KR20140014945A - Apparatus and method for fault detecting of global navigation satellite system using receiver baseline - Google Patents

Abstract

Disclosed are an apparatus for detecting a fault of a global navigation satellite system using baseline information and a method thereof. The apparatus for detecting a fault of a global navigation satellite system using baseline information and the method thereof according to an embodiment of the present invention includes: a satellite coordinate calculation unit for calculating satellite coordinates from a navigation message received from a satellite; a satellite distance measurement unit for measuring satellite distance between the satellite and a first receiver; a vector calculation unit for calculating a second satellite vector between the satellite and a second receiver using the calculated satellite coordinates and a baseline vector between the first receiver and an adjacent second receiver, and for calculating a first satellite vector between the satellite and the first receiver using the calculated baseline vector and the second satellite vector; and a fault detection unit for detecting a fault of the global navigation satellite system by comparing the amplitude of the calculated first satellite vector with the measured satellite distance measurement value between the satellite and the first receiver. [Reference numerals] (100) Fault detection apparatus of global navigation satellite system; (110) Satellite coordinate calculation unit; (120) Satellite distance measurement unit; (130) Vector calculation unit; (140) Fault detection unit

Description

TECHNICAL FIELD [0001] The present invention relates to an apparatus and method for detecting a failure of a satellite navigation system using baseline information,

The present invention relates to an apparatus and method for detecting a failure of a satellite navigation system, and more particularly, to a system and method for detecting a failure of a satellite navigation system using baseline information.

A user using the satellite navigation system measures the user position using the distance information calculated between the satellite and the user receiver. Here, the distance information represents a pseudo range. At this time, if the distance information is correct, the user can measure a more accurate position.

Integrity must be ensured as well as accuracy in areas where user safety is important. To this end, various fault detection techniques have been developed. In particular, the satellite navigation system in the aviation sector, which emphasizes safety, detects a failure by utilizing a plurality of ground reference station information accurately measured in advance or using signals of various frequency bands. And the aeronautical satellite navigation system is designed to inform the user within a certain time (TTA: Time to Alarm).

However, in a satellite navigation system not only in accuracy but also in integrity, even when using a plurality of terrestrial base station signals or signals of various frequency bands, the accuracy or integrity may not be satisfied. Therefore, it is urgently necessary to develop a technique for detecting a failure of a satellite navigation system that requires not only accuracy but also integrity as much as possible.

Also, a satellite signal transmitted from one satellite can be received by a plurality of receivers on the earth, and the distance information between the satellite and the user can be calculated. Distance information received by various fault factors (e.g., ionospheric storms, satellite clock failures, receiver failures, etc.) during transmission may be distorted.

The embodiments of the present invention predict the size of a vector formed by a satellite and a receiver, which are suspected to be malfunctioning, by vector difference calculation of vector information formed from a plurality of satellite navigation system receivers, This is compared with the actual satellite distance measurement value to determine the failure. In this case, the embodiments of the present invention include satellite position coordinates obtainable through a navigation message transmitted from a satellite navigation system satellite, a plurality of receivers and users' positions accurately knowing their positions in advance, Pseudorange measurements can be used to check the measurements of suspected malfunctioning satellites.

Embodiments of the present invention also seek to ensure the integrity of satellite navigation reception by detecting various satellite navigation system failure factors (e.g., ionospheric storms, satellite clock failures, receiver failures, etc.).

According to an aspect of the present invention, there is provided a satellite navigation system including: a satellite coordinate calculator for calculating satellite coordinates from a navigation message received from a satellite; A satellite distance measuring unit for measuring a satellite distance between the satellite and the first receiver; Calculating a second satellite vector between the satellite and the second receiver using a basis vector between the first receiver and a second receiver and the calculated satellite coordinates and using the calculated basis vector and the second satellite vector A vector calculation unit for calculating a first satellite vector between the satellite and the first receiver; And a failure detector for detecting a failure of the satellite navigation system by comparing the calculated size of the first satellite vector with a measured satellite distance value between the measured satellite and the first receiver, and detecting a failure of the satellite navigation system using the baseline information A device may be provided.

