CN101545967B - Solving method for integrity parameter of satellite navigation and the monitor system - Google Patents

Abstract

The invention relates to a solving method for integrity parameter of satellite navigation and the monitor system. The monitoring system comprises more than one monitoring station which receives meteorological data and according GNSS signal and monitors pseudo-range of GNSS satellite according to the GNSS satellite signal and meteorological data. A monitor station serves as a main control station, other monitor stations transmit the pseudo-range obtained to the monitor station serving as main control station; the monitor station serving as main control station calculates pseudo-range error of each satellite according to pseudo-range of itself and obtained from other monitor stations, then calculates space signal error SISE of each GNSS satellite according to pseudo-range error result. The invention provides a novel method for computing space signal error SISE and capable of promoting computing precision and real-time of the parameter.

Description

The calculation method of integrity parameter of satellite navigation and monitoring system

One, technical field

The present invention relates to a kind of calculation method and monitoring system of satellite navigation system signals integrity, particularly a kind of can be at the regional level in the method and system of monitoring navigation satellite signal.

Two, background technology

Satellite navigation integrity monitoring technology is to be used in the enhanced system, and the health status of constellation satellite is monitored in real time, when the constellation satellite breaks down, warning message in time can be passed to a kind of technological means of specific user.Especially the relevant user of life security as aviation, navigation, not only wishes to obtain the accurate localization measurement data but also wishes that the precision and the risk thereof that in time obtain locator data have much.For satisfying these users' demand, the integrity monitoring technology is arisen at the historic moment.

In order to realize the monitoring to the integrity of satellite navigation constellation, ground system need calculate a series of correlation parameters, and wherein signal in space error SISE (Signal in space error) is an important parameter of forming a connecting link.This parameter has been arranged, just can further realize the resolving of other parameter (as SISMA, IF, XPL etc.) of integrity monitoring system.

Parameter S ISE resolves, relate to a series of problems such as track estimation, clock correction estimation, ionospheric error elimination, mathematical model foundation, resolved data checking, domestic also do not have mechanism that systematic study is carried out in this parameter multianalysis and modeling, do not see the deep introduction of pertinent literature.There is mechanism to resolve similar parameters abroad, but not openly explanation, its used technical method has been implemented privacy policy to China, does not have channel to obtain technology introduction.

To resolving of SISE, solved a basic problem of satellite navigation integrity monitoring technology, China is built satellite navigation reinforcing system be significant.

Three, summary of the invention

Technical matters to be solved by this invention is: estimation space signal errors (SISE) during high-precision real.

At existing problem, our method is separated multiple error component, is basic methods with the least square, calculates SISE in real time, makes SISE reflect the composition error of spacing wave in real time.

More than one monitoring station obtains weather data and receives the signal of corresponding GNSS satellite, the monitoring station obtains the pseudorange of its GNSS satellite that can monitor according to described GNSS satellite-signal and described weather data, select a monitoring station as master station, other monitoring stations send to this monitoring station as master station with the pseudorange that obtains, the pseudorange error of every satellite of its computation of pseudoranges of the pseudorange that this obtains according to himself as the monitoring station of master station and other monitoring stations that receive is calculated the signal in space error SISE of every GNSS satellite again according to described pseudorange error.

Four, description of drawings

Fig. 1 is the ground monitoring system construction drawing;

Fig. 2 is the method flow diagram of monitoring station compute pseudo-ranges;

Fig. 3 is the method flow diagram as the monitoring station computer memory signal errors SISE of master station.

Five, embodiment

It is as follows that the monitoring station calculates the treatment step of pseudorange of every satellite.

The first step: the monitoring station receives the signal of corresponding GNSS satellite (can many), and decoding obtains corresponding original observed quantity, comprises pseudorange, phase place, ephemeris.Near the weather monitoring equipment records monitoring station of master station and monitoring station weather data comprises atmospheric pressure, humidity and temperature.

