KR101363226B1 - Method for deploying base station antenna to improve global navigation satellite message fault detection and appratus for detecting fault of global navigation satellite message - Google Patents

Abstract

The present invention relates to a method for deploying a base station antenna to improve fault detection of a global navigation satellite message and a fault detection apparatus of the global navigation satellite message. The method for deploying a base station antenna to improve fault detection of a global navigation satellite message received from a satellite of the present invention includes: an apex coordinate calculation step of calculating each apex coordinate of a polygon corresponding to the number of a plurality of base station antennas; and an antenna deployment step of deploying each of the plurality of base station antennas at each calculated apex coordinate of the polygon in order to generate a base line among the plurality of base station antennas, by moving one base station antenna among the plurality of deployed base station antennas to generate an additional base line which is independent of the generated base line. [Reference numerals] (121) Receiver A; (122) Receiver B; (123) Receiver C; (124) Receiver D

Description

METHOD FOR DEPLOYING BASE STATION ANTENNA TO IMPROVE GLOBAL NAVIGATION SATELLITE MESSAGE FAULT DETECTION AND APPRATUS FOR DETECTING FAULT OF GLOBAL NAVIGATION SATELLITE MESSAGE}

An embodiment of the present invention relates to a method for arranging a reference station antenna for improving fault detection of a satellite navigation message and a device for detecting a fault of a satellite navigation message, and more particularly, to a baseline generated according to the number and arrangement of available reference station antennas. By placing a plurality of reference station antennas through analysis of the sensitivity matrix size to maximize the number of additional baselines independent of the PSA, and detecting the failure of the satellite navigation message through the arranged plurality of reference station antennas, The present invention relates to a method of arranging a reference station antenna for improving fault detection of a satellite navigation message and improving a fault detection apparatus of a satellite navigation message, which can improve fault detection performance so as to increase accuracy and accuracy.

The user of the satellite navigation system needs the accuracy of measured value information (pseudorange), satellite coordinates and clock error information calculated between the satellite and the user receiver in order to accurately calculate the position of the satellite navigation system. Here, satellite coordinates and clock error information are calculated through a satellite navigation message.

Various fault detection techniques have been developed to ensure the accuracy of measured value information, satellite coordinates and clock error information as well as the integrity directly related to the safety of users of the satellite navigation system. Among various satellite navigation systems, GBAS (Ground Based Augmentation System), an aviation application system using satellite navigation systems, detects failures by using antenna information of a number of ground reference stations that are accurately measured in advance. Alternatively, GBAS, an aeronautical application system using satellite navigation systems, uses signals from various frequency bands to determine whether measurements have failed. In addition, the failure detection technique is designed to notify the user within a predetermined time (TTA: Time) when there is an abnormality in the result of the determination of the failure.

As described above, in the satellite navigation system, a failure detection technique of a satellite navigation message, that is, a measurement value based satellite navigation message used for a satellite coordinate failure, has been developed in various failure detection techniques to improve the performance of the failure detection.

The general fault detection technique uses a method of detecting a failure of a newly updated satellite navigation message based on a satellite navigation message which has been verified in advance using a characteristic that the satellite navigation message is updated after a certain time. For example, the pre-validated satellite navigation message may be verified 2 hours ago, 1 day ago or 1 week ago.

However, when the satellite first comes up, or when the satellite's orbit is changed, there is no pre-validated satellite navigation message. Therefore, the fault detection technique of the satellite navigation message using the pre-verified satellite navigation message has a limitation in detecting the fault so as to have accurate and integrity.

In order to overcome the limitation of the fault detection, a method for detecting a satellite navigation message failure using a measured value (for example, distance information between a satellite and a receiver, pseudorange / carrier) of the satellite navigation system has been developed. This fault detection technique is also limited in improving the performance of the fault detection technique because it is a measurement based satellite navigation message fault detection measured from a reference station antenna arranged in a general square or parallelogram shape.

