CN102749634B - Pseudo-range acceleration failure detecting method in satellite navigation region reinforcement system - Google Patents
Pseudo-range acceleration failure detecting method in satellite navigation region reinforcement system Download PDFInfo
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Abstract
The invention provides a pseudo-range acceleration failure detecting method in a satellite navigation region reinforcement system, wherein the failure detecting method comprises the steps of: counting the code pseudo-range correction values of various collecting moment within a preset time slot to obtain the sequential probable value of happening failure, and comparing the sequential probable value with a preset out-of-control threshold to obtain an offset statistic value, and then, comparing the offset statistic value with a preset judging range threshold to generate a pseudo-range acceleration failure signal, the detecting method objectively processes the obtained data to detect the failure, and compared with the current detecting method based on differential detection algorithm, the detecting method needs not to select corresponding parameters by experience, thereby improving the detecting performance of the pseudo-range acceleration failure.
Description
Technical Field
The invention relates to a satellite navigation system structure technology, in particular to a pseudo-range acceleration fault detection method in a satellite navigation area enhancement system.
Background
With the rapid development of social economy and aviation industry, the distribution density of airports in all parts of the world is increased, for example, in the Kyoho area of China, five airports are distributed in the range of the radius not exceeding 200 kilometers: the gunny airport, the Shenzhen airport, the Guangzhou airport, the hong Kong airport and the Aurea airport require the navigation positioning service with the highest level possible so as to ensure the safe and efficient operation of each airport. Therefore, a scholars of the Beijing aerospace university has proposed a satellite navigation Area Augmentation System (RAS), which arranges a plurality of monitoring stations in an Area, and improves the navigation performance of the aircraft in the whole Area by using the information of adjacent, partial or all monitoring stations and the correction information broadcasted by a Wide Area Augmentation System (WAAS) so as to meet the requirements of the precise approach stage and the landing stage of the aircraft.
In the working process of the RAS, due to the influences of factors such as satellite clock error, ionosphere and troposphere delay, earth rotation and the like, errors exist in navigation data acquired by the RAS, and if the errors exceed the errors allowed by a system, a fault is considered to occur, wherein a pseudo-range acceleration fault is an important fault in ground ranging source faults.
The pseudorange acceleration fault is a slow Growing fault (SGE), which means that the pseudorange acceleration fault gradually increases with time, and the fault does not have a large influence on system positioning at the beginning, so that the fault is difficult to detect at an early stage. Therefore, early detection of this type of failure is very important.
At present, a pseudo-range acceleration fault detection method is mainly based on a differential detection algorithm, but detection statistics in the differential detection algorithm is a difference value of a square root of a sum of squares of errors obtained based on a least square positioning method at two moments before and after, and the difference value at the two moments before and after is selected by an inaccurate calculation method obtained by experience, so that the pseudo-range acceleration fault detection performance is unstable by the method.
Disclosure of Invention
The invention provides a pseudo-range acceleration fault detection method in a satellite navigation area enhancement system, which aims to improve the detection performance of pseudo-range acceleration faults.
The fault detection method comprises the following steps:
calculating the difference between the code pseudo-range measurement value of the ground monitoring station at each acquisition time in a preset time period and the actual distance value between the satellite and the ground monitoring station to obtain a data sequence consisting of the code pseudo-range correction value of each acquisition time in the preset time period;
dividing the data sequence into a first data sequence and a second data sequence by taking a selected time point in the preset time period as a division point;
performing statistical processing on the first data sequence and the second data sequence to obtain a mean value and a standard deviation of the first data sequence and the second data sequence;
acquiring the sequential probability of the fault according to the mean value and the standard deviation of the first data sequence and the second data sequence;
comparing the sequence probability of the fault with a preset out-of-control threshold value to obtain an offset statistic value;
and when judging that the obtained offset statistic value is larger than a preset judgment distance threshold value, generating a pseudo-range acceleration fault signal.
According to the pseudo-range acceleration fault detection method in the satellite navigation area augmentation system, the sequential probability value of faults is obtained through statistical processing of the code pseudo-range correction value of each acquisition time in the preset time period, then the offset statistical value is obtained through comparison of the sequential probability value and the preset out-of-control threshold value, and then the offset statistical value is compared with the preset judgment distance threshold value to generate pseudo-range acceleration fault signals.
Drawings
Fig. 1 is a flowchart of a pseudo-range acceleration fault detection method in a satellite navigation area augmentation system according to an embodiment of the present invention;
fig. 2 is a flowchart of a pseudo-range acceleration fault detection method in a satellite navigation area augmentation system according to yet another embodiment of the present invention.