The model of pseudorange and carrier phase observed quantity in the GNSS system:

Pseudorange on the L1 frequency of GNSS and phase place are respectively ρ _F1And φ _F1, its model is,

ρ _f1＝|r ^s-r _r|+T+I ₁+R+c(δ _r-δ _s)+ε ₁ (1.1)

φ _f1＝|r ^s-r _r|+T-I ₁+R+c(δ _r-δ _s)+λ ₁N ₁+υ ₁ (1.2)

Pseudorange on the L2 frequency of GNSS and phase place are respectively ρ _F2And φ _F2, its model is,

ρ _f2＝|r ^s-r _r|+T+I ₂+R+c(δ _r-δ _s)+ε ₂ (1.3)

φ _f2＝|r ^s-r _r|+T-I ₂+R+c(δ _r-δ _s)+λ ₂N ₂+υ ₂ (1.4)

Wherein, r ^sBe satellite actual position vector, r _rBe receiver actual position vector, the starting point of vector is the earth's core.T is a tropospheric error, I ₁And I ₂Be respectively the ionospheric error on L1 and the L2 frequency, R is relativity error.C is the light velocity, δ _rBe receiver clock correction, δ _sBe satellite clock correction.ε ₁, ε ₂It is respectively the pseudorange noise.υ ₁, υ ₂It is respectively phase noise.

Second step: the phase place smoothing pseudo range is carried out in the monitoring station, obtains the pseudorange after level and smooth.The carrier phase smoothing formula:

${\widetilde{\mathrm{\ρ}}}_{f\mathrm{1,1}}={\mathrm{\ρ}}_{f\mathrm{1,1}}$

${\widetilde{\mathrm{\ρ}}}_{f1,k}=\frac{k-1}{k}({\widetilde{\mathrm{\ρ}}}_{f1,k-1}+{\mathrm{\φ}}_{f1,k}-{\mathrm{\φ}}_{f1,k-1}+\frac{2}{\mathrm{\γ}-1}({\mathrm{\φ}}_{f2,k}-{\mathrm{\φ}}_{f2,k-1}+{\mathrm{\φ}}_{f1,k}-{\mathrm{\φ}}_{f1,k-1}))$

${\widetilde{\mathrm{\ρ}}}_{f\mathrm{2,1}}={\mathrm{\ρ}}_{f\mathrm{2,1}}$

${\widetilde{\mathrm{\ρ}}}_{f2,k}=\frac{k-1}{k}({\widetilde{\mathrm{\ρ}}}_{f2,k-1}+{\mathrm{\φ}}_{f2,k}-{\mathrm{\φ}}_{f2,k-1}+\frac{2\mathrm{\γ}}{\mathrm{\γ}-1}({\mathrm{\φ}}_{f2,k}-{\mathrm{\φ}}_{f2,k-1}+{\mathrm{\φ}}_{f1,k}-{\mathrm{\φ}}_{f1,k-1}))$

Wherein, $\mathrm{\γ}={\left(\frac{f_1}{f_2}\right)}^2={\left(\frac{1575.42}{1227.60}\right)}^2={\left(\frac{77}{60}\right)}^2\≈1.647$

With formula (1.1)-(1.4) substitution following formula, be reduced to,

${\widetilde{\mathrm{\ρ}}}_{f1}=|r^s-r_r|+T+I_1+R+c({\mathrm{\δ}}_r-{\mathrm{\δ}}_s)+e_1$

${\widetilde{\mathrm{\ρ}}}_{f2}=|r^s-r_r|+T+I_2+R+c({\mathrm{\δ}}_r-{\mathrm{\δ}}_s)+e_2$

The 3rd step: the monitoring station postpones pseudorange by being combined into the deion layer through the double frequency pseudorange after level and smooth.Form deion layer pseudorange ρ by smoothing pseudo range on two frequencies _IFree:

${\mathrm{\ρ}}_{\mathrm{IFree}}=\frac{\mathrm{\γ}\×{\widetilde{\mathrm{\ρ}}}_{f1}-{\widetilde{\mathrm{\ρ}}}_{f2}}{\mathrm{\γ}-1}$

$=|r^s-r_r|+T+R+c({\mathrm{\δ}}_r-{\mathrm{\δ}}_s)+e$

The 4th step: the relativistic correction error is calculated in the monitoring station.