According to embodiments of the present invention, satellite navigation messages are arranged by arranging a plurality of reference station antennas through analysis of a sensitivity matrix size such that the number of additional baselines independent of baselines generated according to the number and arrangement of available reference station antennas is maximized. The purpose of the present invention is to provide a reference station antenna arrangement method for improving the fault detection of satellite navigation messages, which can improve the fault detection performance of the satellite navigation messages.

According to another embodiment of the present invention, a plurality of reference station antennas are arranged and arranged by analyzing a sensitivity matrix size such that the number of additional baselines independent of the baselines generated according to the number and arrangement of available reference station antennas is maximized. By detecting whether a satellite navigation message has failed through a plurality of reference station antennas, an apparatus for detecting a failure of a satellite navigation message can be improved to improve the accuracy and integrity of the failure detection performance of the satellite navigation message.

According to a first aspect of the present invention, in a method of arranging a reference station antenna for improving fault detection of a satellite navigation message received from a satellite, vertex coordinates for calculating coordinates of each vertex of a polygon corresponding to the number of antennas of a plurality of reference stations Calculating step; And arranging the plurality of reference station antennas at respective vertex coordinates of the calculated polygons so as to generate baselines between the plurality of reference station antennas, wherein the one of the plurality of reference station antennas is generated. There may be provided a method of arranging a reference station antenna for improving fault detection of a satellite navigation message comprising an antenna arrangement step of moving and arranging an additional baseline independent of the baseline.

According to a second aspect of the present invention, in the apparatus for detecting a failure of a satellite navigation message received from a satellite, each of the plurality of reference station antennas is disposed at each vertex coordinate of a polygon such that a baseline between a plurality of reference station antennas is generated. A satellite navigation message received from the satellite and a satellite from a plurality of reference station antennas arranged by moving one of the reference station antennas from the plurality of reference station antennas so as to generate an additional baseline independent of the generated baseline; A receiver which receives distance measurement information necessary for satellite distance measurement between a plurality of receivers; A distance measuring unit measuring a satellite distance between the satellite and a plurality of receivers using the received satellite navigation message and distance measurement information; A distance transmitting / receiving unit which exchanges satellite distance measurement values measured by the plurality of receivers with each other; A test statistic calculation unit for calculating a test statistic used to detect a failure of a satellite navigation message by differentiating the exchanged satellite distance measurement values; A failure limit calculation unit for calculating a failure limit value to be compared with the calculated test statistic; And a failure determination unit determining a failure by comparing the calculated test statistics with a failure limit value.

According to embodiments of the present invention, satellite navigation messages are arranged by arranging a plurality of reference station antennas through analysis of a sensitivity matrix size such that the number of additional baselines independent of baselines generated according to the number and arrangement of available reference station antennas is maximized. It is effective to improve the fault detection performance of the system to increase accuracy and accuracy. For example, embodiments of the present invention can configure six independent baseline vectors with four reference station antennas, thereby making it possible to achieve azimuth angles with more satellites vertically.

According to another embodiment of the present invention, a plurality of reference station antennas are arranged and arranged by analyzing a sensitivity matrix size such that the number of additional baselines independent of the baselines generated according to the number and arrangement of available reference station antennas is maximized. By detecting whether the satellite navigation message is faulted through a plurality of reference station antennas, the fault detection performance of the satellite navigation message can be improved to improve accuracy and integrity.

1 is a layout view of four reference station antennas for improving fault detection of a satellite navigation message according to an embodiment of the present invention.
2 is a block diagram of a failure detection apparatus for a satellite navigation message according to an embodiment of the present invention.
3 is a geopolitical layout between a faulty satellite and a reference station antenna associated with a sensitivity matrix applied to an embodiment of the invention.
4 is a geopolitical relationship between a baseline vector and a satellite applied to an embodiment of the present invention.
5 is a graph showing a change in sensitivity matrix size according to changes in satellite elevation and azimuth angles applied to an embodiment of the present invention.
FIG. 6 is a graph illustrating a conversion aspect of satellite elevation angles according to the reference station antenna arrangement of FIG. 1 applied to an embodiment of the present invention.
FIG. 7 is a graph illustrating the maximum azimuth angles of the reference station antenna arrangement and the reference station antenna quadrangular arrangement of FIG. 1 according to an embodiment of the present invention.
8 is a sensitivity matrix size graph measured using satellite elevation and azimuth information measured in FIGS. 6 and 7.
9 is a layout view of reference station antennas when there are five and six reference station antennas according to an exemplary embodiment of the present invention.
10 is a flowchart illustrating a method for arranging a reference station antenna for improving fault detection of a satellite navigation message according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The configuration of the present invention and the operation and effect thereof will be clearly understood through the following detailed description. Before describing the present invention in detail, the same components are denoted by the same reference symbols as possible even if they are displayed on different drawings. In the case where it is judged that the gist of the present invention may be blurred to a known configuration, do.

