KR101738384B1 - System for integrity checking of measured location of DGNSS and method for integrity checking using for thereof - Google Patents

Abstract

The present invention relates to an integrity checking system for a DGNSS measuring position and an integrity checking method using the same. The integrity checking system of a DGNSS measurement position according to an embodiment of the present invention includes a global navigation satellite system (GNSS) receiving module; an acquisition module for generating GNSS information and supplying the GNSS information to an error estimation unit and a correction positioning module; a correction information receiving module; a correction information acquisition module; a correction positioning module for supplying the position data of a satellite; an error estimation module composed of a pseudo range error estimation module, a non-common error estimation module and a correction value error estimation module; a generation module for calculating a protection level which a user wants; and an integrity checking module. Therefore, the present invention checks the integrity of the measurement position by only the DGNSS receiver.

Description

TECHNICAL FIELD [0001] The present invention relates to an integrity checking system for a DGNSS measuring position and an integrity checking method using the same.

The present invention relates to an integrity checking system for a DGNSS measuring position and an integrity checking method using the same. More specifically, when the DGNSS users receive a position value measured by a receiver, The present invention relates to an integrity checking system for a DGNSS measurement position and an integrity checking method using the same.

 In general, the Global Navigation Satellite System (GNSS) is a radio navigation system using satellites such as US GPS, GLONASS in Russia, Galileo in EU and BeiDou in China.

 The satellite navigation system (DGNSS, Differential Global Navigation Satellite System) is used by GNSS to obtain more accurate measurement results than satellite navigation system. A system for receiving a signal and generating correction information therefrom and broadcasting it so that users can measure a more accurate position.

The DGNSS receivers used in these land / marine / air navigation systems provide accurate position values, but occasionally they provide very large position values.

If the DGNSS receiver provides a positional value with a large error, the user may be in danger because he or she fails to interpret the relationship with the obstacle.

In this regard, the International Maritime Organization (IMO) recommends the performance requirements of the maritime sector for future satellite navigation systems, one of which is the integrity of the satellite navigation system providing alarms There is a requirement.

In addition, the International Civil Aviation Organization (ICAO) also calls for integrity performance to ensure aircraft navigation and landing and landing safety.

However, the present DGNSS user has a problem in that there is no way to check the accuracy of the measured position value each time.

The prior art discloses a method for providing GPS position error correction information for generating and providing GPS position error correction information using IGS (International GPS Service) in a GPS position error correction information providing system and a method for providing GPS position error correction information using a GPS receiver A GPS position error correction method for correcting a GPS position error in a vehicle, and a computer-readable recording medium on which a program for realizing the methods are recorded.

However, the prior patent does not show the influence of the residual error existing on the user position even after the correction using the correction information of the reference station, but merely corrects the position error, and it is difficult for the DGNSS user There is a problem that the existing problem which does not have a check method is inherited.

Prior Patent: Korean Patent Registration No. 10-0498185

The present invention eliminates position measurements, including very large errors that are sometimes provided by DGNSS receivers, before they are used by the user, thereby ensuring the safety of the user by utilizing only measurements having a desired level of quality. And an integrity checking method using the same.

According to another aspect of the present invention, there is provided a system for checking the integrity of a DGNSS measurement location, comprising: a GNSS (Global Navigation Satellite System) receiving and analyzing a GNSS signal transmitted from a GNSS satellite group and providing GNSS raw data; module; And receives GNSS raw data provided by the GNSS receiving module to obtain measurement time, receiver clock error, pseudo distance by each level, standard deviation of each pseudo distance, position of each satellite, and GNSS information, which is a clock error of each satellite An acquisition module for providing the error estimation unit and the corrected positioning module; A correction information receiving module for receiving and interpreting a DGNSS signal transmitted from a DGNSS reference station and providing DGNSS raw data; (DGNSS) data provided by the correction information receiving module to obtain correction value creation time (MZC, Modified-Z Count), position correction value, UDRE (User Differential Range Error) A correction information acquisition module provided to the government and the corrected positioning module; The DGNSS position of the user is measured by a differential correction method using the GNSS information provided by the acquisition module and the DGNSS information provided by the correction information acquisition module, and the DGNSS position of the user and the DGNSS position A correction positioning module for providing a position of each satellite to an error estimation unit and a generation module; A pseudo distance error estimation module for estimating a pseudorange distance error estimated value using the GNSS information provided by the acquisition module; a DGNSS information providing module for providing the correction information and a DGNSS position of the user provided by the correction positioning module; And a correction value error estimation module for providing a gross-gender-by-gender-by-gender-error estimation value using the DGNSS information provided by the correction information acquisition module, ; A DGNSS position, a position of each satellite used for DGNSS position measurement, a pseudorange error estimation value for each gender, a non-common error estimation value for each gender, and a gender-specific correction error estimation value provided through the corrected positioning module and error estimation unit, And a protection level provided through the generation module and compares the protection level with a desired alert limit to thereby measure the corresponding DGNSS position measurement value of the user. And an integrity checking module that determines whether or not to utilize the information.

Specifically, the correction information receiving module 20 receives a DGNSS signal transmitted from a DGNSS reference station through one or more of a medium wave, an NTRIP, a Eurofix, an AIS (Auto Identification System) or a DMB (Digital Multimedia Broadcasting) .

)를 취하여 위성별 의사거리 오차 추정치(

)를 구하고, 상기 각 위성별 의사거리의 표준편차를 사용할 것인지의 여부를 결정할 때 사용하지 않을 것으로 결정되면, 관계식 2를 통해 각 위성별 의사거리(

)에서 각위성의 시계 오차(

)와 수신기 시계 오차(

)를 보상한 각 위성별 조정된 의사거리 오차(

)를 구하고 관계식 3을 통해 각 위성별 조정된 의사거리 오차(

)의 표준편차(

)를 취하여 위성별 의사거리 오차 추정치(

)를 구하는 것을 특징으로 한다.
상기 비공통 오차 추정모듈을 통해 위성별 비공통 오차를 추정하는 단계는, 상기 DGNSS 정보의 기준국 위치와 상기 보정 측위모듈(40)에서 측정된 사용자의 DGNSS 위치를 이용하여 기준국과 사용자 사이의 거리(