According to another aspect of the present invention, there is provided a method for calculating satellite coordinates, comprising: calculating satellite coordinates from a navigation message received from a satellite; A satellite distance measuring step of measuring a satellite distance between the satellite and the first receiver; A baseline vector calculation step of calculating a baseline vector between the first receiver and a second receiver adjacent to the first receiver; A second satellite vector calculation step of calculating a second satellite vector between the satellite and the second receiver using the calculated satellite coordinates; A first satellite vector calculation step of calculating a first satellite vector between the satellite and the first receiver using the calculated basis vector and a second satellite vector; And a failure detection step of detecting a failure of the satellite navigation system by comparing the calculated size of the first satellite vector with the measured satellite distance value between the measured satellite and the first receiver, and a failure of the satellite navigation system using the baseline information A detection method can be provided.

The embodiments of the present invention calculate vector information between each other using satellite coordinates calculated from reliable baseline information and navigation messages generated from previously known position information of multiple receivers, Predicted vector, and compare the magnitude of the predicted vector with the actually measured distance measurement value to determine whether a failure has occurred.

Further, embodiments of the present invention have an effect of ensuring the integrity of the distance measurement value of the satellite navigation system by adding a method using a baseline to various failure detection techniques.

1 is a network configuration diagram of a satellite navigation system to which a fault detection apparatus using baseline information according to an embodiment of the present invention is applied.
2 is a configuration diagram of a failure detection apparatus for a satellite navigation system using baseline information according to an embodiment of the present invention.
3 is a flowchart illustrating a method of detecting a failure of a satellite navigation system using baseline information according to an embodiment of the present invention.
4 is a network configuration diagram of a satellite navigation system to which a failure detection apparatus for detecting an ionospheric storm according to an embodiment of the present invention is applied.
5 is a network configuration diagram of a satellite navigation system to which a fault detection apparatus for detecting an ionospheric storm through a vehicle and a receiver according to an embodiment of the present invention is applied.
6 is a network configuration diagram of a satellite navigation system to which a failure detection device for detecting a satellite clock failure and a receiver failure is applied through a plurality of receivers according to an embodiment of the present invention.
7 is a flowchart illustrating a method of detecting a failure in a satellite navigation system using baseline information 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 network configuration diagram of a satellite navigation system to which a fault detection apparatus using baseline information according to an embodiment of the present invention is applied.

1, the satellite navigation system includes satellite C 10, receiver A 11, and receiver B 12.

)가 계산될 수 있다.The receiver A 11 and the receiver B 12 may be terrestrial receivers located on a reference station capable of receiving satellite navigation system information on earth or mobile receivers located on a moving vehicle. In the case of a terrestrial receiver located at a reference station, receiver A 11 and receiver B 12 have previously precisely measured position coordinates. With this positional coordinate, the base line vector between the receiver A (11) and the receiver B (12)

) Can be calculated.

)가 계산된다. The receiver A 11 and the receiver B 12 calculate the positional coordinates of the satellite C 10 through a navigation message. Thereby, a second satellite vector () between satellite C (10) and receiver B (12)

) Is calculated.

The satellite C (10) is a navigation satellite of the satellite navigation system, and transmits a navigation message and a carrier wave code information, which can calculate the distance information, to be received by the receiver A 11 or the receiver B 12. Here, for the receiver, the satellite C 10 is a visible satellite.

