frequency bands and removes the trend line component. If it is determined that the components of the trend line are invalid, the noise is measured from the difference between frequency bands.

The measurement information database (DB) generation and transmission / reception processing unit 155 generates the measurement noise calculated from the significance analysis and measurement analysis unit 154 as a database, and receives a data output request signal from the storage device 160 described later. When the generated database is output to the storage device 160. Also, the control signal received from the storage device 160 is received and output to the receiver controller 156.

The receiver controller 156 controls the first and second receivers 130 and 140. The receiver controller 156 outputs a control signal for the original information output type, difference period, unit, etc. to the first and second receivers.

Hereinafter, the measurement noise calculation process will be described in more detail with reference to the above equation.

First, in the present invention, the pseudo-range measurement noise is a white Gaussian noise and the same information in the zero-baseline environment in which the original information is calculated by the two receivers 130 and 140 using the one antenna 110. In the case of satellites, the measured noises of the original information between the frequency bands are proportional to each other, and only the difference result of the measured information noise is extracted using the known proportional constant, and the trend information of the extracted information is estimated through a trend line estimation and significance test. Eliminating hardware delay errors improves measurement accuracy of raw information measurement noise.

First, the difference between the receivers of the frequency n band of the first receiver 130 and the second receiver 140 for the same satellite corresponds to Equations 8 and 9, and this value corresponds to the first time difference result. The difference between the receivers of the frequency k bands of the first receiver 130 and the second receiver 140 for the same satellite is calculated by replacing the subscript n representing the frequency band with k in Equations 8 and 9 above. This value corresponds to the second time difference result. In addition, the difference value between frequency bands corresponds to a value obtained by subtracting the first time difference result value and the second time difference result value calculated from Equations 8 and 9, and can be obtained by using Equations 16 and 17 below. have.

,

을 추출한다. 여기서 아래 첨자 n은 n 주파수대역을, k는 k 주파수대역을, A는 제1수신기(130), B는 제2수신기(140)를 의미하고, i는 위성종류를 의미한다. In addition, by using the equations (16) and (17), measurement noise having the same characteristics as the following equations (18), (19), and (20)

,

Extract Here, the subscript n denotes the n frequency band, k denotes the k frequency band, A denotes the first receiver 130, B denotes the second receiver 140, and i denotes a satellite type.

,

,

Here, h is a proportional constant representing the proportionality of the pseudorange measurement noise of the n frequency band to the pseudorange measurement noise of the k frequency band, and m is the carrier phase measurement noise of the n frequency band versus the carrier phase measurement noise of the k frequency band. Proportional constant that represents the degree of proportional to.

,

에 대해 추세선 기울기와 오프셋을 아래의 수학식 21의 모델을 이용하여 추정한다.Next is extracted noise

,

The trend line slope and offset are estimated using Equation 21 below.

으로서, n회 추출한 측정잡음이고,here

As the measured noise extracted n times,

으로서, a는 추세선의 기울기, b는 추세선의 오프셋이고,

A is the slope of the trend line, b is the offset of the trend line,

으로서 t는 측정잡음 추출 누적 횟수이고,

T is the cumulative number of measurement noise extractions,

는 추출한 측정잡음의 랜덤 노이즈이다.

Is the random noise of the extracted measurement noise.

Where T is the transpose of the matrix represented by [], that is, the transpose matrix.

Meanwhile, the trend line of the extracted measurement noise is estimated as shown in Equation 22 below.

,

,

,

이다. 추정된 추세선의 기울기와 오프셋은

을 구하여 유의성을 검정한다. 여기서

과

는 아래의 수학식23 및 24에 의해 구한다. 여기서 수학식 23 및 24는 추정된 추세선의 기울기와 오프셋이 의미가 있는지를 판단하는 유의성 검증식에 해당한다.here

,

to be. The slope and offset of the estimated trend line

Obtain the test for significance. here

and

Is obtained by the following equations (23) and (24). Equations 23 and 24 correspond to a significance test that determines whether the estimated slope and the offset of the trend line are meaningful.

또는

or

또는

or

이 3.5보다 큰 경우는 추정된 추세선의 기울기가 유효하고,

이 3.5보다 큰 경우는 추정된 추세선의 오프셋이 유효함을 나타낸다. 추정된 추 세선의 성분이 의미가 있는 경우 즉, 추정한 추세선의 기울기와 오프셋이 유효한 경우는 하드웨어 지연오차가 발생한 경우이므로 앞서 수학식 16 및 17에서 구한 값에서 추세선 성분인 기울기와 오프셋을 빼주고, 의미가 없는 경우 즉, 추정한 추세선의 기울기와 오프셋이 무효한 경우에는 하드웨어 지연오차가 발생하지 않은 경우이므로 앞서 수학식 16 및 17에서 구한 값만으로 측정잡음을 수학식 19 및 20과 미리 알고 있는 비례상수 h와 m 값을 이용하여 측정잡음의 크기인 σ와 υ를 산출한다.here,

If this is greater than 3.5, the estimated slope of the trend line is valid.

