KR101177326B1 - DGNSS Integrity Monitor system based on AIS - Google Patents

Abstract

The present invention relates to an AIS-based DGNSS integrity monitoring system that monitors the integrity of correction error information generated by an AIS virtual reference station device of an AIS-based reference station system, and is connected to a DGPS reference station that transmits satellite error information through a network. An AIS virtual reference station device for receiving the satellite error information and generating and transmitting correction error information from the received satellite error information; An AIS base station apparatus for receiving and transmitting correction error information transmitted from the AIS virtual reference station apparatus; After comparing the GNSS receiver for integrity monitoring, the AIS terminal receiving the correction error information transmitted from the AIS base station apparatus, the received error information of the GNSS receiver and the correction error information of the AIS terminal, and determining the integrity of the correction error information. And an integrity monitoring device including an integrity monitoring unit for feeding back the integrity information according to the determination to the AIS virtual reference station device.
In the present invention, even if the DGPS beacon receiver is not installed, the ship equipped with the AIS can be provided with the improved DGPS correction information service, so that more accurate marine vessel monitoring and track tracking can be achieved, and the ship's position accuracy is improved. It contributes to maritime traffic safety such as ship collision prevention, ship accident analysis and ship control.

Description

AIDS-based DGNSS integrity monitoring system {DGNSS Integrity Monitor system based on AIS}

The present invention relates to an AIS-based DGNSS integrity monitoring system for monitoring the integrity of correction error information generated in the AIS virtual reference station apparatus of the AIS-based reference station system.

Differential GPS (DGPS) is a system that can calculate the more accurate position by using the error information to inform the other GPS user terminal around the GPS error information.

Global Navigation Satellite Systems (GNSS) such as GPS in the US, GLONASS in Russia, Galileo in the European Union, and COMPASS in China are collectively referred to as systems to improve the positioning accuracy and enhance the integrity functions. It is called a system (DGNSS) (Differential Global Navigation Satellite Systems).

In general, the DGNSS system includes a reference station (RS), an integrity monitor (IM), and a control station (CS). The reference station generates satellite error information, converts it to the Radio Technical Commission for Maritime Services (RTCM) international standard format, and broadcasts it through MSK modulation. The integrity monitoring station receives and demodulates satellite error information broadcast from the reference station, and then analyzes the RTCM satellite error information to monitor integrity. The control station controls and monitors the reference station and the integrity monitoring station by using the RTCM message.

On the other hand, AIS (Automatic Identification System) adopted by the International Maritime Organization (IMO) to enhance the safety and security of ships is automatically sent and received between ships, ships, ships and land. It is used for coastal water control, search and rescue and maritime traffic control services, and monitoring of ship operations in coastal waters. AIS is a digital VHF wireless transponder system designed to operate in continuous mode no matter where the vessel is sailing. AIS uses VHF frequency channels 87B and 88B in the marine mobile frequency band for data communication, and each channel is capable of transmitting 9,600bps and 200 information per minute. In addition, 12 real-time AIS operating stations, 11 redundant base stations, and 26 base stations have been established and operated for real-time monitoring of ships operating in offshore Korea.

However, in the case of the service that broadcasts the satellite error information through the DGPS reference station described above, the DGPS beacon receiver should be mounted in order to receive the information from the maritime sailing vessel. It is very slight.

In particular, AIS (Automatic Identification System) network for ship automatic identification is considered in order to safely operate the maritime traffic dense areas, ports, and narrow waterways and perform the docking service efficiently. There is a need for a method for providing satellite error information even in the case of a ship or other maritime facilities using the AI terminal capable of transmitting and receiving information.

Accordingly, the present applicant has filed an 'AS reference station system' to solve such a problem.

However, the RS reference station system receives DGPS reference station correction information through a beacon, converts the received correction information into an AIS message, and relays the transmission from the AIS base station. Insufficient consideration of the integrity monitoring function

The present invention has been proposed to solve the above problems, and aims to improve the quality of correction information service provision in an AIS-based reference station system.