1 is a layout view of four reference station antennas for improving fault detection of a satellite navigation message according to an embodiment of the present invention.

As shown in FIG. 1, the four terrestrial reference station antennas include a reference station antenna A 111, a reference station antenna B 112, a reference station antenna C 113, and a reference station antenna D 114. Here, each of the reference station antennas A to D (111 to 114) is connected to the receiver A 121, the receiver B 122, the receiver C 123, and the receiver D 124, respectively. The four terrestrial reference station antennas A through D (111 through 114) are arranged as shown in FIG. 1 to generate additional baselines independent of the baselines for improved fault detection of satellite navigation messages.

Reference station antennas A to D (111 to 114) may receive satellite navigation messages from satellites on Earth. In addition, the reference station antennas A to D (111 to 114) have position coordinate information that has already been accurately measured in advance.

The receivers A to D (121 to 124) are connected to the reference station antennas A to D (111 to 114), respectively, and the pseudo distance measured based on the precise position coordinates of the reference station antennas A to D (111 to 114). Distance between the satellite and the reference station antenna can be measured.

When the reference station antennas A to D (111 to 114) are arranged as shown in Fig. 1, two additional base lines 1115 and 1116 independent of four base lines are secured in addition to the four base lines 1111 to 1114 secured in advance. Here, the distance 102 between the reference station antenna D 114 and the upper right corner vertex of the hexagon and the distance 101 between the reference station antenna C 113 and the upper right corner vertex of the hexagon should be the same.

Looking at the arrangement of the four reference station antennas A to D (111 to 114) in detail, the baseline vector formed by the four reference station antennas A to D (111 to 114) and the azimuth and baseline vector formed by the satellite 20 are included. The reference station antenna D 114 may be moved and disposed so that the satellite elevation angle formed by the plane and the satellite 20 approaches a predetermined angle (eg, 90 degrees).

Further, the length 102 of one side of the polygon in the diagonal direction of the polygon including the virtual vertex coordinates from the virtual vertex coordinates in which four reference station antennas A to D (111 to 114) are not arranged among the vertex coordinates of the quadrangle. The reference station antenna D 114 may be moved and disposed at the position coordinate moved by. Specifically, when four reference station antennas A to D (111 to 114) are arranged, four local base lines 1111 to 1114 at 45 degree intervals and two independent baselines 1115 and 67.5 degrees and 22.5 degrees are independent. Any reference station antenna may be moved and arranged such that 1116 is generated. Here, the reference station antenna D 114 may be moved and disposed so that the distance between the four reference station antennas A to D 111 to 114 is located above the preset antenna distance. This is to ensure that the four reference station antennas A to D (111 to 114) are kept above a certain distance from each other.

2 is a block diagram of a failure detection apparatus for a satellite navigation message according to an embodiment of the present invention.

As shown in FIG. 2, the failure detection apparatus 200 of the satellite navigation message includes a receiver 210, a distance measurer 220, a distance transmitter / receiver 230, a test statistic calculator 240, and a fault threshold calculator. 250 and the failure determination unit 260.