The computing formula of relativity R:

$R=\frac{2e\sqrt{\mathrm{Ga}}\left(\sin E\right)}{c}$

Wherein, G is a physical constant, and a is the major semi-axis of satellite orbit, and e is the excentricity of satellite orbit, and E is the eccentric anomaly of satellite orbit.

The 5th step: the monitoring station is calculated the troposphere and is corrected error.

The troposphere is corrected and is adopted the Hopfield model, computing formula:

$T=\frac{K_d}{\sin \left(\sqrt{{\mathrm{el}}^2+6.25}\right)}+\frac{K_w}{\sin \left(\sqrt{{\mathrm{el}}^2+2.25}\right)}$

$K_d=\frac{155.2\×{10}^{-7}\×(40136+148.72\×(T_s-273.16)-h)\×p}{T_s}$

$K_w=\frac{155.2\×{10}^{-7}\×4810\×(11000-h)\×\mathrm{hr}\×6.11\×{10}^{7.5\×\frac{(T_s-273.16)}{T_s}}}{T_s^2}$

Wherein, el is the satellite elevation angle, T _sBe temperature, p is an air pressure, and hr is a relative humidity, and h is the receiver height.

The 6th step: the monitoring station is calculated earth rotation and is corrected error.

Earth rotation corrects computing formula:

$\mathrm{\Δ}{\mathrm{\ρ}}_w=\frac{\mathrm{\ω}}{c}[(x_{s1}-x_{r1})x_{s2}-(x_{s2}-x_{r2})x_{s1}]$

Wherein, ω is a rotational-angular velocity of the earth; C is the light velocity; x _SiAnd x _RiRepresent the component of satellite position vector and survey station position vector respectively, i=1,2 corresponding x, y component.

The 7th step: satellite clock correction is calculated in the monitoring station.

Correction formula is:

δ _s＝a ₀+a ₁(t-t ₀)+a ₂(t-t ₀) ²

Wherein, a ₀, a ₁, a ₂Be respectively clock correction, frequency difference and frequency float coefficient, t ₀Be the reference moment, t is a current time.

The 8th step: the monitoring station is calculated and has been eliminated relativistic correction, and correct in the troposphere, and correct in ionosphere, and earth rotation corrects, the pseudorange after satellite clock correction corrects.Correcting deion layer pseudorange afterwards through troposphere, relativistic correction, earth rotation correction and satellite clock correction is,

ρ _IFree＝|r ^s-r _r|+cδ _r-cΔδ _s+υ

Δ δ _sResidual error for satellite clock correction.

According to the pseudorange of himself and its computation of pseudoranges pseudorange error of other monitoring stations of receiving, and calculate the step of signal in space error SISE of every GNSS satellite according to pseudorange error as follows as the monitoring station of master station:

The first step: select a monitoring station as master station, master station receives the pseudorange of other monitoring station transmission.

Second step: master station is by the relative clock correction of the relative master station receiver with other monitoring station receivers of its computation of pseudoranges of himself of other monitoring station pseudoranges.Computing formula:

If monitoring station j and master station M all monitor same Navsat i, through after the aforementioned calculating, difference is between the deion layer pseudorange station that obtains

${{\mathrm{\ρ}}^i}_j-{{\mathrm{\ρ}}^i}_M=|r^{s,i}-r_{r,j}|+{\mathrm{c\δ}}_r^j-\mathrm{c\Δ}{\mathrm{\δ}}_s^i+{v^i}_j-\left(\right|r^{s,i}-r_{r,M}|+c{\mathrm{\δ}}_r^M-\mathrm{c\Δ}{\mathrm{\δ}}_s^i+{v^i}_M)$

$=|r^{s,i}-r_{r,j}|-|r^{s,i}-r_{r,M}|+c({\mathrm{\δ}}_r^j-{\mathrm{\δ}}_r^M)+({v^i}_j-{v^i}_M)$