)와 제2 위성 벡터(

)를 이용하여 위성 C(10)와 수신기 A(11) 간의 제1 위성 벡터(

)를 계산한다. 그리고 고장 검출 장치는 제1 위성 벡터와 위성 C(10)로부터 전송되는 위성 신호를 통해 측정된 거리 측정값을 비교하여 측정값에 대한 고장(오류)을 검출하게 된다. 이때, 고장 검출 장치는 하기의 [수학식 1]과 같이 위성 신호를 통해 측정된 거리 측정값(

)이 제1 위성 벡터(

) 크기와 유사한 경우, 정상 상태로 판단한다. 반면, 고장 검출 장치는 하기의 [수학식 2]와 같이 위성 신호를 통해 측정된 거리 측정값(

)이 제1 위성 벡터(

) 크기보다 크거나 작은 경우, 고장 상태로 검출한다.In the network configuration of such a satellite navigation system, the failure detection device may be connected to the receiver A 11 or the receiver B 12 via a communication network or the like, or may be located at each receiver. The fault detection apparatus detects a base line vector (B) between the receiver A (11) and the receiver B (12)

) And the second satellite vector (

) Between the satellite C (10) and the receiver A (11) using the first satellite vector

). Then, the fault detection apparatus compares the first satellite vector with the distance measurement value measured through the satellite signal transmitted from the satellite C (10) to detect a failure (error) in the measured value. At this time, the fault detection apparatus calculates a distance measurement value (e.g.,

) Is the first satellite vector (

) Size, it is judged as a normal state. On the other hand, the fault detection apparatus calculates the distance measurement value (e.g.,

) Is the first satellite vector (

) Size, it is detected as a fault condition.

는 거리 측정값,

는 제2 위성 벡터,

는 기저선 벡터,

는 제1 위성 벡터를 나타낸다.here,

Is a distance measure,

A second satellite vector,

Is the baseline vector,

Represents a first satellite vector.

2 is a configuration diagram of a failure detection apparatus for a satellite navigation system using baseline information according to an embodiment of the present invention.

2, the failure detection apparatus 100 of the satellite navigation system using the baseline information includes a satellite coordinate calculation unit 110, a satellite distance measurement unit 120, a vector calculation unit 130, and a failure detection unit 140 ).

The satellite coordinate calculation unit 110 calculates the satellite coordinates from the navigation message received from the satellite C (10).

The satellite distance measuring unit 120 measures the satellite distance between the satellite C 10 and the receiver A 11. Here, the satellite distance measuring unit 120 may measure the distance between the satellite C 10 and the receiver A 11 based on a code or a carrier wave.

The vector calculation unit 130 calculates the vector coordinates of the satellite C 10 and the receiver B 12 using the base line vector between the receiver A 11 and the adjacent receiver B 12 and the satellite coordinates calculated by the satellite coordinate calculation unit 110, Lt; / RTI > Specifically, the vector calculation unit 130 calculates a first satellite vector between the satellite C 10 and the receiver A 11, which is calculated through the vector difference calculation of the baseline vector and the second satellite vector.

Then, the vector calculator 130 calculates the first satellite vector between the satellite C 10 and the receiver A 11 using the calculated basis vector and the second satellite vector.

The failure detection unit 140 compares the size of the first satellite vector calculated by the vector calculation unit 130 with the satellite distance measurement value between the satellite C 10 and the receiver A 11 measured by the satellite distance measurement unit 120 Thereby detecting a failure of the satellite navigation system. Here, the satellite C (10) and the receiver A (11) are candidates for detection of a failure. The failure detection unit 140 can detect a failure using the distance measurement value measured between the satellite C 10 and the receiver A 11. Specifically, the failure detection unit 140 determines whether the measured difference value between the measured value of the first satellite vector calculated by the vector calculation unit 130 and the satellite distance measurement value between the measured satellite C 10 and the receiver A 11 is preset Failure of the satellite navigation system can be detected if the failure threshold is exceeded. Here, the failure detector 140 collects measurement difference values of arbitrary satellite vector magnitudes and satellite distances between arbitrary satellites and receivers in advance for failure detection, and compares the collected measurement difference values with a probability of a normal distribution or averaging It is possible to determine a predetermined fault threshold value by analyzing it according to the conventional method.