Detailed Description
The satellite navigation regional augmentation system can be a satellite navigation system developed on the basis of the original satellite wide-area augmentation system, a plurality of ground monitoring stations are arranged in the system, and the navigation performance of the airplanes in the whole region is improved by using the information of adjacent, partial or all monitoring stations and the correction information broadcasted by the wide-area augmentation system so as to meet the requirements of the precise approach stage and the landing stage of the airplanes.
The system mainly comprises a plurality of ground monitoring stations, a satellite navigation receiver, a main control station and the like. The satellite navigation receiver may receive navigation signals and navigation data transmitted by satellites. The ground monitoring stations can be used for acquiring monitoring data related to basic functions of navigation, positioning and the like of a satellite navigation system, such as orbit determination, satellite clock difference and the like, and transmitting the monitoring data to the main control station in a satellite communication or ground communication mode, and the main control station processes the data of each ground monitoring station and injects the processed data into the satellite in an uplink mode so as to perform precise orbit determination on the satellite.
In the working process of the system, due to the influence of factors such as satellite clock error, ionosphere and troposphere delay, earth rotation and the like, errors exist in the acquired navigation data, and if the errors exceed the errors allowed by the system, a fault is considered to occur, wherein a pseudo-range acceleration fault is an important fault in ground ranging source faults.
Fig. 1 is a flowchart of a pseudorange acceleration fault detection method in a satellite navigation area augmentation system according to an embodiment of the present invention, where as shown in fig. 1, the detection method includes:
And the actual distance value between the satellite and the ground monitoring station is the actual distance between the satellite and the ground monitoring station calculated by the satellite navigation receiver according to the almanac parameters broadcasted by the satellite and the known ground monitoring station position.
The pseudo-range measurement value of the ground monitoring station code and the actual distance value between the satellite and the ground monitoring station at each acquisition time in a preset time period can be stored through the storage device, and the preset time period can be set according to the detection requirement and can be several seconds, several minutes or other time.
The above two data may be obtained from the storage device by a computer or a data processor containing a correlation program, and then, the differences between the code pseudorange measurement values of the respective ground monitoring stations and the actual distance values between the satellite and the respective ground monitoring stations are calculated, each difference being used as a code pseudorange correction value, and the code pseudorange correction values are combined into a data sequence.
And 20, dividing the data sequence into a first data sequence and a second data sequence by taking a selected time point in the preset time period as a dividing point.
And step 30, carrying out statistical processing on the first data sequence and the second data sequence to obtain the mean value and the standard deviation of the first data sequence and the second data sequence.
The data sequence consisting of pseudorange corrections for each code is denoted below by PRCTS, PRCTSiAnd (3) code pseudorange corrections representing the i-th acquisition time, the code pseudorange corrections typically being due to satellite clock error, receiver clock error, ionospheric error, tropospheric error, ephemeris error, thermal noise error, and so forth. Here, it can be assumed that the errors are random elements independent of each other, and a distribution of a data sequence composed of the pseudo-range correction values of the codes follows a gaussian distribution in which a mean μ is a certain value and a standard deviation σ is a certain constant, that is, the data sequence is PRctS1，PRctS2，…，PRctSi~N（μ，σ）。
Taking a certain time point t in a preset time period as a division point, wherein the selection of the time point t can be set as required, the data sequences are divided into two groups, namely a first data sequence PRCTS1 and a second data sequence PRCTS2, the two data sequences are processed, and then the average value and the standard deviation of the first data sequence PRCTS1 and the second data sequence PRCTS2 are obtained, namely the first data sequence PRCTS 1-N (mu) is obtained1，σ1) A second data sequence PRCTS 2-N (mu)2，σ2）。
Assuming that the pseudo-range acceleration fault is generated after a certain time point t in a preset time period, the mean value of the pseudo-range correction values of codes before the time point t is mu1And standard deviation of σ1Normal distribution of (i.e. PRctS)1，PRctS2，…，PRctSt~N（μ1，σ1) And the pseudo-range correction value of each code after t time point is coincident with the mean value mu2And standard deviation σ2Is a normal distribution, i.e. PRctSt+1，PRctSt+2，…，PRctSm~N（μ2，σ2) Wherein m represents a time end of the preset time period.
If the first data series and the second data series conform to the same type of normal distribution, namely the mean value and the standard deviation of the first data series are equal to those of the second data series, the system is in a controlled state all the time within the preset time period, and pseudo-range acceleration faults do not occur; if the first data series and the second data series conform to different types of normal distributions, that is, the mean value and the standard deviation of the first data series are not equal to the mean value and the standard deviation of the second data series, it indicates that after the time point t in the preset time period, the system is out of control, and a pseudo-range acceleration fault may occur.