Be deformed into,

${\mathrm{\δ}}_r^j-{\mathrm{\δ}}_r^M={{\mathrm{\ρ}}^i}_j-{{\mathrm{\ρ}}^i}_M-\left[\right|r^{s,i}-r_{r,j}|-|r^{s,i}-r_{r,M}|+({v^i}_j-{v^i}_M)]$

Suppose that synchronization monitoring station j and base station M look K altogether _jSatellite, being estimated as of the relative clock correction of receiver then,

${\widehat{\mathrm{\δ}}}_r^{\mathrm{jM}}=\frac{\underset{i=1}{\overset{K_j}{\mathrm{\Σ}}}({{\mathrm{\ρ}}^i}_j-{{\mathrm{\ρ}}^i}_M-[|r^{s,i}-r_{r,j}|-|r^{s,i}-r_{r,M}|\left]\right)}{K_j}$

The 3rd step: with the pseudorange of the relative clock correction substitution of receiver monitoring station, the relative clock correction of cancellation receiver, synchrodyne clock correction.

${{\mathrm{\ρ}}^i}_j-c{\widehat{\mathrm{\δ}}}_r^{\mathrm{jM}}=|r^{s,i}-r_{r,j}|+{\mathrm{c\δ}}_r^j-c{\widehat{\mathrm{\δ}}}_r^{\mathrm{jM}}-\mathrm{c\Δ}{\mathrm{\δ}}_s+{v^i}_j$

$=|r^{s,i}-r_{r,j}|+c{\mathrm{\δ}}_r^M-c{\mathrm{\Δ\δ}}_s+{v^i}_j$

The 4th step: master station calculates the clock correction of master station clock, and with this clock correction substitution master station and other monitoring station pseudoranges, cancellation master station clock correction.

Master clock clock correction computing method are as follows:

If master station observes N (N＞=4) Navsat simultaneously,

Through smoothing pseudo range, form the combination of deion layer, correct in the troposphere, relativistic correction, earth rotation corrects, and after satellite clock correction corrected, pseudorange was respectively ρ ¹, ρ ²..., ρ ^N, form following positioning equation:

${\widetilde{\mathrm{\ρ}}}^1=|r^{s,1}-r_r|+{\mathrm{c\δ}}_r-\mathrm{c\Δ}{\mathrm{\δ}}_s^1+e_1$

${\widetilde{\mathrm{\ρ}}}^2=|r^{s,2}-r_r|+{\mathrm{c\δ}}_r-\mathrm{c\Δ}{\mathrm{\δ}}_s^2+e_2$

…

${\widetilde{\mathrm{\ρ}}}^N=|r^{s,N}-r_r|+c{\mathrm{\δ}}_r-\mathrm{c\Δ}{\mathrm{\δ}}_s^N+e_N$

Definition: X=[x, y, z, c δ _t] ^TBe the coordinate and the receiver clock correction of the unknown, δ ρ=[δ ρ ¹, δ ρ ²..., δ ρ ^N] ^T, wherein

Wherein

Be the vector that calculates by the receiver coordinate estimated value.

Under the body-fixed coordinate system of the earth's core, geometric matrix $G=\left[\begin{array}{cccc}{e}_{11}& e_{12}& e_{13}& 1\\ e_{21}& e_{22}& e_{23}& 1\\ .& .& .& .\\ e_{N1}& e_{N2}& e_{N3}& 1\end{array}\right],$

Then least square solution is

Main website receiver clock correction then

Can solve thus.

With master station clock correction substitution master station pseudorange and other monitoring station pseudoranges, cancellation master station clock correction, method is as follows:

${{\mathrm{\ρ}}^i}_j-c{\widehat{\mathrm{\δ}}}_r^{\mathrm{jM}}-c{\widehat{\mathrm{\δ}}}_r^M=|r^{s,i}-r_{r,j}|+c{\mathrm{\δ}}_r^M-c{\widehat{\mathrm{\δ}}}_r^M-\mathrm{c\Δ}{\mathrm{\δ}}_s+{v^i}_j$

The 5th step: as follows in monitoring station its computation of pseudoranges pseudorange error method that synchronization monitors same satellite according to all.