On the other hand, the receiver A 11 may be a terrestrial receiver having a predetermined position or a mobile receiver located in the moving transportation means. In this case, the satellite distance measuring unit 120 may be a differential receiver, a differential global positioning system (DGPS), a real time kinematic (RTK) It is possible to measure the satellite distance by reducing the error of the satellite distance between the satellite C 10 and the receiver A 11 through any one of the auxiliary sensor and the auxiliary sensor. When the satellite distance measuring unit 120 measures the satellite distance between the satellite C 10 and the receiver A 11 on the moving transportation means through the auxiliary sensor, And the satellite distance between the satellite C (10) and the receiver A (11) can be measured through the auxiliary sensor of the inertial navigation system at the time of failure determination.

After reducing the error of the satellite distance measurement, the satellite distance measuring unit 120 uses the LEAST SQUARE METHOD, the Kalman filter, the extended Kalman filter, the non-directed Kalman filter, and the particle filter, And the receiver A 11 can be measured.

3 is a flowchart illustrating a method of detecting a failure of a satellite navigation system using baseline information according to an embodiment of the present invention.

The satellite coordinate calculation unit 110 calculates the satellite coordinates from the navigation message received from the satellite C (S302).

The satellite distance measuring unit 120 measures the satellite distance between the satellite C 10 and the receiver A 11 (S304). Here, the satellite distance measuring unit 120 may measure the satellite distance between the satellite C 10 and the receiver A 11 based on a code or a carrier wave.

Thereafter, the vector calculation unit 130 calculates the baseline vector between the receiver A 11 and the adjacent receiver B 12 (S306).

Then, the vector calculation unit 130 calculates a second satellite vector between the satellite C 10 and the receiver B 12 using the calculated satellite coordinates (S308).

The vector calculation unit 130 calculates a first satellite vector between the satellite C 10 and the receiver A 11 using the calculated basis vector and the second satellite vector. Here, the vector calculation unit 130 calculates a first satellite vector between the satellite C 10 and the receiver A 11 calculated through the vector difference calculation of the baseline vector and the second satellite vector (S310).

The failure detector 140 compares the calculated size of one satellite vector with the measured satellite distance between the measured satellite C 10 and the receiver A 11 so that the measured value difference between the first satellite vector magnitude and the satellite distance measurement is It is checked whether the failure threshold is exceeded (S312).

If the measured value difference between the first satellite vector magnitude and the satellite distance measurement value exceeds the failure threshold value, the failure detection unit 140 detects that the satellite distance measurement value has a failure (S314). On the other hand, if the measured value difference between the first satellite vector magnitude and the satellite distance measurement value is less than the failure threshold value (S312), the failure detection unit 140 detects the satellite distance measurement value as a normal measurement value.

Thereafter, the failure detector 140 can identify all the failure factors that may affect the failure of the measurement, as well as the failure of the satellite clock, the receiver failure, and the ionospheric storm due to failure. Hereinafter, a failure due to the ionospheric storm, a satellite clock failure, and a failure of the receiver will be described with reference to FIGS. 4 to 6, and a failure detection method of a satellite navigation system for detecting a failure, Will be described.

4 is a network configuration diagram of a satellite navigation system to which a failure detection apparatus for detecting an ionospheric storm according to an embodiment of the present invention is applied.

As shown in FIG. 4, the fault detection apparatus 100 can detect an ionospheric storm through a plurality of receivers A 11, B 12 located on the ground. The failure detection unit 140 of the failure detection apparatus 100 compares the measurement difference value with other measurement difference values calculated at different receivers so that the comparison difference values exceed the predetermined high satellite apparatus, And if the satellite comparison difference values exceed the predetermined receiver height, it can be detected as a failure due to the ionospheric storm.

Here, the ionospheric storms can occur locally, depending on the solar cycle. When the ionospheric storm occurs, the thickness of the ionosphere 400 becomes suddenly thick. That is, the thickness of the ionosphere 400 between the satellite C 10 and the receiver A 11 and the thickness of the ionosphere 400 between the satellite C 10 and the receiver B 12 may be different from each other, The signal may be delayed. Thereby, the receiver A 11 or the receiver B 12 receives the satellite signal from the same satellite C 10, but the delayed satellite signal can be received due to the difference of the delay phenomenon depending on the passing point.