And step 40, acquiring the sequential probability value of the fault according to the mean value and the standard deviation of the first data sequence and the second data sequence.
For ease of calculation, the pseudorange corrections may be processed for each of the first and second data sequences, using y belowiA pseudo-range correction value representing the i-th time after processing is set
And let σ2 2=α2σ1 2，μ2-μ1=δσ1Where α denotes a coefficient of deviation of a standard deviation of the first data sequence and a standard deviation of the second data sequence, and δ denotes a coefficient of deviation of a mean of the first data sequence and a mean of the second data sequence.
After the processing, the sequential probability value P of the fault can be obtained through the following calculation formula according to the sequential probability ratio inspection theory.
and 50, comparing the sequence probability of the fault with a preset runaway threshold value to obtain an offset statistic value.
The preset runaway threshold a is a set constant value and can be obtained from the miss-detection probability β and the false-detection probability χ, specifically a = (1- β)/χ.
The values of beta and chi can be determined according to the requirement of a satellite navigation area enhancement system on the integrity index, and if the integrity index of CATI needs to be met, the values of beta and chi can be both 10-4If the system is to meet CAT II/III integrity criteria, then β and χ may both be 10-6。
After the sequential probability value P of the fault is obtained, the sequential probability value is compared with a preset runaway threshold value a to further obtain an offset statistic, where the offset statistic may be caused by an offset on the mean value or caused by an offset under the mean value and is the accumulation of offsets in a preset time period.
And step 60, when the offset statistic value is judged to be larger than a preset judgment distance threshold value, generating a pseudo-range acceleration fault signal.
After obtaining the above offset statistics, the method will be used
Or
Comparing with a preset judgment distance threshold value H, wherein the value of H can be
If it is judged thatOrIf the pseudo-range acceleration fault is greater than the judgment range threshold value H, the pseudo-range acceleration fault is generated, and a pseudo-range acceleration fault signal is generated to prompt relevant staff, so that the staff pay attention to and take corresponding measures in time to eliminate the fault.
According to the technical scheme, the pseudo-range acceleration fault detection method in the satellite navigation area augmentation system provided by the embodiment of the invention obtains the sequential probability value of the fault by carrying out statistical processing on the code pseudo-range correction value of each acquisition time in the preset time period, further obtains the offset statistical value by comparing the sequential probability value with the preset out-of-control threshold value, and then compares the offset statistical value with the preset judgment distance threshold value to generate the pseudo-range acceleration fault signal.
Fig. 2 is a flowchart of a pseudo-range acceleration fault detection method in a satellite navigation area augmentation system according to yet another embodiment of the present invention, as shown in fig. 2, further based on the embodiment of fig. 1, the statistically processing the first data sequence and the second data sequence in step 30 to obtain a mean and a standard deviation of the first data sequence and the second data sequence may include:
Wherein t represents a time point within the preset time period, m represents a time end point of the preset time period, PRctSiRepresenting the code pseudorange correction at the i-th acquisition time.
As shown in fig. 2, the calculating, in step 40, the sequential probability value of the occurrence of the fault according to the mean value and the standard deviation of the first data sequence and the second data sequence includes:
in this embodiment, the pseudo-range correction value of each code in the first data sequence and the second data sequence is first processed by yiA pseudo-range correction value representing the i-th time after processing is setAnd let σ2 2=α2σ1 2，μ2-μ1=δσ1After the treatment, the data are processed by a calculation formula according to a sequential probability ratio inspection theory
A sequential probability value P of the occurrence of a fault may be obtained.
As shown in fig. 2, the step 50 of comparing the sequential probability of occurrence of the fault with a preset runaway threshold to obtain the offset statistic includes:
when the sequential probability value P is judged to be larger than the preset out-of-control threshold value, passing
Or
Obtaining offset statistics
Or
Wherein i is more than or equal to t +1,
in this example, by <math>
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</math> After the sequential probability value P is obtained, if the pseudo-range acceleration fault is caused by mean shift and the standard deviation is unchanged, delta is not equal to 0, alpha2=1, the sequential probability value of the fault can be known according to the above formula <math>
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Comparing the sequential probability value with a preset out-of-control threshold value, if P is more than or equal to A, the method is thatBy solving the above equation, if δ is greater than 0, i.e. the mean shift, we can solve:
at this time, the offset statistical value can be obtained according to the following recursive formula of the structure
if δ is less than 0, i.e. the shift under the mean, then one can solve:
at this time, the offset statistical value can be obtained according to the following recursive formula of the structure
also, based on the above embodiment, after the comparing the statistical offset with the preset decision distance threshold to generate the pseudo-range acceleration fault signal in step 60, the method further includes:
and step 70, acquiring a quality index average chain length value for indicating the detection performance according to the average value and the standard deviation of the first data sequence, the average value of the second data sequence and a preset judgment distance threshold value.