)를 구하고, 이를 관계식 4을 통해 비공통 오차(

)를 추정하는 것을 특징으로 한다.According to another aspect of the present invention, there is provided an integrity checking method using an integrity checking system for a DGNSS measurement location, the method comprising: receiving a GNSS signal of a GNSS satellite group from a GNSS receiving module; Receiving DGNSS primitive data obtained by analyzing the GNSS primitive data and correction information receiving module and receiving the DGNSS signal of the DGNSS reference station and receiving the DGNSS primitive data from the obtaining module and the correction information obtaining module; In the providing and receiving step, GNSS source data is received through the GNSS receiving module, and the measurement time, receiver clock error, standard deviation of each pseudo range, satellite position, satellite (MZC, Modified-Z Count) generated by the correction information acquiring module, DGNSS raw data through the correction information receiving module in the receiving step, (User Differential Range Error) and DGNSS information, which is a reference station position, to the error estimation unit and the correction positioning module; Measuring a DGNSS position of a user using a differential correction method in a correction positioning module using GNSS information and DGNSS information generated through the providing step; A DGNSS position of the user measured through the step of measuring the DGNSS position of the user, GNSS information generated by the acquisition module through the providing step, and DGNSS information generated by the correction information acquisition module, , A common non-common error estimate for each gender and an error estimate for each gender by an error estimator; Calculating a protection level of a desired level by a user in a generation module through a positional error estimation value estimated by the error estimating unit and a DGNSS position of a user measured by the correction positioning module, Comparing the generated protection level with an alert limit desired by the user and determining whether the DGNSS position measurement value is to be used for navigation through the integrity checking module.
Estimating the pseudorange error by the pseudorange error estimating module using the GNSS information provided by the acquiring module; Calculating a distance between the reference station and the user through the non-common error estimation module using the DGNSS information provided by the correction information acquisition module and the DGNSS position of the user provided by the correction positioning module, and estimating a non- And estimating a correction value for each sex by using a correction value error estimation module using the DGNSS information provided by the correction information acquisition module.
Wherein the step of estimating the pseudo distance error by the pseudo distance using the pseudo distance error estimation module determines whether or not to use the standard deviation of the pseudo distance by each degree transmitted to the error estimation unit and the correction positioning module in the acquisition module, wherein when each of the above when deciding whether to use the standard deviation of the sex pseudoranges determined to be used, the standard deviation of each of the above gender pseudorange through a relational expression 1 (

) And the estimated pseudorange error

) For obtaining, when each of the above decision that the gender is not used when determining whether or not to use the standard deviation of a distance, each of the above gender pseudorange through a second relational expression (

), The clock error of each satellite

) And receiver clock error (

) Adjusted pseudorange error for each position compensated (

) To obtain the above, each sex adjusted by a relational expression 3 pseudorange error (

) Of the standard deviation

) And the estimated pseudorange error

) Is obtained.
The step of estimating non-common error for each gender through the non-common error estimation module may include estimating a non-common error between the reference station and the user using the reference station position of the DGNSS information and the DGNSS position of the user measured by the correction positioning module Street(

), And this is calculated as a non-common error (

).

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)를 취하여 위성별 보정치 오차 추정치(

)를 구하고, 상기 각 위성별 UDRE를 사용할 것인지의 여부를 결정할 때 사용하지 않을 것으로 결정되면, 관계식 6을 통해 각 위성별 보정치(

)의 표준편차를 취하여 위성별 보정치 오차 추정치(

)로 구하는 것을 특징으로 한다.
상기 사용자가 원하는 수준의 보호수준을 계산하는 단계는, 상기 오차 추정부를 통해 각각 추정하는 단계에서 추정되어 제공되는 DGNSS 정보를 통해 위성별 의사거리 오차 추정치(

), 위성별 비공통 오차 추정치(

) 및 위성별 보정치 오차 추정치(

)를 식 1에 대입하여 오차 모델(

)을 구성하는 단계; 상기 제공하는 단계의 획득모듈에서 획득한 각 위성의 위치 및 사용자의 DGNSS 위치를 측정하는 단계의 보정 측위모듈에서 측정된 사용자의 DGNSS 위치로 ENU 좌표계에서 사용자 위치로부터 위성의 방향에 대한 각 앙각(

)과 방위각(

)을 구하고, 식 2를 통해 위성 배치를 나타내는 단위벡터 행렬(

)을 구성하는 단계; 상기 오차 모델(

)를 통해 구성된 위성별 오차모델(

) 값을 통해 오차모델 값의 역수값(

)을 식 3으로 구하고, 상기 역수값(

)을 식 4에 대입하여 식 4를 통해 가중치 행렬(

)를 구하는 단계; 상기 단위벡터 행렬(

)을 구성하는 단계를 통해 구해진 단위벡터 행렬(

)과 가중치 행렬(

)를 구하는 단계를 통해 구해진 가중치 행렬(

)을 가중최소제곱법인 식 5에 대입하여 거리영역에서 위치영역으로 투영한 투영행렬(

)을 구하는 단계; 상기 투영행렬(

)을 구하는 단계를 통해 구해진 투영행렬(

)의 일부 요소를 취하여 상기 오차 모델(

)을 구성하는 단계에서 구한 위성별 오차 모델을 곱한 후 더하는 방법으로 식 6, 식 7, 식 8 및 식 9를 통해 동쪽 방향으로의 분산 오차(

), 북쪽 방향으로의 분산 오차(

), 동쪽과 북쪽 방향으로의 공분산 오차(

) 및 수직 방향으로의 분산 오차(

)를 구하는 단계 및 상기 분산 오차를 구하는 단계를 통해 구해진 분산 오차 요소와 수평보호수준(

, Horizontal Protection Level)에 대하여 사용자가 요구하는 무결성 리스크를 만족시키는 표준점수(

)와 수직보호수준(

, Vertical Protection Level)에 대하여 사용자가 요구하는 무결성 리스크를 만족시키는 표준점수(

)를 이용하여 수평보호수준과 수직보호수준을 식 10 및 식 11을 통해 구하는 단계를 포함하는 것을 특징으로 한다.The step of estimating the correction value error by the correction value error estimation module determines whether or not to use the UDRE of each position transmitted to the error estimation unit and the correction positioning module in the correction information acquisition module 35, If it is decided to use to determine whether to use each UDRE of each rank, the relation UDRE (

) To obtain the correction value error estimate (

) For obtaining, when each of the above is determined that is not used when determining whether or not to use the gender UDRE, each of the above gender correction value through equations 6 (

), And calculate the error correction value

). ≪ / RTI >
The step of calculating the level of protection desired by the user may further include the step of estimating the degree of protection by using the DGNSS information estimated by the estimating step through the error estimating unit,

), Non-common error estimates by sex

) And the gender-specific correction value error estimate

) To the equation (1 ) to obtain the error model

); The angle of the satellite from the user position in the ENU coordinate system to the DGNSS position of the user measured by the calibration positioning module in the step of measuring the position of each satellite acquired by the acquisition module of the providing step and the DGNSS position of the user,

) And azimuth angle

) To obtain a unit vector matrix representing the satellite deployment through a formula (2) (

); The error model (

), Which is composed of

) Value, the reciprocal value of the error model value (

) Is obtained by the equation (3 ), and the reciprocal value

), The weight matrix through formula (4) are substituted in equation (4) (

); The unit vector matrix (

) Obtained by the step of constructing the unit vector matrix (

) And a weighting matrix (

) Obtained from the weight matrix

) Is substituted into the weighted least squares equation (5 ), and a projection matrix (

); The projection matrix (

) Obtained by obtaining the projection matrix (

) To obtain the error model (

), And then multiplying the result by the error model obtained by the above step. Then, the variance error in the east direction is calculated by the equation 6, the equation 7, the equation 8 and the equation 9

), The dispersion error in the north direction (

), The covariance error in the east and north directions

) And the dispersion error in the vertical direction (

) And a variance error element obtained through the step of obtaining the dispersion error and a horizontal protection level

, Horizontal Protection Level) that satisfies the user's required integrity risk.