Co-ordinates of satellite vector with the satellite broadcasting ephemeris computation Substitution obtains the pseudorange error Δ R that is caused by ephemeris and star clock _j ⁱ

Master station can adopt different mathematical models by master station pseudorange error and monitoring station pseudorange error computer memory signal errors SISE, obtains the SISE of different expression-forms.First kind of model adopts the scalar form, and formula is: ${\mathrm{SISE}}_i=\frac{\underset{j=1}{\overset{K^i}{\mathrm{\Σ}}}\left|\mathrm{\Δ}{R^i}_j\right|}{K^i}$ Or ${\mathrm{SISE}}_i=\mathrm{MAX}\left(\right|\mathrm{\Δ}{R^i}_j\left|\right),j=\mathrm{1,2},...,K^i$

I is the satellite sequence number, and j is the monitoring station sequence number, SISE _iBe the signal in space error of i satellite, Δ R _j ⁱBe the pseudorange error of i satellite monitoring of j monitoring station, K ⁱBe the quantity that monitors the monitoring station of i satellite-signal, MAX (.) gets peaked mathematical function.

Second kind of model adopts vector model to calculate SISE, and formula is as follows:

Under the solid coordinate system of satellite star, mathematical model is

$\left[\begin{array}{c}\mathrm{\Δ}{R_1}^i\\ \mathrm{\Δ}{R_2}^i\\ .\\ \mathrm{\Δ}{R_M}^i\end{array}\right]=\left[\begin{array}{ccc}{e_{11}}^i& {e_{12}}^i& 1\\ {e_{21}}^i& {e_{22}}^i& 1\\ .& .& .\\ {e_{M1}}^i& {e_{M2}}^i& 1\end{array}\right]\left[\begin{array}{c}{\mathrm{\Δx}}^i\\ {\mathrm{\Δy}}^i\\ {\mathrm{\Δz}}^i+\mathrm{\Δ}{{\mathrm{\δ}}_s}^i\end{array}\right]+\left[\begin{array}{c}{v_1}^i\\ {v_2}^i\\ .\\ {v_M}^i\end{array}\right]$

If ${G_s}^i=\left[\begin{array}{ccc}{e_{11}}^i& {e_{12}}^i& 1\\ {e_{21}}^i& {e_{22}}^i& 1\\ .& .& .\\ {e_{M1}}^i& {e_{M2}}^i& 1\end{array}\right],$ $X^i=\left[\begin{array}{c}{\mathrm{\Δx}}^i\\ {\mathrm{\Δy}}^i\\ {\mathrm{\Δz}}^i+\mathrm{\Δ}{\mathrm{\δ}}_s^i\end{array}\right],$ ${\mathrm{\ΔR}}^i=\left[\begin{array}{c}{{\mathrm{\ΔR}}_1}^i\\ {{\mathrm{\ΔR}}_2}^i\\ .\\ {{\mathrm{\ΔR}}_M}^i\end{array}\right],v^i=\left[\begin{array}{c}{v_1}^i\\ {v_2}^i\\ .\\ {v_M}^i\end{array}\right]$

Then

M is the sum of monitoring station, and i is the satellite sequence number, SISE _iBe the signal in space error of i satellite, G _s ⁱBe the Mx3 geometric matrix of known i satellite, X ⁱBe the signal in space error SISE vector to be asked of i satellite, Δ R ⁱBe the pseudorange error vector of i satellite, Δ R _M ⁱBe the pseudorange error of i satellite monitoring of M monitoring station, v ⁱIt is the noise vector of i satellite.

Claims (10)

1. the calculation method of an integrity parameter of satellite navigation is characterized in that:

A. more than one monitoring station receives the GNSS satellite-signal, and obtains near the weather data it, and the monitoring station obtains double frequency pseudorange, double frequency phase and ephemeris according to described GNSS satellite-signal, and double frequency phase is used for the double frequency pseudorange is carried out smoothly; Postpone pseudorange by being combined into the deion layer through the double frequency pseudorange after level and smooth; Obtain relativistic correction, earth rotation correction and satellite clock correction according to ephemeris, obtaining the troposphere according to weather data corrects, postpone pseudorange, relativistic correction, earth rotation correction, satellite clock correction and troposphere according to the deion layer again and correct the acquisition pseudorange, select a monitoring station as master station, other monitoring stations send to this monitoring station as master station with the pseudorange of its GNSS satellite that obtains;

B. the pseudorange error of every GNSS satellite of its computation of pseudoranges of the pseudorange that should obtain according to himself as the monitoring station of master station and other monitoring stations of receiving is calculated the signal in space error SISE of every GNSS satellite again according to described pseudorange error.