The receiving unit 210 respectively arranges a plurality of reference station antennas at each vertex coordinate of the polygon such that baselines between the plurality of reference station antennas shown in FIG. 1 are generated, and any one reference station antenna among the plurality of reference station antennas arranged. The satellite navigation message received from the satellite 20 and distance measurement information necessary for satellite distance measurement between the satellite 20 and the plurality of receivers are obtained from a plurality of reference station antennas arranged to move an additional baseline independent of the baseline. Receive.

Hereinafter, a failure detection apparatus 200 of a satellite navigation message communicating with four reference station antennas in a state in which a plurality of reference station antennas are arranged in FIG. 1 will be described.

According to the above-described reference station antenna arrangement, the receiving unit 210 performs the reference station antenna D (the base line between the reference station antennas A to D (111 to 114) and the additional base line associated with the reference station antenna D (114) to be independent of each other. 111 may receive the satellite navigation message and the distance measurement information from the receivers A to D 121 to 124 connected to the reference station antennas A to D (111 to 114), which are moved and arranged.

The distance measuring unit 220 measures the satellite distance between the satellite 20 and the plurality of receivers by using the satellite navigation message and the distance measurement information received by the receiver 210. The distance measuring unit 220 may use code information or carrier information. In this case, when carrier information is used, the distance measuring unit 220 may further apply an algorithm for estimating an unknown number to measure a satellite distance between the satellite 20 and the plurality of receivers.

The distance transceiver 230 exchanges satellite distance measurement values measured by a plurality of receivers.

The test statistic calculator 240 calculates the test statistic used to detect a failure of the satellite navigation message by subtracting the satellite distance measurement values exchanged by the distance transceiver 230. The test statistic calculator 240 may calculate the test statistic necessary for fault detection by differentially calculating distance information (eg, code information and carrier information) received from the distance transceiver 230.

The failure limit calculator 250 calculates a failure limit value to be compared with the test statistics calculated by the test statistics calculator 240.

The failure determination unit 260 determines the failure by comparing the test statistics calculated by the failure threshold calculation unit 250 with the failure threshold.

3 is a geopolitical layout between a faulty satellite and a reference station antenna associated with a sensitivity matrix applied in an embodiment of the invention.

3 shows a unit vector 301 and a distance 302 between the reference station antenna A 111 and the faulty satellite position 31, a unit vector 311 between the faulty satellite position 31 and the faulty satellite position 31; Distance 312 is shown. That is, the geopolitical relationship between the reference station antenna A 111 and the faulty satellite position 31 of the satellite in which the fault of the satellite navigation message has occurred and the actual satellite position 32 of the actual satellite is shown in FIG. 3. Here, the fault satellite position 31 of the faulty satellite can be measured, but the actual satellite position 32 of the actual satellite cannot be measured.

는 기준국 안테나 A(111)와 고장 위성 위치(31) 간의 단위 벡터(301)를 나타낸다.

는 계산될 수는 없으나 고장 위성 위치(31)와 실제 위성 위치(32) 간의 단위 벡터(311)를 나타낸다.For example,

Denotes a unit vector 301 between the reference station antenna A 111 and the faulty satellite position 31.

Cannot be calculated but represents the unit vector 311 between the faulty satellite position 31 and the actual satellite position 32.

는 기준국 안테나 A(111)와 고장 위성 위치(31) 간의 거리(302)를 나타낸다.

는 계산될 수는 없으나 고장 위성 위치(31)와 실제 위성 위치(32) 간의 거리(312)를 나타낸다.And

Denotes the distance 302 between the reference station antenna A 111 and the faulty satellite position 31.

Cannot be calculated but represents the distance 312 between the faulty satellite position 31 and the actual satellite position 32.

4 is a geopolitical relationship between a baseline vector and a satellite applied to an embodiment of the present invention.

As shown in FIG. 4, reference station antennas A and B (111 and 112) and satellite 40 are located in a geopolitical relationship. That is, the azimuth angle 402 between the baseline vector 401 between the reference station antennas A and B 111 and 112 and the satellite 40, and the satellite elevation angle 403 between the satellite 40 and the plane containing the baseline vector 401. ) Is shown.