) And vertical protection level

, Vertical Protection Level), which satisfies the user's required integrity risk.

) To obtain the horizontal protection level and the vertical protection level through equations (10) and (11 ).

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The present invention has an effect that a user who receives and navigates a GNSS satellite signal and a DGNSS correction signal can check the integrity of a measurement location with only the DGNSS receiver itself without external assistance.

Also, in performing the integrity check, the user can calculate the protection level satisfying the desired level of integrity risk, and the user can compare with the alarm limit of the desired size.

FIG. 1 is a view illustrating a case where a residual error included in a corrected pseudo-range (CPR) generated by applying a pseudo-range correction (PRC) of a reference station is an error cause of a final DGNSS user position Fig.
2 is a diagram showing that a distance error is generated between the route of the user using the GNSS receiver and the position value provided by the GNSS receiver.
FIG. 3 is a diagram illustrating an integrity checking system for a DGNSS measurement location according to an exemplary embodiment of the present invention. Referring to FIG.
4 is a flowchart illustrating an integrity checking method using an integrity checking system for a DGNSS measurement location according to the present invention.
5 is a flowchart illustrating a procedure of estimating an error of an integrity checking method using an integrity checking system for a DGNSS measuring position according to the present invention.
FIG. 6 is a diagram illustrating an error that increases according to a distance between a reference station and a user receiver in an integrity checking method using an integrity checking system for a DGNSS measurement location according to the present invention.
FIG. 7 is a diagram illustrating a scale factor of a UDRE of an integrity checking method using an integrity checking system for a DGNSS measurement position according to the present invention.
FIG. 8 is a diagram showing a UDRE (User Differential Range Error) value for a 1-sigma error of an integrity checking method using an integrity checking system for a DGNSS measurement position according to the present invention.
FIG. 9 is a flowchart illustrating a procedure for determining a protection level of an integrity checking method using an integrity checking system for a DGNSS measurement location according to the present invention.
FIG. 10 is a graph showing an experimental result according to the integrity checking method using the integrity checking system of the DGNSS measuring position according to the present invention.
FIG. 11 is a diagram illustrating availability according to the number of times of use, which is an experiment result according to an integrity checking method using an integrity checking system for a DGNSS measurement position according to the present invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are not intended to limit the invention to the particular forms disclosed. And shall not interpret it.

FIG. 3 is a diagram illustrating a system for checking the integrity of a DGNSS measurement location according to an exemplary embodiment of the present invention. Referring to FIG. 3, a Global Navigation (GNSS) system, which receives and analyzes a GNSS signal transmitted from a GNSS satellite group and provides GNSS raw data, Satellite System) receiving module 10; And receives GNSS raw data provided by the GNSS receiving module 10, and receives the GNSS raw data provided by the GNSS receiving module 10, such as a measurement time, a receiver clock error, a pseudorange by each level, a standard deviation of pseudoranges by each level, An acquisition module (30) for acquiring and providing to the error estimation unit (50) and the correction positioning module (40); A correction information receiving module (20) for receiving and interpreting a DGNSS signal transmitted from a DGNSS reference station and providing DGNSS raw data; And receives DGNSS raw data provided by the correction information receiving module 20 to obtain correction value generation time (MZC, Modified-Z Count), statistical correction value, UDRE (User Differential Range Error) and DGNSS information A correction information acquisition module (35) for providing the correction information to the error estimation unit (50) and the correction positioning module (40); The DGNSS position of the user is measured by a differential correction method using the GNSS information provided by the acquisition module 30 and the DGNSS information provided by the correction information acquisition module 35, A correction positioning module 40 for providing the position of each satellite used for the DGNSS position measurement to the error estimation unit 50 and the generation module 60; A pseudo distance error estimation module 51 for providing a pseudorange distance error estimation value by using the GNSS information provided by the acquisition module 30, a DGNSS information providing module Common error estimation module 52 for providing a gender-specific non-common error estimation value estimated using the DGNSS position of the user provided by the module 40 and a DGNSS information provided by the correction information acquisition module 35, An error estimator (50) comprising a correction value error estimation module (53) for providing a correction value error estimate for the upper gender; A DGNSS position of the user provided through the correction positioning module 40 and the error estimation unit 50, a position of each satellite used for the DGNSS position measurement, a pseudorange error estimate by sex, a non-common error estimate by sex, A generation module 60 for calculating and providing a protection level of a desired level by using a correction value error estimation value and a protection level provided through the generation module 60 and receiving an alert limit And an integrity checking module 70 for determining whether to use the user's corresponding DGNSS position measurements for navigation.

Referring to FIG. 3, the Global Navigation Satellite System (GNSS) receiving module 10 receives and interprets a GNSS signal transmitted from a GNSS satellite group and provides GNSS raw data.

The correction information receiving module 20 receives and analyzes a DGNSS signal transmitted from a DGNSS (Differential Global Navigation Satellite System) reference station and provides DGNSS source data.

The correction information receiving module 20 receives the DGNSS correction information through one or more of the medium wave, NTRIP, Eurofix, AIS (Auto Identification System), or DMB (Digital Multimedia Broadcasting) do.

The acquisition module 30 receives the GNSS raw data provided by the GNSS reception module 10, and receives the measurement time, the receiver clock error, the pseudorange by each level, the standard deviation of the pseudoranges by each level, Generates GNSS information, which is a clock error of the satellite, and provides it to the correction positioning module 40 and the error estimation unit 50. [

At the same time when generating the GNSS information in the acquisition module 30, the correction information acquisition module 35 generates DGNSS information.

The correction information acquisition module 35 receives the DGNSS raw data provided by the correction information reception module 20 and receives the correction value generation time (MZC, Modified-Z Count), the statistical correction value, the UDRE (User Differential Range Error) And provides the DGNSS information to the correction positioning module 40 and the error estimating unit 50. [

The DGNSS position of the user is measured by the correction positioning module 40 using the differential correction method using the GNSS information provided by the acquisition module 30 and the DGNSS information provided by the correction information acquisition module 35, And provides the error estimation unit 50 and the generation module 50 with the DGNSS position of the measured user and the position of each satellite used for the DGNSS position measurement.

The differential correction method is a method corresponding to a single difference of reception period among single differential methods, which is one of relative positioning methods using a satellite navigation system, using a correction information generated by a DGNSS reference station, Thereby improving the accuracy of the user measurement position.

When the DGNSS position of the user measured by the corrected positioning module 40 and the position of each satellite used for the DGNSS position measurement are provided, the error estimator 50 obtains the GNSS information provided by the acquisition module 30, A pseudorange error estimate is obtained through the distance between the reference station and the user using the DGNSS information provided by the module 35 and the DGNSS position of the user measured through the correction positioning module 40 and the position of each satellite used for the DGNSS position measurement , A non-common error estimate and a correction value error estimate.