2. the method for claim 1 is characterized in that: under the solid coordinate system of satellite star, the described computing method of calculating the signal in space error of every GNSS satellite according to pseudorange error are:

$\left[\begin{array}{c}\mathrm{\Δ}{R_1}^i\\ \mathrm{\Δ}{R_2}^i\\ .\\ \mathrm{\Δ}{R_M}^i\end{array}\right]=\left[\begin{array}{ccc}{e_{11}}^i& {e_{12}}^i& 1\\ {e_{21}}^i& {e_{22}}^i& 1\\ .& .& .\\ {e_{M1}}^i& {e_{M2}}^i& 1\end{array}\right]\left[\begin{array}{c}\mathrm{\Δ}{x}^i\\ \mathrm{\Δ}{y}^i\\ \mathrm{\Δ}{z}^i+\mathrm{\Δ}{{\mathrm{\δ}}_s}^i\end{array}\right]+\left[\begin{array}{c}{v_1}^i\\ {v_2}^i\\ .\\ {v_M}^i\end{array}\right]$

If ${G_s}^i=\left[\begin{array}{ccc}{e_{11}}^i& {e_{12}}^i& 1\\ {e_{21}}^i& {e_{22}}^i& 1\\ .& .& .\\ {e_{M1}}^i& {e_{M2}}^i& 1\end{array}\right],$ $X^i=\left[\begin{array}{c}\mathrm{\Δ}{x}^i\\ \mathrm{\Δ}{y}^i\\ \mathrm{\Δ}{z}^i+\mathrm{\Δ}{{\mathrm{\δ}}_s}^i\end{array}\right],$ $\mathrm{\Δ}{R}^i=\left[\begin{array}{c}\mathrm{\Δ}{R_1}^i\\ \mathrm{\Δ}{R_2}^i\\ .\\ \mathrm{\Δ}{R_M}^i\end{array}\right],$ $v^i=\left[\begin{array}{c}{v_1}^i\\ {v_2}^i\\ .\\ {v_M}^i\end{array}\right]$

Then

Wherein, M is the sum of monitoring station, and i is the satellite sequence number, SISE _iBe the signal in space error of i satellite, G _s ⁱBe the Mx3 geometric matrix of known i satellite, X ⁱBe the signal in space error SISE vector to be asked of i satellite, Δ R ⁱBe the pseudorange error vector of i satellite, Δ R _M ⁱBe the pseudorange error of i satellite monitoring of M monitoring station, v ⁱIt is the noise vector of i satellite.

3. the method for claim 1 is characterized in that: under the solid coordinate system of satellite star, the described computing method of calculating the signal in space error of every GNSS satellite according to pseudorange error are:

${\mathrm{SISE}}_i=\frac{\underset{j=1}{\overset{K^i}{\mathrm{\Σ}}}\left|\mathrm{\Δ}{R}_j^i\right|}{K^i}$ Or ${\mathrm{SISE}}_i=\mathrm{MAX}\left(\right|\mathrm{\Δ}{R}_j^i\left|\right),$ j＝1，2，...，K ⁱ

Wherein, i is the satellite sequence number, and j is the monitoring station sequence number, SISE _iBe the signal in space error of i satellite,

Be the pseudorange error of i satellite monitoring of j monitoring station, K ⁱBe the quantity that monitors the monitoring station of i satellite-signal, MAX (.) gets peaked mathematical function.