는 두 개의 기준국 안테나 A 및 B(111 및 112)가 이루는 기저선 벡터(401)를 나타낸다.For example,

Denotes a baseline vector 401 formed by two reference station antennas A and B 111 and 112.

는 기저선 벡터와 위성(40)이 이루는 방위각(402)을 나타낸다.

Denotes the azimuth angle 402 formed by the baseline vector and the satellite 40.

는 기저선 벡터가 포함된 평면과 위성(40)이 이루는 위성 앙각(403)을 나타낸다.

Represents the satellite elevation 403 formed by the satellite 40 and the plane containing the baseline vector.

The baseline vector 401, the azimuth 402, and the satellite elevation 403 serve as parameters for deriving a sensitivity matrix equation (Equation 1 below), which is a criterion for improving performance of failure detection of a satellite navigation message.

The sensitivity matrix serving as a criterion for improving the fault detection performance of the satellite navigation message applied to the embodiment of the present invention with reference to FIGS. 3 and 4 described above is shown in Equation 1 below.

는 두 개의 두 개의 기준국 안테나에서 수신된 측정값 정보의 차분 값을 두 개의 기준국 안테나가 이루는 기저선 벡터의 크기로 나눈 값을 나타낸다. 우측 항에서

는 도 3에서 전술된 바와 같이 위성항법메시지 고장으로 인한 고장 위성 위치(31)와 실제 위성 위치(32) 간의 거리(312)를 나타낸다. 우측항의 각 요소는 도 3 및 도 4에서 전술된 물리량을 나타낸다. 우측 항에서

는 우측항의

을 제외한 나머지 항을 나타내며, 매트릭스 민감도 크기를 의미한다. 고장이 다양한 위성에서 발생하였더라도 좌측 항에 표시된 매트릭스 민감도의 크기에 따라 좌측항(고장 검출에 사용되는 검정통계량)에 미치는 영향이 다름을 확인할 수 있다. 여기서, 민감도 매트릭스의 크기는 일반적인 측정값 기반 고장 검출 기법에서 사용된 민감도 매트릭스의 크기를 기저선 배치에 따라 분석될 수 있다.Where, in the left term

Denotes a value obtained by dividing a difference value of measured information received by two reference station antennas by the size of a baseline vector formed by two reference station antennas. In the right column

Denotes the distance 312 between the fault satellite position 31 and the actual satellite position 32 due to a satellite navigation message fault as described above in FIG. Each element in the right term represents the physical quantity described above in FIGS. 3 and 4. In the right column

Is the right term

Represents the remaining terms, except for the matrix sensitivity magnitude. Even if the fault occurred in various satellites, it can be seen that the effect on the left term (the test statistic used for fault detection) differs according to the magnitude of the matrix sensitivity indicated on the left term. In this case, the size of the sensitivity matrix can be analyzed according to the baseline arrangement of the size of the sensitivity matrix used in a typical measurement-based failure detection technique.

In order to improve the performance of the fault detection algorithm of satellite navigation messages comparing the measured values received from multiple terrestrial reference stations, the size of the sensitivity matrix for fault detection should be high.

To this end, the baseline vector between the multiple terrestrial reference station antennas and the satellite elevation angle and azimuth angle between the satellites must be perpendicular to each other. However, since the satellite elevation angle is less variable according to the reference station antenna arrangement, the azimuth angle formed by the baseline vector between multiple ground station antennas must be adjusted. For the general four reference station antennas, only four independent baseline vectors may be constructed in the case of square and parallelogram.

Hereinafter, referring to FIGS. 5 to 8, the size of the sensitivity matrix for the reference station antenna arrangement of FIG. 1 according to the exemplary embodiment of the present invention is not the reference antenna arrangement of the square and parallelogram shapes for four general reference station antennas. Let's look at the results of the analysis.

5 is a graph showing a change in sensitivity matrix size according to changes in satellite elevation and azimuth angles applied to an embodiment of the present invention.