An object of the present invention as described above is connected to a DGPS reference station for transmitting satellite error information through a network, and receives the satellite error information and generates and transmits correction error information from the received satellite error information. An apparatus;

An AIS base station apparatus for receiving and transmitting correction error information transmitted from the AIS virtual reference station apparatus;

After comparing the GNSS receiver for integrity monitoring, the AIS terminal receiving the correction error information transmitted from the AIS base station apparatus, the received error information of the GNSS receiver and the correction error information of the AIS terminal, and determining the integrity of the correction error information. An integrity monitoring device comprising an integrity monitoring unit for feeding back the integrity information according to the determination to the AIS virtual reference station device;

It is achieved by the AIS-based integrity monitoring system, characterized in that configured to include.

According to the present invention, even if the DGPS beacon receiver is not installed, the ship equipped with the AIS can be provided with an improved DGPS correction information service, which enables more accurate marine vessel monitoring and track tracking, and improves the positional accuracy of the vessel. It contributes to maritime traffic safety, such as ship collision prevention, ship accident analysis and ship control, and can be used for ship automatic berthing system.

In addition, it can be extended to DGNSS correction information services such as DGPS, DGLONASS and DGalileo.

1 is a block diagram of an AIS-based DGNSS integrity monitoring system according to the present invention,
2 is a block diagram of an AIS reference station system to which the present invention is applied;
3 is a flowchart of correction information of an AIS reference station system;
4 is a block diagram showing a method of generating correction information of an AIS reference station system;
5 is a block diagram showing an integrity checking process according to the present invention;
6 is an algorithm for integrity monitoring according to the present invention.

Prior to describing the present invention, an 'AIS reference station system' (Application No. 10-2009-0100449) filed by the applicant will be described.

<AIS reference station system>

The AIS reference station system 100 includes an AIS virtual reference station apparatus 110 and an AIS base station apparatus 150.

A detailed configuration and operation relationship of the AIS virtual reference station apparatus 110 and the AIS base station apparatus 150 will be described in detail with reference to FIGS. 2 to 4.

The AIS virtual reference station device 110 is connected to the DGPS reference station 101 that transmits satellite error information through a network to receive satellite error information, and generates correction error information from the received satellite error information to generate the AIS base station device ( 150).

The AIS virtual reference station device 110 includes a GPS receiver 112 and an AIS virtual reference station 120.

The AIS virtual reference station 120 is configured to receive satellite error information from the DGPS reference station 101 through the DGPS reference station 101 and a wired or wireless network.

The AIS virtual reference station 120 generates correction error information for compensating the pseudo-distance residual value from the satellite information received from the GPS receiver 112 and the satellite error information received from the DGPS reference station 101 to generate the correction error information. It is preferable that it is constructed to transmit to 150, the detailed structure thereof will be described with reference to FIG.

The AIS virtual reference station 120 includes an RTCM decoder 121, a first correction unit 123, a pseudo distance residual calculation unit 125, a second correction unit 127, and an RTCM encoder 129.

The RTCM decoder 121 decodes satellite error information received from the DGPS reference station 101.

Here, the satellite error information is information included in the RTCM # 1 or # 9 message, and includes pseudorange correction information (PRC) and pseudorange rate correction information (RRC).

The first correction unit 123 adds the pseudo distance PR output from the GPS receiver 112 to the pseudo distance correction information PRC among the satellite error information output from the RTCM decoder 121 to correct the first order. Calculate the corrected PR.

The pseudorange residual calculator 125 subtracts the first pseudorange output from the first correction unit 123 from the range with respect to the satellite based on the absolute coordinates of the AIS virtual reference station apparatus 110, and then pseudoranges. The residual value LSA (PR Residual) is obtained.

The second correction unit 127 adds the pseudo-range residual value calculated by the pseudo-range residual calculator 125 to the pseudo-range correction information (PRC) of the satellite error received from the DS reference station 101 to obtain a final correction error. Generate information.

The RTCM encoder 129 encodes and transmits the correction error information generated by the second correction unit 127 in a transmission format corresponding to the communication format of the AIS base station apparatus 150.

The AIS base station apparatus 150 includes a base station controller 152 and an AIS base station 154.

The base station controller 152 is connected to the AIS virtual reference station 120 through a communication network, receives correction error information from the AIS virtual reference station 120, converts it into a transmission format corresponding to the AIS base station 154, and then converts it into an AIS base station ( 154).

The AIS base station 154 broadcasts wirelessly so that the AIS terminal 200 can receive the correction error information received from the base station controller 152.