The error estimator 50 is provided by a pseudorange error estimation module 51 and a correction information acquisition module 35 that provide estimates of pseudorange error distances by using the GNSS information provided by the acquisition module 30 Common error estimation module 52 and correction information acquisition module 35 that provide a non-common error estimation value for each gender estimated using the DGNSS information and the DGNSS position of the user provided by the correction positioning module 40 And a correction value error estimation module 53 for providing a gender-specific correction value error estimation value estimated using the DGNSS information.

) 오차를 추정하여 추정된 값을 위성별 의사거리 오차 추정치로 취한다.The pseudo distance measurement error estimation module 51 acquires the measurement time provided by the acquisition module 30, the receiver clock error, the pseudorange for each satellite, the standard deviation of the pseudorange for each satellite, (1 sigma) included in pseudoranges for each satellite

) Is taken as the estimated value of the pseudorange error for each sex.

) 오차는 분산 형태의 오차를 말하는 것으로, 일반적으로 거리 또는 위치의 오차를 표현할때 사용되는 용어이다.The 1-sigma (

) Error refers to the variance type error, and is generally used to describe the error of distance or position.

If the standard deviation of the pseudorange for each satellite is obtained from the acquisition module 30, this value is used as the pseudorange error estimate for each satellite.

If the standard deviation of the pseudorange for each satellite is not obtained from the acquisition module 30, the distance error corresponding to the receiver clock error and the clock error of each satellite in the pseudo range for each satellite is compensated for, And the standard deviation of the pseudo distance adjusted for each position is obtained by the moving standard deviation method using the measurement time. The standard deviation of the adjusted pseudoranges for each position obtained is the standard deviation of the adjusted pseudorange errors for each position. The standard deviation of the adjusted pseudorange error for each position is provided as the estimated value of the pseudorange error.

을 곱하여 구한 값을 비공통 오차 추정치로 정하고 모든 위성에 대해 동일한 값을 적용하여 위성별 비공통 오차의 추정치로 취하여 제공한다.The non-common error estimation module 52 obtains the distance value between the reference station and the user by using the DGNSS information provided by the correction information acquisition module 35 and the DGNSS position of the user provided by the correction positioning module 40, To the distance value

And the same value is applied to all satellites, and it is taken as an estimate of the common error of each sex.

당 각 의사거리 측정치에 최대 약 0.57

만큼의 1 시그마 오차가 발생하여 DGNSS 측위 결과에 영향을 미치게 된다.In this case, the non-common error is an error caused by a decrease in the degree of correlation of the amount of delay that the signal transmitted from the same satellite passes through the ionosphere / convection layer as the distance between the reference station and the user receiver increases, 1-sigma error of the range measurement to increase as the distance is increased between the user reference to FIG. 6, the distance between the reference station and the user 1

Up to about 0.57 per pseudorange

1 sigma error occurs, which affects the DGNSS positioning result.

) 오차를 추정한 위성별 보정치 오차 추정치를 구한다.The correction value error estimation module 53 interprets the UDRE (User Differential Range Error) by using the DGNSS information provided by the correction information acquisition module 35, and outputs the 1-sigma

) Error is estimated.

If the above UDRE per URI is not provided, the standard deviation of the correction value for each sex is obtained using the correction value generation time and the correction value for each sex, and this value is provided as the correction value error estimation value for each sex.

The generation module 60 calculates the DGNSS position of the user provided through the correction positioning module 40 and the error estimation unit 50, the position of each satellite used for the DGNSS position measurement, the estimated value of the pseudo- A common error estimate, and a correction value error estimate for each gender, and provides the calculated protection level.

The generation module 60 receives the user DGNSS position provided by the correction positioning module 40, the position of each satellite used for the DGNSS position measurement, the estimated value of the pseudo distance error provided by the pseudo range error estimation module 51, Common non-common error estimates provided by the common error estimation module 52 and the correction value error estimates provided by the correction value error estimation module 53. [

The protection level provided by the user through the generation module 60 is provided to the integrity checking module 70 through the generation module 60 and is compared with an alert limit desired by the user And determines whether to use the user's corresponding DGNSS position measurements for navigation.

The integrity checking method using the integrity checking system of the DGNSS measuring position according to the present invention configured as described above is as follows.

4 is a flowchart illustrating an integrity checking method using an integrity checking system for a DGNSS measurement location according to the present invention.

Referring to FIG. 4, the integrity checking method using the integrity checking system of the DGNSS measuring position is performed by receiving the GNSS signal of the GNSS satellite group from the GNSS receiving module 10 and analyzing the GNSS source data and the correction information receiving module 20 (S10) receiving DGNSS raw data, which is received and analyzed by the DGNSS signal of the DGNSS reference station, from the acquisition module (30) and the correction information acquisition module (35); In the receiving step S10, GNSS source data is received through the GNSS receiving module 10, and the measurement time generated by the acquisition module 30, the receiver clock error, the pseudo distance by each level, The GNSS information which is the clock error of each satellite and the DGNSS raw data through the correction information receiving module 20 in the receiving step S10 and received by the correction information obtaining module 35, Providing the error estimation unit 50 and the correction positioning module 40 with the generation time (MZC, Modified-Z Count), the statistical correction value, the UDRE (User Differential Range Error) S20); A step (S30) of measuring a DGNSS position of a user by a differential correction method in the correction positioning module 40 using the GNSS information and the DGNSS information generated through the providing step S20; The DGNSS position of the user measured through the DGNSS position measurement of the user (S30), the GNSS information generated by the acquisition module 30 through the providing step S20, and the GNSS information generated by the correction information acquisition module 35 (S40) estimating the pseudo distance error estimate, the gender-by-common non-common error estimation value, and the gender-specific correction value error estimation value through the error estimation unit 50 through the generated DGNSS information, respectively; The generation module 60 estimates the user's desired level of error by using the estimated error by the estimated error in step S40 and the DGNSS position of the user measured by the corrected positioning module 40 through the error estimator 50, (S50) calculating the protection level and calculating the protection level (S50), compares the generated protection level with the desired alert limit (Alert Limit), and determines whether to use the corresponding DGNSS position measurement for navigation (Step S60) through the integrity checking module 70. [0050]

In step S10, the GNSS reception module 10 receives the GNSS satellite group signal from the GNSS satellite group. The GNSS source data is received from the acquisition module 20 and transmitted from the DGNSS reference station. The DGNSS signal is received by the correction information receiving module 20 and the DGNSS raw data provided by the analysis is supplied from the correction information obtaining module 35. [

The providing step S20 may include measuring time, receiver clock error, pseudo distance according to each level, generated by the acquisition module 30 provided with the GNSS raw data through the GNSS receiving module 10 in step S10, The GNSS information, which is a clock error of each satellite, and the correction information acquisition module (DGNSS), which are provided with the DGNSS raw data through the correction information receiving module 20 in the receiving step (S10) (DGNSS), which is a reference station position, to the correction positioning module 40 and the error estimator 50 (Step S20).