Sensitivity matrix size related to the detection of a fault in a measured value of a satellite navigation message applied to an embodiment of the present invention is shown. The Y axis of the graph represents the magnitude of the sensitivity matrix and the X axis represents the azimuth angle. FIG. 5 shows a graph for analyzing the sensitivity matrix according to the satellite elevation angle and the azimuth angle of the satellite formed with the baseline vector between the antennas of the multiple reference stations.

Specifically, in the graph of FIG. 5, the sensitivity matrix size graph 501 when the satellite elevation angle is 0 degrees, the sensitivity matrix size graph 502 when 30 degrees, the sensitivity matrix size graph 503 when 60 degrees, and 90 degrees The sensitivity matrix size graph 504 of the case is shown. At this time, the azimuth angle of the satellite has a range of 0 degrees to 180 degrees. Here, the higher the value of the sensitivity matrix, which is the graph size of FIG. 5, indicates that the failure detection apparatus 200 has a higher probability of detecting a failure for the same failure. That is, in FIG. 5, the sensitivity matrix size graph 504 at 90 degrees has the maximum sensitivity matrix size in the range of almost the entire azimuth angle.

FIG. 6 is a graph illustrating a conversion aspect of satellite elevation angles according to the reference station antenna arrangement of FIG. 1 applied to an embodiment of the present invention.

As shown in FIG. 6, the actual satellite elevation angle change according to the reference station antenna arrangement shown in FIG. 1, which is an embodiment of the present invention, is shown. In the case of the reference station antenna arrangement shown in FIG. 1, the actual satellite data used for the failure detection performance evaluation is shown. The satellite elevation shown in FIG. 6 shows a satellite elevation that decreases from 25 degrees to 5 degrees over time.

FIG. 7 is a graph illustrating the maximum azimuth angles of the reference station antenna arrangement and the reference station antenna quadrangular arrangement of FIG. 1 according to an embodiment of the present invention.

The maximum azimuth angle formed with the baseline vectors of the multiple reference station antenna of the satellite applied in FIG. 6 is shown in FIG. 7.

The maximum azimuth result 702 according to the reference station antenna arrangement of FIG. 1 and the maximum azimuth angle result 701 according to the quadrangular arrangement of the reference station antenna according to the satellite elevation conversion pattern used in FIG. 6 are shown. The maximum azimuth result 701 of the quadrangle arrangement represents the result when four reference station antenna arrangements of a square type are generally applied. On the other hand, the maximum azimuth angle result 702 according to the reference station antenna arrangement of FIG. 1 shows the azimuth angle result when the four reference station antenna arrangements of FIG. 1 are arranged according to an embodiment of the present invention.

Specifically, when time is 0, the maximum azimuth graph 702 according to the reference station antenna arrangement of FIG. 1 represents about 87 degrees, and the maximum azimuth graph 701 according to the rectangular arrangement of the reference station antenna is about 69 degrees. Indicates. Then, when the time has elapsed to 100, each of the maximum azimuth graphs 701 and 702 both shows about 78 degrees. That is, the maximum azimuth graph 702 according to the reference station antenna arrangement of FIG. 1 tends to have a larger satellite azimuth angle than the maximum azimuth graph 701 according to the rectangular arrangement of the reference station antenna. It can be seen that the reference station antenna arrangement of FIG. 1 according to an embodiment of the present invention has a tendency to have an improved maximum azimuth angle than a typical square antenna arrangement. That is, it can be seen that the maximum azimuth angle according to the reference station antenna arrangement of FIG. 1 according to an embodiment of the present invention is close to 90 degrees.

8 is a sensitivity matrix size graph measured using satellite elevation and azimuth information measured in FIGS. 6 and 7.

The sensitivity matrix size for the satellite navigation message is shown in FIG. 8 using the satellite elevation and azimuth information measured in FIGS. 6 and 7. In FIG. 8, the sensitivity matrix size 801 according to the general quadrangular arrangement and the sensitivity matrix size 802 according to the reference station antenna arrangement of FIG. 1 are shown separately.

Referring to FIG. 8, the sensitivity matrix size 802 according to the reference station antenna arrangement of FIG. 1 tends to be larger than the sensitivity matrix size 801 according to the general rectangular arrangement regardless of time.