4. the method for claim 1 is characterized in that: the described process of calculating the signal in space error SISE of every GNSS satellite according to pseudorange error as the monitoring station of master station is specially:

B1: pseudorange and other monitoring station receivers of its computation of pseudoranges of himself and this relative clock correction of sending according to other monitoring stations as the monitoring station of master station as the receiver of the monitoring station of master station;

B2: the relative clock correction of described receiver is distinguished the pseudorange of corresponding other monitoring stations of substitution with the relative clock correction of cancellation;

B3: calculate the clock correction of himself receiver as the monitoring station of master station, and with himself pseudorange of this clock correction substitution, cancellation clock correction is to calculate the pseudorange error as the monitoring station of master station;

B4: other monitoring station pseudoranges that will obtain by B2 as the receiver clock correction substitution of the monitoring station of master station, cancellation is as the receiver clock correction of the monitoring station of master station, to calculate the pseudorange error of other monitoring stations;

B5: monitor all monitoring station pseudorange error of same satellite, computer memory signal errors SISE at synchronization according to all.

5. method as claimed in claim 4, the monitoring station obtains double frequency pseudorange, double frequency phase and ephemeris respectively according to described GNSS satellite-signal, the weather data that the monitoring station obtains comprises atmospheric pressure, humidity and temperature, and it is characterized in that: the pseudorange that the monitoring station calculates every its GNSS satellite that can monitor is specially:

A1: the double frequency phase to every GNSS satellite carries out real-time cycle slip detection;

A2: the phase place that obtains with steps A 1 is carried out smoothly the double frequency pseudorange of corresponding satellite;

A3: postpone pseudorange by being combined into the deion layer through the double frequency pseudorange after level and smooth;

A4: calculate relativistic correction, troposphere correction, earth rotation correction and satellite clock correction;

A5: the relativistic correction among the applying step A4, correct in the troposphere, the pseudorange that earth rotation corrects and satellite clock correction correction steps A 3 obtains.

6. the monitoring system of an integrity parameter of satellite navigation is characterized in that:

Described monitoring system comprises more than one monitoring station, the monitoring station obtains weather data and receives the signal of corresponding GNSS satellite, the monitoring station obtains double frequency pseudorange, double frequency phase and ephemeris according to described GNSS satellite-signal, and double frequency phase is used for the double frequency pseudorange is carried out smoothly; Postpone pseudorange by being combined into the deion layer through the double frequency pseudorange after level and smooth; Obtain relativistic correction according to ephemeris, earth rotation corrects and satellite clock correction, obtaining the troposphere according to weather data corrects, postpone pseudorange according to the deion layer again, relativistic correction, earth rotation corrects, satellite clock correction and troposphere are corrected and are obtained pseudorange, select a monitoring station as master station, other monitoring stations send to this monitoring station as master station with the pseudorange that obtains, the pseudorange error of every satellite of its computation of pseudoranges of the pseudorange that this obtains according to himself as the monitoring station of master station and other monitoring stations that receive is calculated the signal in space error SISE of every GNSS satellite again according to described pseudorange error.

7. system as claimed in claim 6 is characterized in that: the signal in space error SISE that calculates every GNSS satellite according to pseudorange error as the monitoring station of master station is specially:

Pseudorange and other monitoring station receivers of its computation of pseudoranges of himself and this relative clock correction of sending according to other monitoring stations as the monitoring station of master station as the receiver of the monitoring station of master station;

With the pseudorange of corresponding other monitoring stations of described receiver relative clock correction difference substitution, with the relative clock correction of cancellation;

Calculate the clock correction of himself receiver as the monitoring station of master station, and with himself pseudorange of this clock correction substitution, cancellation clock correction is to calculate the pseudorange error as the monitoring station of master station;

Will be as the receiver clock correction of the monitoring station of master station other monitoring station pseudoranges of obtaining by previous step of substitution respectively, cancellation as the receiver clock correction of the monitoring station of master station to calculate the monitoring station pseudorange error;

Monitor all monitoring station pseudorange error of same satellite, computer memory signal errors SISE according to all at synchronization.