Here, the AIS terminal 200 is a wireless terminal for transmitting and receiving radio signals by the AIS communication system in the automatic vessel identification system (AIS).

4 is a block diagram illustrating a method of generating correction information of an AIS reference station system, and includes satellite error information including RTCM # 1 or # 9 message and correction data (PRC / RRC) transmitted from the DGPS reference station 101. Is received by the AIS virtual reference station 120 and then the above-described correction error information is generated and transmitted to the base station controller 152 through RTCM # 1 or # 9, and the base station controller 152 sends the message ITU # 17. The correction error information is inserted into the data field and transmitted. Then, the AIS base station 154 wirelessly broadcasts message # 17 including the correction error information.

Therefore, the AIS terminal 200 mounted on the ship 300 may calculate the current position more accurately using the correction error information included in the message broadcasted wirelessly from the AIS base station 154.

<Example of the present invention>

On the other hand, the present invention relates to an AIS-based DGNSS integrity monitoring system for monitoring the integrity of the correction error information generated in the AIS virtual reference station device 110 of the AIS reference station system 100, as shown in FIG. An AIS virtual reference station device 110, an AIS base station device 150, and an integrity monitoring device 400 are included.

That is, the present invention is that the integrity monitoring device 400 is added, the integrity monitoring device 400 can improve the stability of AIS-based vessel operation as well as AIS system and network operation. In addition, the integrity monitoring device 400 is an integrity monitoring considering the GNSS satellite abnormality, and may detect the GNSS fault satellite through the AIS.

Hereinafter, each configuration of the AIS-based DGNSS integrity monitoring system according to the present invention will be described in detail.

The AIS virtual reference station apparatus 110 is connected to the DGPS reference station 101 for transmitting satellite error information through a network, and receives the satellite error information and generates and transmits correction error information from the received satellite error information. ego,

The AIS base station apparatus 150 is configured to receive and transmit correction error information transmitted from the AIS virtual reference station apparatus 110.

Integrity monitoring device 400 is the GISS receiver 410 for integrity monitoring, the AIS terminal 200 for receiving the correction error information transmitted from the AIS base station device 150, and the received information of the GNSS receiver 410 and Comparing the correction error information of the AIS terminal 200 to determine whether the integrity of the correction error information, the integrity monitoring unit 420 for feeding back the integrity information according to the determination to the AIS virtual reference station device 110. .

The AIS virtual reference station device 110 may include a GPS receiver 112 and an AIS virtual reference station 120, or may include an RTCM decoder 121, a first corrector 123, and a residual calculator 125. It may be configured to include a second correction unit 127 and the RTCM encoder 129.

The GPS receiver 112 receives satellite information, and the AIS virtual reference station 120 receives a pseudo distance residual value from the satellite information received from the GPS receiver 112 and the satellite error information received from the DGPS reference station 101. Compensate for the correction error information is generated and transmitted to the AIS base station device 150.

The RTCM decoder 121 is configured to decode satellite error information received from the DGPS reference station 101, and the first correction unit 123 is configured to display the GPS receiver (B) in the satellite error information output from the RTCM decoder 121. 112 is a configuration for calculating a first-corrected primary pseudorange by applying the pseudorange output from 112, the pseudorange residual calculator 125 is based on the absolute coordinates of the AIS virtual reference station device 110 and the satellite; The pseudo distance residual value is obtained by subtracting the first pseudo distance output from the first corrector 123 from the distance of the second distance, and the second corrector 127 is calculated by the pseudo distance residual calculator 125. And generating the correction error information by adding the pseudo-distance residual value to the satellite error information received by the DGPS reference station 101, and the RTCM encoder 129 generates the correction generated by the second correction unit 127. Communication of the error information to the AIS base station apparatus 150 A block for encoding and transmission to correspond to the matt.

That is, the present invention is a system required for monitoring the integrity of the DGPS reference station correction information and the correction information generated by the AIS base station itself when the AIS reference station system is used as the DGNSS correction information provider, and such a system is the integrity of the DGNSS system. The same as the role of the monitoring station IM, the integrity checking process is as shown in FIG. 5, and the algorithm for integrity monitoring is shown in FIG. And the requirements and operational relationship for the integrity monitoring service according to the present invention will be described with reference to Figs.