9 is a layout view of reference station antennas when there are five and six reference station antennas according to an exemplary embodiment of the present invention.

When the number of ground reference station antennas is 5 or more, a reference station antenna arrangement according to an embodiment of the present invention is shown in FIG. 9. 9 shows a case in which the number of reference station antennas is five, and a case in which the number of reference station antennas is six is shown on the right side of FIG.

When the number of reference station antennas is five, five reference station antennas are arranged in a regular pentagon shape (910). The baseline between the reference station antennas arranged in the regular pentagonal form generates five independent baselines 911. Five independent baselines 911 are created symmetrically at 36 degree intervals.

Meanwhile, when the number of reference station antennas is six, six reference station antennas are arranged in a pentagonal shape 920. The baseline between the reference station antennas arranged in a regular hexagonal form generates six independent baselines 921. Six independent baselines 921 are created symmetrically at 30 degree intervals.

That is, according to an exemplary embodiment of the present invention, when it is possible to arrange additional reference station antennas in addition to the four reference station antennas, they are arranged in a square N-shape. Here, N represents the number of reference station antennas. The regular N-shape allows baselines between N reference antennas to be generated independently. However, according to an embodiment of the present invention, even when some reference station antennas are moved in the square shape, the size of the sensitivity matrix may be lower than that in the case of the square shape. Can have

10 is a flowchart illustrating a method for arranging a reference station antenna for improving fault detection of a satellite navigation message according to an embodiment of the present invention.

In the method of arranging reference station antennas according to an embodiment of the present invention, the number of reference station antennas is confirmed (1002).

Each vertex coordinate of the polygon corresponding to the number of reference station antennas identified in step 1002 is calculated (1004).

Thereafter, a plurality of reference station antennas are disposed at each vertex coordinate of the polygon calculated in step 1004 (1006). This is to allow a baseline between a plurality of reference station antennas to be generated.

In operation 1008, any one of the plurality of reference station antennas arranged in step 661 is moved and disposed. Here, this is to allow additional baseline to be generated independent of the baseline generated in step 1006.

The foregoing description is merely illustrative of the present invention, and various modifications may be made by those skilled in the art without departing from the spirit of the present invention. Accordingly, the embodiments disclosed in the specification of the present invention are not intended to limit the present invention. The scope of the present invention should be construed according to the following claims, and all the techniques within the scope of equivalents should be construed as being included in the scope of the present invention.

The present invention can be applied to a reference station antenna arrangement that is effective for detecting the failure of satellite navigation messages in a limited number of ground reference station antennas, and in particular, the Global Ground Based Augmentation System (GBAS) currently in progress worldwide. It may be applicable to. In this respect, the invention is a commercially available invention because the possibility of marketing or operating the applied device is not only sufficient for the use of the related technology, but also practically evident as it exceeds the limitation of the existing technology.

111 to 114: reference station antennas A to D
121 to 124: receivers A to D 20: satellites
200: failure detection device 210: receiver
220: distance measuring unit 230: distance transceiver
240: test statistic calculation unit 250: failure limit calculation unit
260: failure determination unit

Claims (12)