The correction information receiving module 20 receives the DGNSS correction information through the medium wave, the NTRIP, the Eurofix, the AIS (Auto Identification System), or the DMB (Digital Multimedia Broadcasting) through the DGNSS correction information transmitted from the reference station.

The reason why the correction information receiving module 20 receives the DGNSS correction information through one or more of medium frequency, NTRIP, Eurofix, AIS (Auto Identification System) or DMB (Digital Multimedia Broadcasting) To the DGNSS user.

The GNSS raw data provided through the GNSS receiving module 10 and the DGNSS raw data provided through the correction information receiving module 20 in the providing and receiving step are supplied to the obtaining module 30 and the correction information obtaining module 35, The receiver clock error, the pseudorange by each level, the standard deviation of the pseudoranges by each level, and the position of each satellite using the GNSS raw data in the providing module 30 through the providing step S20 , GNSS information which is a clock error of each satellite, and the correction information acquisition module 35 uses the DGNSS raw data to generate a correction value (MZC, Modified-Z Count), a gender-specific correction value, a user differential range error And the DGNSS information, and supplies the GNSS information and the DGNSS information to the error estimation unit 50 and the correction positioning module 40 which are connected to each other.

The DGNSS position of the user is measured by the differential correction method in the correction positioning module 40 using the GNSS information and the DGNSS information provided through the providing step S20 and the measured DGNSS position and the DGNSS position measurement Provide the location of each satellite used.

FIG. 5 is a flowchart illustrating a procedure of estimating an error of an integrity checking method using the integrity checking system of the DGNSS measurement position (S40) according to the present invention.

Referring to FIG. 5, the estimating step S40 through the error estimating unit 50 may include measuring the DGNSS position of the user and providing the measured DGNSS position and the position of each satellite used in the DGNSS position measurement, The position of each satellite used for DGNSS position measurement, the GNSS information generated by the acquisition module 30 through the providing step S20, and the correction information acquisition module 35 The error estimator 50 estimates the pseudorange error estimate, the gender-specific non-common error estimate, and the gender-specific correction error estimation value, respectively, using the DGNSS information generated by the DGNSS.

The gender-specific non-common error estimates and the gender-specific correction error estimates estimated through the estimating step S40 through the error estimating unit 50 are calculated by the error estimating unit 50, Common error estimation module 52, and correction value error estimation module 53, respectively.

The estimating step S40 through the error estimating unit 50 may include estimating the pseudorange error for each position through the pseudo range error estimating module 51 using the GNSS information provided by the acquiring module 30 (S41). The DGNSS information provided by the correction information acquisition module 35 and the DGNSS position of the user provided by the correction positioning module 40 are used to calculate the distance between the reference station and the user through the non-common error estimation module 52 (S42) of estimating the gender-specific uncorrelated error according to the error, and estimating the gender-specific correction value error using the correction value error estimation module 53 using the DGNSS information provided by the correction information acquisition module 35 (S43 ).

A step S40 of estimating a pseudorange error by sex using the pseudo range error estimation module 51, a step S42 of estimating a non-common error by sex using the non-common error estimation module 52, The step of obtaining the error estimate value through the correction value error estimation module 53 may be performed sequentially or simultaneously.

The step S41 of estimating the pseudo distance error by sex through the pseudo distance error estimation module 51 is performed by the acquisition module 30 in accordance with the respective distances to be transmitted to the corrected positioning module 40 and the error estimator 50 And determines whether to use the standard deviation of the pseudo range.

)를 취하여 위성별 의사거리 오차 추정치(

)를 구한다.At this time, if it is decided to use the standard deviation of the pseudoranges for each position, it is determined through use of the relational expression 1 that the standard deviation of the pseudoranges

) And the estimated pseudorange error

).

Relationship 1

)에서 각위성의 시계 오차(

)와 수신기 시계 오차(

)를 보상한 각 위성별 조정된 의사거리 오차(

)를 구한다.If it is determined that the each of the above not used to determine whether to use the standard deviation of the sex pseudoranges, each of the above gender pseudorange through a second relational expression (

), The clock error of each satellite

) And receiver clock error (

) Adjusted pseudorange error for each position compensated (

).

Relation 2

)가 구해지면, 관계식 3을 통해 각 위성별 조정된 의사거리 오차(

)의 표준편차(

)를 취하여 위성별 의사거리 오차 추정치(

)를 구하게 된다.Thus, the pseudorange error (

) Is obtained when, with each of the above sex adjusted by a relational expression 3 pseudorange error (

) Of the standard deviation

) And the estimated pseudorange error

).

Relation 3

)를 구하고, 이를 관계식 4을 통해 비공통 오차(

)를 추정하게 된다.The step of estimating the non-common error for each gender using the non-common error estimation module 52 is performed by using the reference station position of the DGNSS information and the DGNSS position of the user measured by the correction positioning module 40, And the distance between the user (

) To obtain, this non-common error by the relation 4 (

).

Relation 4

당 각 의사거리 측정치에 약 0.57

만큼의 1 시그마 오차가 발생하여 DGNSS 측위 결과에 영향을 미치게 된다.At this time, as the distance between the reference station and the user receiver increases, the degree of correlation of the amount of delay that the signal transmitted by the same satellite passes through the ionosphere / convection layer decreases. As a result,

Approximately 0.57 for each pseudorange measurement

1 sigma error occurs, which affects the DGNSS positioning result.

)를 취하여 위성별 보정치 오차 추정치(

)를 구한다.The step S43 of estimating the correction value for each sex by the correction value error estimation module 53 is performed by the correction information acquisition module 35 in accordance with each of the above- when determining whether to use the UDRE and determined to use when deciding whether or not to use each of the above gender UDRE, each of the above gender relations through 5 UDRE (

) To obtain the correction value error estimate (

).

Relation 5

)의 표준편차를 취하여 위성별 보정치 오차 추정치(

)로 구하게 된다.If it is determined that the each of the above not used to determine whether or not to use the gender UDRE, each of the above gender correction value through equations 6 (

), And calculate the error correction value

).

Relation 6

)는 의사거리 보정치에 포함되었을 것으로 추정되는 1시그마(

) 오차로서, DGNSS를 서비스하기 위한 RTCM의 표준문서(SC104-STD)에 따라 기준국의 보정정보에 포함되어 위성별 보정치와 함께 DGNSS 기준국에서 방송된다.At this time, the UDRE by state is (

) Is the one-sigma (< RTI ID = 0.0 >

) Is included in the correction information of the reference station according to the RTCM standard document (SC104-STD) for service of the DGNSS, and is broadcast on the DGNSS reference station together with the correction value of the station.

FIG. 6 is a diagram illustrating an error that increases according to the distance between the reference station and the user receiver in the integrity checking method using the integrity checking system of the DGNSS measurement position according to the present invention. FIG. FIG. 8 is a diagram illustrating a scale factor of the UDRE of the integrity checking method using the inspection system. FIG. 8 is a diagram illustrating a scale factor of the UDRE of the integrity checking method using the inspection system. Range Error).