If the value is larger than 3.5, the estimated trend line offset is valid. If the components of the estimated trend line are meaningful, that is, if the slope and offset of the estimated trend line are valid, the hardware delay error occurs. Therefore, the slope and offset, which are the trend line components, are subtracted from the values obtained in Equations 16 and 17. If there is no meaning, that is, if the slope and offset of the estimated trend line are invalid, there is no hardware delay error. Therefore, the measurement noise is previously known to the equations 19 and 20 only by using the values obtained in Equations 16 and 17. The constants h and m are used to calculate σ and υ, the magnitudes of the measured noise.

The process by the calculator 150 of FIG. 1 will be described with reference to FIG. 3 for the measurement noise calculation method described through the above equations.

First, the operator 150 transmits a receiver setting control signal (step 210).

Here, the receiver setting control signal refers to setting information on the type of the original information output, the period for obtaining the time difference, and the unit.

Thereafter, it is determined whether a signal indicating that the setting is completed is received from the receivers 130 and 140 (step 220).

If it is determined that the receiver setting is completed, raw information and satellite signal reception state information are collected from the receivers 130 and 140 (step 230). Here, the satellite signal reception state information refers to satellite orbit, received satellite number, position deterioration value (PDOP), signal to noise intensity, and the like.

Next, it is determined whether the information collected in step 230 is capable of difference between receivers (step 240). Here, the difference between the receivers can be determined by the three-dimensional position solution, the position deterioration value (PDOP) is 5 or less, and the number of satellites tracked above the elevation angle is 4 Determine if it is abnormal or not.

If it is determined in step 240 that the difference between receivers is possible, the difference between the receiver and the heterogeneous information is calculated (step 250). Here, the reception time difference is obtained by using Equations 8 and 9 for the frequency n band and the k band, respectively, and the difference value between the frequency bands is calculated from Equations 16 and 17.

Then, the slope and the offset of the trend line are estimated in the manner described above through Equations 21 and 22 (step 260).

The significance of the trend line is then determined (step 270).

In this case, the significance of the trend line may be determined from a value calculated using the significance verification equation described through Equations 23 and 24.

If it is determined in step 270 that the trend line is valid, the trend line component is removed from the difference values calculated in Equations 16 and 17 (step 280), and the magnitude of the measured noise of the original information is previously known from Equations 19 and 20. Using the proportional constants h and m, σ and υ which are magnitudes of the measured noise are calculated (step 290).

On the contrary, if it is determined that the trend line is invalid at step 270, the difference of the noise calculated in Equations 16 and 17 is used as is and the proportional constants h and m previously known as Equations 19 and 20 are used. Σ and υ which are magnitudes of the measured noise are calculated (step 290).

The measurement information calculated through the above-described process is generated by generating a database to the measurement information, and the generated information is output to the storage device (160).

1 is a block diagram showing an apparatus for calculating original information measuring noise according to the present invention;

FIG. 2 is a detailed block diagram of the original information measuring noise calculator of FIG. 1;

3 is a flowchart illustrating a process of calculating raw information measurement noise according to an exemplary embodiment of the present invention.

Claims (4)

delete An antenna for receiving a signal transmitted from a satellite; An RF signal divider configured to divide and output an RF signal received through the antenna into a first signal and a second signal; A first receiver for receiving the first signal; A second receiver for receiving the second signal; Controlling the first receiver and the second receiver to receive and process the raw information for the same satellite, and a first time during the receiver for the first frequency band for the same satellite from the first receiver and the second receiver. A difference between frequency bands obtained by subtracting a difference result and a second time difference result between receivers for a second frequency band for the same satellite from the first and second receivers is obtained, and the difference between the frequency bands is used. A source information measurement noise calculator for calculating the measurement noise of the source information; The raw information measuring noise calculator After estimating a trend line having a slope and an offset component from the difference between the frequency bands, verifying the significance of the estimation result of the trend line by a significance verification equation, and determining that the components of the trend line are valid from the difference between the frequency bands. The measurement noise calculating device of the satellite radio navigation system, characterized in that the noise is calculated from the value obtained by removing the trend line component, and the measured noise is calculated from the difference value between the frequency bands when it is determined that the component of the trend line is invalid. . delete end. A first time difference between the first receiver for receiving the first signal and the second signal distributed from the antenna for receiving the signal transmitted from the satellite, and the receiver for the first frequency band for the same satellite in the second receiver; Calculating a result and a second time difference result between receivers for a second frequency band for the same satellite from the first and second receivers; I. Obtaining a difference value between frequency bands obtained by subtracting the first time difference result and the second time difference result; All. Calculating measurement noise using the difference value between the frequency bands; The multi-steps C-1. Estimating a trend line having a slope and an offset component from the difference between the frequency bands; C-2. Determining whether the estimation result of the trend line is significant by a significance verification formula; C-3. Calculating the measured noise from a value obtained by removing the trend line component from the difference between the frequency bands when it is determined that the trend line component is valid in the multi-step; C-4. And calculating measurement noise from the difference value between the frequency bands when it is determined that the component of the trend line is invalid in step C-2.

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