)(401)이다. 한편, 고장 검출 장치(100)는 위성 C(10)와 수신기 B(12) 간의 제2 위성 벡터(

)(402)와 수신기 A(11) 및 수신기 B(12) 간의 기저선 벡터(

)(403)를 계산한다. 그리고 고장 검출 장치(100)는 계산된 제2 위성 벡터(

)(402)와 기저선 벡터(

)(403)의 벡터 차분 연산을 통해 예측된 위성 C(10)와 수신기 A(11) 간의 제1 위성 벡터(

)의 크기를 계산할 수 있다. 이후, 고장 검출 장치(100)는 거리 측정값(

)(401)과 제1 위성 벡터(

)의 크기를 비교하여 전리층 폭풍을 검출할 수 있다. 즉, 고장 검출 장치(100)는 측정 차이값이 다른 수신기나 다른 위성에 대한 수신기 고장치 또는 위성 고장치를 초과하는지 여부를 통해 전리층 폭풍을 검출할 수 있다.At this time, the satellite distance between the satellite C 10 and the receiver A 11 is the distance measurement value measured by the receiver A 11

) ≪ / RTI > On the other hand, the fault detection apparatus 100 detects a second satellite vector (" 1 ") between the satellite C 10 and the receiver B 12

) 402 and the baseline vector between the receiver A 11 and the receiver B 12

) ≪ / RTI > Then, the fault detection apparatus 100 calculates the second satellite vector (

) 402 and the baseline vector (

) Between the satellite C (10) and the receiver A (11) predicted through the vector difference operation of the first satellite vector (403)

) Can be calculated. Then, the fault detection apparatus 100 calculates the distance measurement value (

) 401 and the first satellite vector (

) Can be compared to detect the ionospheric storm. That is, the fault detection apparatus 100 can detect the ionospheric storm through whether the measured difference value exceeds the receiver's high or the satellite's high receiver for another satellite or another satellite.

5 is a network configuration diagram of a satellite navigation system to which a fault detection apparatus for detecting an ionospheric storm through a vehicle and a receiver according to an embodiment of the present invention is applied.

As shown in FIG. 5, the fault detection device 100 can detect the ionospheric storm through the on-the-road vehicle and the receiver B (12) on the ground. Here, the transportation means will be described as an aircraft D (13). However, all means of transportation that are not limited to a specific means of transport may be applied.

At this time, for the baseline vector construction, it is necessary to know the position of the receiver B 12 and the exact position of the aircraft D 13. However, the position of the transportation means is not known exactly. Also, if the position of the transportation means is determined through the distance measurement of the ionospheric storm, an error may occur in the distance measurement value. Therefore, the failure detection apparatus 100 can detect the position of the aircraft D 13 (the position of the aircraft D 13) via another auxiliary means navigation apparatus (for example, an inertial navigation system (INS) Determine information.

)와, 항공기 D(13) 및 수신기 B(12) 간의 기저선 벡터(

)를 계산한다. 그리고 고장 검출 장치(100)는 계산된 제2 위성 벡터(

)와 기저선 벡터(

)의 벡터 차분 연산을 통해 예측된 위성 C(10)와 항공기 D(13) 간의 제1 위성 벡터(

)의 크기를 계산할 수 있다. 이후, 고장 검출 장치(100)는 거리 측정값(

)과 제1 위성 벡터(

)의 크기를 비교하여 전리층 폭풍을 검출할 수 있다.4, the fault detection apparatus 100 detects a second satellite vector (hereinafter referred to as a " second satellite vector ") between the satellite C 10 and the receiver B 12

) Between the aircraft D (13) and the receiver B (12)

). Then, the fault detection apparatus 100 calculates the second satellite vector (

) And the baseline vector (

) Between the satellite C (10) and the aircraft D (13) predicted through the vector difference operation of the first satellite vector

) Can be calculated. Then, the fault detection apparatus 100 calculates the distance measurement value (

) And the first satellite vector (

) Can be compared to detect the ionospheric storm.