)는 의사거리 보정치에 포함되었을 것으로 추정되는 1시그마(

) 오차로서, 기준국의 보정정보에 포함되어 보정치와 함께 UDRE(User Differntial Range Error)라는 요소로서 기준국에서 방송된다.Referring to FIGS. 6 to 8, the correction value error estimating module 53 estimates the correction value error estimation value in step S40,

) Is the one-sigma (< RTI ID = 0.0 >

), Which is included in the correction information of the reference station and is broadcast on the reference station as an element called UDRE (User Differential Range Error) together with the correction value.

At this time, the above-mentioned UDRE by UDRE is used by multiplying the scale factor of FIG. 7 and FIG. 8 by the One-Sigma Differential Error limit value.

The generation module 60 calculates the protection level through the error estimation values estimated in step S40 and the DGNSS position measured by the correction positioning module 40 through the error estimation unit 50, In step S50, the user calculates a desired level of protection.

FIG. 9 is a flowchart illustrating a procedure for determining a protection level of an integrity checking method using an integrity checking system for a DGNSS measurement location according to the present invention.

)을 구성하는 단계(S51), 단위벡터 행렬(G)을 구성하는 단계(S52), 가중치 행렬(W)를 구하는 단계(S53), 투영행렬(S)을 구하는 단계(S54), 동쪽 분산오차, 북쪽 분산오차, 동북쪽 공분산 오차 및 수직방향 분산 오차를 구하는 단계(S55) 및 수평보호수준(HPL, Horizontal Protection Level)과 수직보호수준(VPL, Vertical Protection Level)을 식 10 및 식 11을 통해 구하는 단계(S56)로 이루어진다.At this time, the step of calculating the protection level (S50)

A step S52 of constructing a unit vector matrix G, a step S53 of obtaining a weighting matrix W, a step S54 of obtaining a projection matrix S, (S55), a horizontal protection level (HPL), and a vertical protection level (VPL) are obtained through equations (10 ) and (11 ) Step S56 is performed.

)을 구성하는 단계(S51)는, 오차 추정부(50)를 통해 각각 추정하는 단계(S40)에서 추정되어 제공되는 DGNSS 정보를 통해 위성별 의사거리 오차 추정치(

), 위성별 비공통 오차 추정치(

) 및 위성별 보정치 오차 추정치(

)를 식 1에 대입하여 오차 모델(

)을 구하게 된다.The error model (

(Step S51) is performed by using the DGNSS information estimated in step S40, which is estimated through the error estimation unit 50,

), Non-common error estimates by sex

) And the gender-specific correction value error estimate

) To the equation (1 ) to obtain the error model

).

Equation 1

)이 구해지면, 단위벡터 행렬(G)을 구성하는 단계(S52)를 제공하는 단계(S20)의 획득모듈(30)에서 제공한 각 위성의 위치 및 사용자의 DGNSS 위치를 측정하는 단계(S30)의 보정측위 모듈(40)에서 측정된 사용자의 DGNSS 위치로 ENU 좌표계에서 사용자 위치로부터 위성의 방향에 대한 각 앙각(

)과 방위각(

)을 구하고, 식 2를 통해 위성 배치를 나타내는 단위벡터 행렬(

)을 구성하게 된다.The error model (

A step S30 of measuring the position of each satellite and the DGNSS position of the user provided by the acquisition module 30 of step S20 of providing a step S52 of constructing a unit vector matrix G, To the DGNSS position of the user measured by the calibration positioning module 40 in the ENU coordinate system,

) And azimuth angle

) To obtain a unit vector matrix representing the satellite deployment through a formula (2) (

).

Equation 2

) 값을 통해 오차모델 값의 역수값(

)을 식 3으로 구하고, 상기 역수값(

)을 식 4에 대입하여 식 4를 통해 가중치 행렬(

)를 구하게된다.The unit vector matrix G is constructed so that the weight matrix W is obtained through the step S51 of constructing the error model in the step S53 of obtaining the weight matrix W

) Value, the reciprocal value of the error model value (

) Is obtained by the equation (3 ), and the reciprocal value

), The weight matrix through formula (4) are substituted in equation (4) (

).

Equation 3

Equation 4

)과 가중치 행렬(

)를 구하는 단계(S53)를 통해 구해진 가중치 행렬(

)을 가중최소제곱법인 식 5에 대입하여 거리영역에서 위치영역으로 투영한 투영행렬(

)을 구하게 된다.When the weight matrix W is obtained, the unit matrix W (k) is calculated in step S54 of obtaining the projection matrix S (S52) of the unit vector matrix < RTI ID = 0.0 >

) And a weighting matrix (

(Step S53) of obtaining a weight matrix

) Is substituted into the weighted least squares equation (5 ), and a projection matrix (

).

Equation 5

)을 구하는 단계(S54)를 통해 구해진 투영행렬(

)의 일부 요소를 취하여 상기 오차 모델을 구성하는 단계(S51)에서 구한 위성별 오차 모델을 곱한 후 더하는 방법으로 식 6, 식 7, 식 8 및 식 9를 통해 동쪽 방향으로의 분산 오차(

), 북쪽 방향으로의 분산 오차(

), 동쪽과 북쪽 방향으로의 공분산 오차(

) 및 수직 방향으로의 분산 오차(

)를 구하게 된다.When the projection matrix S is obtained, in the step S55 of obtaining the dispersion error, the projection matrix (

(S54) of obtaining the projection matrix (

) Is calculated by multiplying the error model obtained in the step S51 of constructing the error model by a factor of 6, 7, 8 and 9 to calculate the variance error in the east direction

), The dispersion error in the north direction (

), The covariance error in the east and north directions

) And the dispersion error in the vertical direction (

).

Equation 6

Equation 7

Equation 8

Equation 9

, Horizontal Protection Level)에 대하여 사용자가 요구하는 무결성 리스크를 만족시키는 표준점수(

)와 수직보호수준(

, Vertical Protection Level)에 대하여 사용자가 요구하는 무결성 리스크를 만족시키는 표준점수(

)를 이용하여 (HPL, Horizontal Protection Level)과 수직보호수준(VPL, Vertical Protection Level)을 식 10 및 식 11을 통해 구하게 된다.When the dispersion errors are obtained, a dispersion error is obtained (S55) in a step S56 of obtaining a horizontal protection level (HPL) and a vertical protection level (VPL) through Equations 10 and 11 , And the horizontal protection level (

, Horizontal Protection Level) that satisfies the user's required integrity risk.

) And vertical protection level

, Vertical Protection Level), which satisfies the user's required integrity risk.

(HPL) and vertical protection level (VPL) using Equation (10 ) and Equation (11 ).

Equation 10

The horizontal protection level (HPL) is obtained by obtaining the long axis of the ellipse.

Equation 11

The protection level calculated through the calculation of the protection level S50 is compared with the desired alarm limit through the integrity checking module 70 in step S60, The integrity check module 70 determines whether the protection level compared to the limit is to be utilized for navigation in the DGNSS location measurement.