8. system as claimed in claim 7, the monitoring station obtains double frequency pseudorange, double frequency phase and ephemeris according to described GNSS satellite-signal, the monitoring station obtains weather data, this weather data comprises atmospheric pressure, humidity and temperature, it is characterized in that: the monitoring station calculates every its pseudorange that can monitor the GNSS satellite and is specially:

Double frequency phase to every GNSS satellite carries out real-time cycle slip detection;

Using phase place that a step obtains carries out smoothly the double frequency pseudorange of corresponding satellite;

By being combined into the pseudorange that the deion layer postpones through the double frequency pseudorange after level and smooth;

Calculate relativistic correction, troposphere correction, earth rotation correction and satellite clock correction;

Relativistic correction during the application previous step is rapid, correct in the troposphere, the pseudorange that earth rotation corrects and the described deion layer of satellite clock correction correction postpones.

9. system as claimed in claim 6 is characterized in that: under the solid coordinate system of satellite star, the described computing method of calculating the signal in space error of every GNSS satellite according to pseudorange error are:

$\left[\begin{array}{c}\mathrm{\Δ}{R_1}^i\\ \mathrm{\Δ}{R_2}^i\\ .\\ \mathrm{\Δ}{R_M}^i\end{array}\right]=\left[\begin{array}{ccc}{e_{11}}^i& {e_{12}}^i& 1\\ {e_{21}}^i& {e_{22}}^i& 1\\ .& .& .\\ {e_{M1}}^i& {e_{M2}}^i& 1\end{array}\right]\left[\begin{array}{c}\mathrm{\Δ}{x}^i\\ \mathrm{\Δ}{y}^i\\ \mathrm{\Δ}{z}^i+\mathrm{\Δ}{{\mathrm{\δ}}_s}^i\end{array}\right]+\left[\begin{array}{c}{v_1}^i\\ {v_2}^i\\ .\\ {v_M}^i\end{array}\right]$

If ${G_s}^i=\left[\begin{array}{ccc}{e_{11}}^i& {e_{12}}^i& 1\\ {e_{21}}^i& {e_{22}}^i& 1\\ .& .& .\\ {e_{M1}}^i& {e_{M2}}^i& 1\end{array}\right],$ $X^i=\left[\begin{array}{c}\mathrm{\Δ}{x}^i\\ \mathrm{\Δ}{y}^i\\ \mathrm{\Δ}{z}^i+\mathrm{\Δ}{{\mathrm{\δ}}_s}^i\end{array}\right],$ $\mathrm{\Δ}{R}^i=\left[\begin{array}{c}\mathrm{\Δ}{R_1}^i\\ \mathrm{\Δ}{R_2}^i\\ .\\ \mathrm{\Δ}{R_M}^i\end{array}\right],$ $v^i=\left[\begin{array}{c}{v_1}^i\\ {v_2}^i\\ .\\ {v_M}^i\end{array}\right]$

Then

Wherein, M is the sum of monitoring station, and i is the satellite sequence number, SISE _iBe the signal in space error of i satellite, G _s ⁱBe the Mx3 geometric matrix of known i satellite, X ⁱBe the signal in space error SISE vector to be asked of i satellite, Δ R ⁱBe the pseudorange error vector of i satellite, Δ R _M ⁱBe the pseudorange error of i satellite monitoring of M monitoring station, v ⁱIt is the noise vector of i satellite.

10. system as claimed in claim 6 is characterized in that: under the solid coordinate system of satellite star, the described computing method of calculating the signal in space error of every GNSS satellite according to pseudorange error are:

${\mathrm{SISE}}_i=\frac{\underset{j=1}{\overset{K^i}{\mathrm{\Σ}}}\left|\mathrm{\Δ}{R}_j^i\right|}{K^i}$ Or ${\mathrm{SISE}}_i=\mathrm{MAX}\left(\right|\mathrm{\Δ}{R}_j^i\left|\right),$ j＝1，2，...，K ⁱ

Wherein, i is the satellite sequence number, and j is the monitoring station sequence number, SISE _iBe the signal in space error of i satellite,

Be the pseudorange error of i satellite monitoring of j monitoring station, K ⁱBe the quantity that monitors the monitoring station of i satellite-signal, MAX (.) gets peaked mathematical function.

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