6 is a network configuration diagram of a satellite navigation system to which a failure detection device for detecting a satellite clock failure and a receiver failure is applied through a plurality of receivers according to an embodiment of the present invention.

As shown in FIG. 6, the fault detection apparatus 100 can detect a satellite clock failure or a receiver fault 600 through a plurality of terrestrial receivers. When a fault 600 occurs in the satellite clock and the receiver, an error occurs in the distance information of the distance measurement value received by the receiver.

The failure detection unit 140 compares the measured difference value with other measured difference values calculated by the other receivers, and if the receiver comparison difference values are equal to or lower than the preset satellite high failure rate, It can be detected as a failure.

The failure detector 140 compares the measured difference value with other measured difference values calculated by the other receivers to determine whether the comparison difference values exceed the predetermined high saturation device, It is possible to detect a failure of the receiver A 11 if the satellite comparison difference values are equal to or less than the predetermined receiver high apparatus.

7 is a flowchart illustrating a method of detecting a failure in a satellite navigation system using baseline information according to an embodiment of the present invention.

As shown in FIG. 7, the fault detection apparatus 100 can distinguish between ionospheric storms, satellite clock failures, and receiver failures.

As described above with reference to FIG. 3, the failure detection unit 140 detects a failure in the distance measurement value when the difference between the measured values of the first satellite vector size and the satellite distance measurement exceeds the failure threshold (S702).

Thereafter, the failure detection unit 140 compares the measured difference value with other measured difference values calculated by the other receivers, and determines whether the receiver comparison difference values are equal to or less than the preset satellite high-speed apparatuses (S704). This process is for judging whether the same satellite C 10 is similar to the measurement difference value at other ground receivers adjacent to the same. If the failure detection unit 140 is similar to the measurement difference value, it can detect a satellite clock failure.

In step S704, the failure detection unit 140 detects a satellite clock failure of the satellite C 10 if the receiver comparison difference values are equal to or less than the preset satellite high-speed devices.

On the other hand, if it is determined in step S704 that the receiver comparison difference values are greater than the preset satellite difference value, the failure detection unit 140 compares the measurement difference value with another measurement difference values of the other satellites, It is checked whether the values are equal to or lower than predetermined receiver devices (S708). This process is to detect the receiver failure when the measurement difference values are similar when the same receiver is tested by using different satellites, and to detect the failure factor by the ionospheric storm if not.

If it is determined that the satellite comparison difference values are equal to or lower than the predetermined receiver high apparatus, the failure detector 140 detects a failure of the receiver A (S710).

On the other hand, if it is determined in step S708 that the satellite comparison difference values exceed the preset receiver height, the failure detection unit 140 detects a failure due to the ionospheric storm in step S712.

Meanwhile, the present invention can be applied to various playback apparatuses by implementing a method of detecting a failure of a satellite navigation system using the above-described baseline information by a software program and recording the program on a predetermined recording medium readable by a computer.

Various playback apparatuses may be a mobile terminal, a PDA, a notebook computer, a navigation system, a PMP, a smart phone, and the like as the above-described failure detection apparatus.

For example, the recording medium may be a hard disk, a flash memory, a RAM, a ROM, or the like embedded in each reproduction apparatus, or an external optical disk such as a CD-R or a CD-RW, a compact flash card, a smart media, have.

In this case, a program recorded on a computer-readable recording medium may include a satellite coordinate calculation function for calculating satellite coordinates from a navigation message received from a satellite, a satellite distance measurement function for measuring a satellite distance between the satellite and the first receiver, A second satellite vector calculation function for calculating a second satellite vector between the satellite and the second receiver using the calculated satellite coordinates, a second satellite vector calculation function for calculating a second satellite vector between the first receiver and the second receiver, A first satellite vector calculation function for calculating a first satellite vector between the satellite and the first receiver using the calculated basis vector and a second satellite vector, And a failure detection function for detecting a failure of the satellite navigation system by comparing the satellite distance measurement values between the two receivers .