The correlation between the alarm limit, the position error and the protection level of the step S60 of determining through the integrity checking module 70 is shown in Table 1 below.

Position error (PE) <Protection level (PL) (99.999%) Protection level (PL) <Position error (PE) (00.001%) relation Warning Problem relation Warning Explanation One PE <PL <AL - - 4 PL <PE <AL - - 2 PE <AL <PL Warning Low availability 5 PL <AL <PE - Loss of Integrity 3 AL <PE <PL Warning - 6 AL <PL <PE Warning -

PE-Position Error, AL-Alert Limit, PL-Protection Level

과

에 적용한 경우 무결성 분석 결과가 발생할 수 있는 경우를 나타낸다.Table 1 above shows a standard score of 4.42 satisfying the integrity risk of 0.00001

and

, The integrity analysis result can be generated.

Of the six cases shown in Table 1, the cases 1, 2, and 3 occur together at a probability of 99.999%, and the cases 4, 5, and 6 occur at a probability of 0.001%.

As shown in Table 1, in the case of No. 1, it is unnecessary to warn the position error and the protection level to be below the alarm limit, and the alarm does not sound.

In case 2, the position error is below the alarm limit, but the protection level is above the alarm limit, which means that the alarm was not generated but occurred. In this case, there is no relation to the integrity performance, but when it is unnecessary, an alarm is generated and the overall system availability is degraded.

In case of above 3, the position error must exceed the alarm limit, and the alarm level should exceed the alarm limit.

In case 4, the protection level is calculated to be lower than the position error, but it is a normal situation that does not occur when the alarm should not be generated.

In case 5, the protection level is calculated to be lower than the position error, and the alarm is generated, but the integrity is lost due to failure.

In case of 6 above, the protection level is calculated to be lower than the position error, but as a result, when the alarm should be generated, the alarm is generated in a normal state.

FIG. 10 is a graph showing an experimental result according to the integrity checking method using the integrity checking system of the DGNSS measurement position according to the present invention. FIG. 11 is a graph showing the results of the integrity checking method using the integrity checking system of the DGNSS measuring position according to the present invention. And the availability according to the number of utilization shown in the result.

The result of the experiment through the configuration of the present invention is shown in FIG.

In FIG. 10, a GPS user receiver is installed at a precisely measured position in a geographical diagram, DGPS positioning is performed by receiving the correction information of the reference station, and the level of protection is calculated.

The graph of FIG. 10 shows the calculated protection level, alarm limit and error of the actual position, the blue dot is the position error and the black line is the protection level calculated by the proposed method.

In the graph of FIG. 10, the red line indicates the alarm limit required by the user, and in most cases, the protection level covers the actual error.

The two blue dots on the red alarm limit indicate that the actual position error is greater than 25m, and the calculated protection level is also over 25m, indicating a good alarm.

Referring to the graph of FIG. 10, a small red circle occurs twice. In this case, the degree of protection is estimated to be greater than the positional error, which is expected to occur at a probability of 0.001% although the integrity is not lost. Experiments were performed on 342835 epochs, with an expectation value of about 3.4 times, which actually occurred twice.

FIG. 11 is a diagram illustrating availability according to the number of times of use, which is an experiment result according to an integrity checking method using an integrity checking system for a DGNSS measurement position according to the present invention.

As shown in FIG. 11, when the user could not utilize the alarm, 208 times out of 342835 times occurred, and the result shows a decrease in availability of about 0.06%.

According to the present invention as described above, a user who receives a GNSS satellite signal and a DGNSS correction signal and sails can check the integrity of a measurement location with only the DGNSS receiver itself without external support.

Also, in performing the integrity check, the user can calculate the protection level satisfying the desired level of integrity risk, and the user can compare with the alarm limit of the desired size.

The integrity checking system of the DGNSS measurement position is not limited to the configuration and operation of the embodiments described above. The embodiments may be configured so that all or some of the embodiments may be selectively combined so that various modifications may be made.

10: DGNSS receiving module 20: correction information receiving module
30: Acquisition module 35: Calibration information acquisition module
40: Calibration positioning module
50: error estimation unit 51: pseudo range error estimation module
52: non-common error estimation module 53: correction value error estimation module
60: Generation module 70: Integrity check module

Claims (8)