A reference station antenna arrangement method for improving fault detection of a satellite navigation message received from a satellite,
A vertex coordinate calculation step of calculating each vertex coordinate of the polygon corresponding to the number of the plurality of reference station antennas; And
The plurality of reference station antennas are disposed at respective vertex coordinates of the calculated polygons so that baselines between the plurality of reference station antennas are generated, and the one of the plurality of reference station antennas is generated. Antenna placement step of moving and placing additional baseline independent of baseline
Method of disposing a reference station antenna for improving the fault detection of the satellite navigation message comprising a. The method of claim 1,
The antenna arrangement step,
The one reference station antenna is moved and disposed such that a baseline vector formed by the plurality of reference station antennas, an azimuth angle formed by the satellite, a plane including the baseline vector, and a satellite elevation angle formed by the satellite are close to a preset angle. And a reference station antenna for improving fault detection of a satellite navigation message. The method of claim 1,
The antenna arrangement step,
The position coordinates shifted from the virtual vertex coordinates of the computed vertex coordinates of the polygon in which the plurality of reference station antennas are not arranged by the length of one side of the polygon in the diagonal direction of the polygon including the virtual vertex coordinates. And a reference station antenna for improving fault detection of a satellite navigation message, wherein the reference station antenna is moved and arranged. The method of claim 1,
The antenna arrangement step,
The satellite navigation message, characterized in that the base station between the plurality of reference station antennas generated and the additional base line associated with any one of the generated reference station antennas are moved and arranged independently of each other. A method of arranging reference station antennas for improved fault detection. The method of claim 1,
The antenna arrangement step,
When the number of the plurality of reference station antennas is four, one of the reference station antennas is moved and arranged so that four local baselines at 45 degree intervals and two additional baselines independent of 67.5 degrees and 22.5 degrees are generated. And a reference station antenna for improving fault detection of a satellite navigation message. The method of claim 1,
The antenna arrangement step,
And moving one of the reference station antennas such that the distance between the plurality of reference station antennas is greater than or equal to a predetermined antenna distance. In the fault detection apparatus of the satellite navigation message received from the satellite,
The plurality of reference station antennas are disposed at respective vertex coordinates of the polygons so that baselines between the plurality of reference station antennas are generated, and any one of the reference station antennas among the arranged plurality of reference station antennas is independent of the generated baseline. A receiver configured to receive satellite navigation messages received from the satellites and distance measurement information necessary for satellite distance measurement between the satellites and a plurality of receivers from a plurality of reference station antennas which are moved to generate additional baselines;
A distance measuring unit measuring a satellite distance between the satellite and a plurality of receivers using the received satellite navigation message and distance measurement information;
A distance transmitting / receiving unit which exchanges satellite distance measurement values measured by the plurality of receivers with each other;
A test statistic calculation unit for calculating a test statistic used to detect a failure of a satellite navigation message by differentiating the exchanged satellite distance measurement values;
A failure limit calculation unit for calculating a failure limit value to be compared with the calculated test statistic; And
Failure determination unit for determining the failure by comparing the calculated statistical statistics with the failure threshold
Satellite navigation message failure detection device comprising a. The method of claim 7, wherein
The receiver may further comprise:
The one reference station antenna is moved and disposed such that a baseline vector formed by the plurality of reference station antennas, an azimuth angle formed by the satellite, a plane including the baseline vector, and a satellite elevation angle formed by the satellite are close to a preset angle. And a satellite navigation message and distance measurement information from a plurality of reference station antennas. The method of claim 7, wherein
The receiver may further comprise:
Any one of the one of the position coordinates moved from the virtual vertex coordinates of the polygon coordinates of the polygon where the plurality of reference station antennas are not arranged to the diagonal direction of the polygon including the virtual vertex coordinates by the length of one side of the polygon. And a satellite navigation message and distance measurement information from a plurality of reference station antennas in which the reference station antenna is moved and arranged. The method of claim 7, wherein
The receiver may further comprise:
The satellite navigation is performed from a plurality of reference station antennas in which any one of the reference station antennas is moved and arranged such that a baseline between the generated plurality of reference station antennas and an additional baseline associated with the generated one reference station antenna are independent of each other. Satellite navigation message failure detection device, characterized in that for receiving the message and the distance measurement information. The method of claim 7, wherein
The receiver may further comprise:
When the number of the plurality of reference station antennas is four, the plurality of reference station antennas are moved and arranged such that four local baselines at 45 degree intervals and two independent baselines of 67.5 degrees and 22.5 degrees are generated. A satellite navigation message failure detection apparatus, comprising receiving a satellite navigation message and ranging information from a reference station antenna. The method of claim 7, wherein
The receiver may further comprise:
And receiving satellite navigation messages and distance measurement information from a plurality of reference station antennas in which any one of the reference station antennas is moved so that the distance between the plurality of reference station antennas is greater than or equal to a preset antenna distance. Navigation message failure detection device.

Images