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.

Since the present invention utilizes the position information calculated through the long time data, it is possible to detect the failure of the satellite or the receiver by using the baseline information which can be used as reliable information in the failure detection, (Eg, a vessel, an aircraft, a vehicle) that performs navigation using a satellite navigation system capable of easily detecting whether or not the satellite navigation system is malfunctioning, thereby ensuring integrity of the satellite navigation system receiver, Safety can be enhanced. 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.

10: satellite C 11: receiving point A
12: Receiver B 100: Fault detection device
110: satellite coordinate calculation unit 120: satellite distance measurement unit
130: Vector calculation unit 140: Fault detection unit
400: ionosphere 13: aircraft

Claims (19)

A satellite coordinate calculator for calculating satellite coordinates from the navigation message received from the satellite;
A satellite distance measuring unit for measuring a satellite distance between the satellite and the first receiver;
Calculating a second satellite vector between the satellite and the second receiver using a basis vector between the first receiver and a second receiver and the calculated satellite coordinates and using the calculated basis vector and the second satellite vector A vector calculation unit for calculating a first satellite vector between the satellite and the first receiver; And
And comparing the calculated first satellite vector with a satellite distance measurement value between the measured satellite and the first receiver to detect a failure of the satellite navigation system,
And a satellite navigation system using the baseline information. The method of claim 1,
Wherein the vector calculation unit calculates,
Calculating a first satellite vector between the satellite and the first receiver calculated through a vector difference calculation of the baseline vector and the second satellite vector in the vector calculation unit,
Wherein the failure detection unit comprises:
And detecting a failure of the satellite navigation system if the measured difference value between the calculated size of the first satellite vector and the satellite distance measurement value between the measured satellite and the first receiver exceeds a predetermined failure threshold value. Fault Detection System of Satellite Navigation System Using. 3. The method of claim 2,
Wherein the failure detection unit comprises:
The method comprising the steps of: collecting measurement difference values of an arbitrary satellite vector size and satellite distance measurement between the arbitrary satellite and a receiver in advance for fault detection; analyzing the collected measurement difference values according to a probabilistic method of normal distribution or zero mean And determining the predetermined fault threshold value based on the detected ground fault information. The method of claim 1,
Wherein the failure detection unit comprises:
And comparing the measured difference value with other measured difference values calculated by the other receivers to detect a satellite clock failure of the satellite if the receiver comparison difference values are equal to or less than a predetermined satellite high device. System fault detection device. The method of claim 1,
Wherein the failure detection unit comprises:
Comparing the measured difference value with other measured difference values calculated at the different receivers so that the comparison difference values exceed a predetermined satellite high device and comparing the measured difference value with another measured difference value for other satellites And detects a failure of the first receiver when the satellite comparison difference values are equal to or less than the predetermined receiver high apparatus. The method of claim 1,
Wherein the failure detection unit comprises:
Comparing the measured difference value with other measured difference values calculated at the other receivers so that the comparison difference values exceed a predetermined satellite high apparatus and comparing the measured difference value with another measured difference values for the other satellites When the satellite comparison difference value is greater than a predetermined receiver height, the failure is detected as a failure due to an ionospheric storm. The method of claim 1,
The first receiver comprising:
Wherein the mobile receiver is a mobile receiver located in a terrestrial receiver having a predetermined position or on a traveling vehicle being moved. The method of claim 7, wherein
The satellite-
Wherein the first receiver is a mobile receiver located on a moving vehicle, the first receiver is coupled to the satellite via either a Differential Global Positioning System (DGPS), a Real Time Kinematic (RTK) And the satellite distance is measured by reducing the error of the satellite distance between the first receiver and the first receiver. The method of claim 8,
The satellite-
When the satellite distance between the satellite and the first receiver located on the moving transportation means is measured through the auxiliary sensor, the satellite distance is measured through the satellite navigation system until the failure occurs, and when the failure is detected, Wherein the satellite distance between the satellite and the first receiver is measured through the first satellite and the second satellite. The method of claim 8,