A GNSS (Global Navigation Satellite System) receiving module 10 for receiving and interpreting GNSS signals transmitted from the GNSS satellite group and providing GNSS raw data;
And receives GNSS raw data provided by the GNSS receiving module 10, and receives the GNSS raw data provided by the GNSS receiving module 10, such as a measurement time, a receiver clock error, a pseudorange by each level, a standard deviation of pseudoranges by each level, An acquisition module (30) for acquiring and providing to the error estimation unit (50) and the correction positioning module (40);
A correction information receiving module (20) for receiving and interpreting a DGNSS signal transmitted from a DGNSS reference station and providing DGNSS raw data;
And receives DGNSS raw data provided by the correction information receiving module 20 to obtain correction value generation time (MZC, Modified-Z Count), statistical correction value, UDRE (User Differential Range Error) and DGNSS information A correction information acquisition module (35) for providing the correction information to the error estimation unit (50) and the correction positioning module (40);
The DGNSS position of the user is measured by a differential correction method using the GNSS information provided by the acquisition module 30 and the DGNSS information provided by the correction information acquisition module 35, A correction positioning module 40 for providing the position of each satellite used for the DGNSS position measurement to the error estimation unit 50 and the generation module 60;
A pseudo distance error estimation module 51 for providing a pseudorange distance error estimation value by using the GNSS information provided by the acquisition module 30, a DGNSS information providing module Common error estimation module 52 for providing a gender-specific non-common error estimation value estimated using the DGNSS position of the user provided by the module 40 and a DGNSS information provided by the correction information acquisition module 35, An error estimator (50) comprising a correction value error estimation module (53) for providing a correction value error estimate for the upper gender;
A DGNSS position of the user provided through the correction positioning module 40 and the error estimation unit 50, a position of each satellite used for the DGNSS position measurement, a pseudorange error estimate by sex, a non-common error estimate by sex, A generation module 60 for calculating and providing a protection level of a desired level by using a correction value error estimation value,
And an integrity checking module 70 for determining whether to use the user's corresponding DGNSS position measurement value in navigation by comparing the user's desired alert limit with a desired protection level provided by the creation module 60 The integrity check system of the DGNSS measurement location.
The method according to claim 1,
The correction information receiving module 20 receives a DGNSS signal transmitted from a DGNSS reference station through one or more of a medium wave, an NTRIP, a Eurofix, an AIS (Auto Identification System), or a DMB (Digital Multimedia Broadcasting) DGNSS Integrity check system of measurement location.
The integrity check method using the integrity check system of the DGNSS measurement location,
The GNSS source data obtained by receiving the GNSS signal of the GNSS satellite group from the GNSS receiving module 10 and the DGNSS source signal of the DGNSS reference station received from the correction information receiving module 20 and interpreting the DGNSS source data, And a step (S10) provided by the correction information acquisition module 35;
In the receiving step S10, GNSS source data is received through the GNSS receiving module 10, and the measurement time generated by the acquisition module 30, the receiver clock error, the pseudo distance by each level, The GNSS information which is the clock error of each satellite and the DGNSS raw data through the correction information receiving module 20 in the receiving step S10 and received by the correction information obtaining module 35, Providing the error estimation unit 50 and the correction positioning module 40 with the generation time (MZC, Modified-Z Count), the statistical correction value, the UDRE (User Differential Range Error) S20);
A step (S30) of measuring a DGNSS position of a user by a differential correction method in the correction positioning module 40 using the GNSS information and the DGNSS information generated through the providing step S20;
The DGNSS position of the user measured through the DGNSS position measurement of the user (S30), the GNSS information generated by the acquisition module 30 through the providing step S20, and the GNSS information generated by the correction information acquisition module 35 (S40) estimating the pseudo distance error estimate, the gender-by-common non-common error estimation value, and the gender-specific correction value error estimation value through the error estimation unit 50 through the generated DGNSS information, respectively;
The generation module 60 estimates the user's desired level of error by using the estimated error by the estimated error in step S40 and the DGNSS position of the user measured by the corrected positioning module 40 through the error estimator 50, Calculating a protection level (S50) and
The protection level calculated and generated through the calculation of the protection level (S50) is compared with a desired alert limit (Alert Limit), and whether the DGNSS position measurement is used for navigation is checked through the integrity checking module 70 And a step (S60) of determining the integrity of the DGNSS measurement location.
The method of claim 3,
The estimating step S40 through the error estimating unit 50, respectively,
A step (S41) of estimating a pseudorange error by sex using the pseudo range error estimation module 51 using the GNSS information provided by the acquisition module 30;
The distance between the reference station and the user is obtained through the non-common error estimation module 52 using the DGNSS information provided by the correction information acquisition module 35 and the DGNSS position of the user provided by the correction positioning module 40, A step (S42) of estimating non-common error by sex and
And a step (S43) of estimating a threshold correction value error through a correction value error estimation module (53) using the DGNSS information provided by the correction information acquisition module (35). Integrity check method used.
5. The method of claim 4,
The step (S41) of estimating the pseudorange distance error by the pseudo range error estimation module (51)
The acquisition module 30 determines whether or not to use the standard deviation of the pseudo distance for each position transmitted to the error estimation unit 50 and the correction positioning module 40,
Wherein when each of the above when deciding whether to use the standard deviation of the sex pseudoranges determined to be used, the standard deviation of each of the above gender pseudorange through a relational expression 1 (

) And the estimated pseudorange error

),
If it is determined that the each of the above not used to determine whether to use the standard deviation of the sex pseudoranges, each of the above gender pseudorange through a second relational expression (

), The clock error of each satellite

) And receiver clock error (

) Adjusted pseudorange error for each position compensated (

) To obtain the above, each sex adjusted by a relational expression 3 pseudorange error (

) Of the standard deviation

) And the estimated pseudorange error

The integrity check method using the integrity check system of the DGNSS measurement position is characterized by determining the integrity check method.
Relationship 1

Relation 2

Relation 3

5. The method of claim 4,
The step (S42) of estimating the non-common error for each sex by the non-common error estimation module (52)
The distance between the reference station and the user using the reference station position of the DGNSS information and the DGNSS position of the user measured by the correction positioning module 40

), And this is calculated as a non-common error (

) Of the DGNSS measurement position is estimated.
Relation 4

At this time, as the distance between the reference station and the user receiver increases, the degree of correlation of the amount of delay that the signal transmitted by the same satellite passes through the ionosphere / convection layer decreases. As a result,

0.57 for each pseudo distance measure

1 sigma error occurs and affects DGNSS positioning result.
5. The method of claim 4,
The step (S43) of estimating the correction value for each sex by the correction value error estimation module (53)
The correction information acquisition module 35 determines whether or not to use each UDRE for each position to be transmitted to the error estimation unit 50 and the correction positioning module 40,
If it is determined that the use in determining whether or not each of the above to use the gender UDRE, each of the above equations 5 through gender UDRE (

) To obtain the correction value error estimate (

),
If it is determined that the each of the above not used to determine whether or not to use the gender UDRE, each of the above gender correction value through equations 6 (

), And calculate the error correction value

The integrity check method using the integrity check system of the DGNSS measurement position is characterized by that the integrity check method is used.
At this time, the UDRE by state is (

) Is the one-sigma (&lt; RTI ID = 0.0 &gt;

) Is included in the correction information of the reference station according to the RTCM standard document (SC104-STD) for service of the DGNSS, and is broadcast on the DGNSS reference station together with the correction value of the station.
Relation 5

Relation 6

The method of claim 3,
The step S50 of calculating the level of protection desired by the user,
The DGNSS information estimated in step S40, which is estimated through the error estimation unit 50,

), Non-common error estimates by sex

) And the gender-specific correction value error estimate

) To the equation (1 ) to obtain the error model

(S51);
The DGNSS position of the user measured by the calibration positioning module 40 of the step S30 of measuring the position of each satellite obtained by the acquisition module 30 of the providing step S20 and the DGNSS position of the user is calculated in the ENU coordinate system Each elevation angle relative to the direction of the satellite from the user location (

) And azimuth angle

) To obtain a unit vector matrix representing the satellite deployment through a formula (2) (

(S52);
The error model (

), Which is composed of

) Value, the reciprocal value of the error model value (

) Is obtained by the equation (3 ), and the reciprocal value

), The weight matrix through formula (4) are substituted in equation (4) (

(S53);
The unit vector matrix (

(S52) of the unit vector matrix &lt; RTI ID = 0.0 &gt;

) And a weighting matrix (

(Step S53) of obtaining a weight matrix

) Is substituted into the weighted least squares equation (5 ), and a projection matrix (

(S54);
The projection matrix (

(S54) of obtaining the projection matrix (

) To obtain the error model (

(S51), and then adding the result of the multiplication to the error in the east direction ( Equation 6, Equation 7, Equation 8 and Equation 9 )

), The dispersion error in the north direction (

), The covariance error in the east and north directions

) And the dispersion error in the vertical direction (

(Step S55); and
The dispersion error component obtained through the step S55 of obtaining the dispersion error and the horizontal protection level (

, Horizontal Protection Level) that satisfies the user's required integrity risk.

) And vertical protection level

, Vertical Protection Level), which satisfies the user's required integrity risk.

And a step (S56) of obtaining a horizontal protection level and a vertical protection level using Equation 10 and Equation 11 using the integrity check system of the DGNSS measurement position.
Equation 1

Equation 2

Equation 3

Equation 4

Equation 5

Equation 6

Equation 7

Equation 8

Equation 9

Equation 10

The horizontal protection level (HPL) is obtained by obtaining the long axis of the ellipse.
Equation 11

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