<Requirements>

① DGNSS correction information is transmitted through AIS VDL (VHF Data Link) using AIS message 17.

In accordance with ITU-R M.1371, the surveyed antenna position of the DGNSS reference station 101 shall be given in message 17 and shall be surveyed with 3D accuracy within 0.2 meters (IALA R-121).

③ The correction signal should be applicable to GPS, GLONASS, Galileo, Compass service, etc.

④ Recommended RTCM message sent in AIS 17 message uses RTCM message # 1 or # 9 for DGPS correction information, and RTCM messages # 31 or 34 for DGLONASS correction information.

⑤ AIS message 17 is transmitted using FATDMA (Usage category 2), preferably to meet system 10 second TTA requirements (RATDMA disabled).

⑥ The calibration signal service should be serviced at intervals of 30 seconds or less to maintain accuracy of Class A of the vessel.

<Operation Relationship>

The correction information of the RTCM SC-104 standard format is transferred from the AIS base station transceiver and base station controller (BSC) 152 to the AIS message 17 (DGNSS Broadcast binary message) format defined in ITU-R M.1371-3. It is configured and broadcast according to the message No. 17 received from the ship AIS terminal 200 corrects the position of the ship and transmits the position information. 5 shows the configuration of an AIS-based DGNSS integrity monitoring system. The AIS base station apparatus 150 converts the correction information of the RTCM format transmitted from the DGPS reference station 101 or the AIS virtual reference station apparatus 110 into an AIS message. When broadcasting to the AIS receiver receives the message and delivers to the integrity monitoring device (400). The integrity monitoring apparatus 400 performs an integrity monitoring function by comparing with the GNSS reception information of the GNSS receiver 410 and feeds back the integrity information to the AIS virtual reference station apparatus 110 again.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is evident that many alternatives, modifications, and variations will readily occur to those skilled in the art without departing from the spirit and scope of the invention. Therefore, it should be understood that the disclosed embodiments are to be considered in an illustrative rather than a restrictive sense, and that the true scope of the invention is indicated by the appended claims rather than by the foregoing description, and all differences within the scope of equivalents thereof, .

101: DGPS reference station 110: AIS virtual reference station device
112: GPS receiver 120: AIS virtual reference station
121: RTCM decoder 123: first correction unit
125: residual calculation unit 127: second correction unit
129: RTCM encoder 150: AIS base station unit
200: AIS terminal 400: integrity monitoring device
410: GNSS receiver 420: integrity monitoring unit

Claims (3)

The GPS receiver 112 is connected to a DGPS reference station 101 that transmits error information through a network, and the satellite information is received from the satellite information received by the GPS receiver 112 and the satellite error information received by the DGPS reference station 101. An AIS virtual reference station device (110) comprising an AIS virtual reference station (120) for generating and transmitting correction error information that compensates for a pseudorange residual value;
An AIS base station apparatus 150 for receiving and transmitting correction error information transmitted from the AIS virtual reference station apparatus 110;
Integrity monitoring GNSS receiver 410, AIS terminal 200 for receiving correction error information and satellite information transmitted from the AIS base station device 150, the reception information and the AIS terminal 200 of the GNSS receiver 410 Integrity monitoring device 400 consisting of an integrity monitoring unit 420 for comparing the satellite information of the information to determine the integrity of the correction error information and feeds back the integrity information according to the determination to the AIS virtual reference station device 110; Including,
The AIS virtual reference station device 110,
An RTCM decoder 121 for decoding satellite error information received from the DGPS reference station 101;
A first correcting unit (123) for calculating a first corrected first pseudo distance by applying a pseudo distance output from the GPS receiver (112) to the satellite error information output from the RTCM decoder (121);
Pseudo distance residual calculation unit for calculating the pseudo distance residual value by subtracting the first pseudo distance output from the first correction unit 123 from the distance from the satellite based on the absolute coordinates of the AIS virtual reference station device 110. 125;
A second correction unit 127 for generating the correction error information by adding the pseudo distance residual value calculated by the pseudo distance residual calculator 125 to the satellite error information received by the DGPS reference station 101;
An RTCM encoder 129 encoding and transmitting the correction error information generated by the second correction unit 127 corresponding to the communication format of the AIS base station device 150;
AIS-based DGNSS integrity monitoring system, characterized in that configured to include. delete delete

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