The satellite-
Characterized in that the satellite distance between the satellite and the first receiver is measured using one of a LEAST SQUARE METHOD, a Kalman filter, an extended Kalman filter, an unvoiced Kalman filter and a particle filter. System fault detection device. A satellite coordinate calculation step of calculating satellite coordinates from the navigation message received from the satellite;
A satellite distance measuring step of measuring a satellite distance between the satellite and the first receiver;
A baseline vector calculation step of calculating a baseline vector between the first receiver and a second receiver adjacent to the first receiver;
A second satellite vector calculation step of calculating a second satellite vector between the satellite and the second receiver using the calculated satellite coordinates;
A first satellite vector calculation step of calculating a first satellite vector between the satellite and the first receiver using the calculated basis vector and a second satellite vector; And
A failure detection step of detecting a failure of the satellite navigation system by comparing the calculated size of the first satellite vector with the satellite distance measurement value between the measured satellite and the first receiver
The method comprising the steps of: The method of claim 11,
Wherein the first satellite vector calculation step comprises:
Calculating a first satellite vector between the satellite and the first receiver calculated through a vector difference calculation of the baseline vector and the second satellite vector in the vector calculation unit,
Wherein the failure detection step comprises:
And detecting a failure of the satellite navigation system if the measured difference value between the calculated size of the first satellite vector and the satellite distance measurement value between the measured satellite and the first receiver exceeds a predetermined failure threshold value. Fault Detection Method of Satellite Navigation System Using. 13. The method of claim 12,
A measurement difference value collection step of collecting measurement difference values of any satellite vector size and satellite distance measurement between the arbitrary satellite and the receiver in advance for fault detection; And
A failure threshold value determination step of analyzing the collected measurement difference values according to a probabilistic method of normal distribution or zero mean to determine the predetermined failure limit value
Further comprising the steps of: detecting a failure of the satellite navigation system using the baseline information. The method of claim 11,
Wherein the failure detection step comprises:
And comparing the measured difference value with other measured difference values calculated by the other receivers to detect a satellite clock failure of the satellite if the receiver comparison difference values are equal to or less than a predetermined satellite high device. A system fault detection method. The method of claim 11,
Wherein the failure detection step comprises:
Comparing the measured difference value with other measured difference values calculated at the different receivers so that the comparison difference values exceed a predetermined satellite high device and comparing the measured difference value with another measured difference value for other satellites And detecting a failure of the first receiver if the satellite comparison difference values are less than or equal to the predetermined receiver high apparatus. The method of claim 11,
Wherein the failure detection step comprises:
Comparing the measured difference value with other measured difference values calculated at the other receivers so that the comparison difference values exceed a predetermined satellite high apparatus and comparing the measured difference value with another measured difference values for the other satellites Wherein the failure is detected as a failure due to an ionospheric storm if the satellite comparison difference values exceed a predetermined receiver high apparatus. The method of claim 11,
The satellite distance measuring step includes:
Wherein when the first receiver is a mobile receiver located in a moving vehicle on which the satellite is located, the error in the satellite distance between the satellite and the first receiver is reduced through either the satellite navigation correction system, the real-time kinematic, The method comprising the steps of: (a) detecting a position of the satellite navigation system; The method of claim 17,
The satellite distance measuring step includes:
When the satellite distance between the satellite and the first receiver located on the moving transportation means is measured through the auxiliary sensor, the satellite distance is measured through the satellite navigation system until the failure occurs, and when the failure is detected, And measuring a satellite distance between the satellite and the first receiver through the first satellite and the second satellite. The method of claim 17,
The satellite distance measuring step includes:
Characterized in that the satellite distance between the satellite and the first receiver is measured using one of a LEAST SQUARE METHOD, a Kalman filter, an extended Kalman filter, an unvoiced Kalman filter and a particle filter. A system fault detection method.

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