The mean value mu of the first data sequence is obtained through the steps in the above embodiment1And standard deviation σ1Mean value mu of the second data sequence2And a preset judgment distanceAfter the threshold H, further, the average chain length value ARL of the quality index can be obtained according to the following calculation formula, and the average chain length value ARL of the quality index includes the average chain length value ARL of the quality index caused by the shift-up of the mean value+Average chain length value ARL of quality index caused by deviation under sum mean-。
The average chain length value ARL of the quality index can be obtained according to the formula:
in the above-mentioned calculation formula, the calculation formula,
k is a preset reference value, H is a preset judgment distance threshold value, the values of k and H can be selected according to needs, and the size of k can be
H can be in the size
Of course, this embodiment only provides a method for obtaining the average chain length value of the quality index, and other existing methods may also be used to obtain the average chain length value of the quality index, which is not limited to the embodiment.
In this embodiment, after the pseudo-range acceleration fault signal is generated by the detection method of the above embodiment, further, the average chain length of the quality index is obtained according to the average value of the first data sequence and the second data sequence and a preset decision distance threshold, where the average chain length of the quality index indicates the time required for the detection method to perform steps 10 to 60, and the time can represent the detection performance of the detection method, and the shorter the time (the smaller the average chain length value of the quality index) is, the better the performance of the detection method is, that is, the pseudo-range acceleration fault can be detected more quickly by the detection method, and the acceleration pseudo-range fault is found in time, so that a worker can take a countermeasure in time to eliminate the fault and improve the navigation performance of the satellite navigation area enhancement system.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware including program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. A pseudo-range acceleration fault detection method in a satellite navigation area augmentation system is characterized by comprising the following steps:
calculating the difference between the code pseudo-range measurement value of the ground monitoring station at each acquisition time in a preset time period and the actual distance value between the satellite and the ground monitoring station to obtain a data sequence consisting of the code pseudo-range correction value of each acquisition time in the preset time period;
dividing the data sequence into a first data sequence and a second data sequence by taking a selected time point in the preset time period as a division point;
performing statistical processing on the first data sequence and the second data sequence to obtain a mean value and a standard deviation of the first data sequence and the second data sequence;
acquiring the sequential probability of the fault according to the mean value and the standard deviation of the first data sequence and the second data sequence;
comparing the sequence probability of the fault with a preset out-of-control threshold value to obtain an offset statistic value;
and when judging that the obtained offset statistic value is larger than a preset judgment distance threshold value, generating a pseudo-range acceleration fault signal.
2. The pseudo-range acceleration fault detection method in the satellite navigation area augmentation system of claim 1, wherein:
the performing statistical processing on the first data sequence and the second data sequence to obtain a mean and a standard deviation of the first data sequence and the second data sequence includes:
according to
Obtaining a mean value mu of the first data sequence1；
According to
Obtaining a standard deviation sigma of the first data sequence1；
According to
Obtaining a mean value mu of the second data sequence2；
According toObtaining a standard deviation sigma of the second data sequence2；
Wherein t represents a time point within the preset time period, and m represents the preset time periodSetting the time end of the time period, PRctSiRepresenting the code pseudorange correction at the i-th acquisition time.
3. The pseudo-range acceleration fault detection method in the satellite navigation area augmentation system of claim 2, wherein:
the calculating the sequential probability value of the fault according to the mean value and the standard deviation of the first data sequence and the second data sequence comprises:
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4. the pseudo-range acceleration fault detection method in the satellite navigation area augmentation system of claim 3, wherein:
comparing the sequential probability of the fault with a preset runaway threshold to obtain an offset statistic comprises:
when the sequential probability value P is judged to be larger than the preset out-of-control threshold value, the judgment is carried out <math>
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</mrow>
</mrow>
<mo>+</mo>
</msubsup>
<mo>=</mo>
<mi>max</mi>
<mo>[</mo>
<mn>0</mn>
<mo>,</mo>
<msubsup>
<mi>D</mi>
<mrow>
<mn>1</mn>
<mo>,</mo>
<mi>i</mi>
</mrow>
<mo>+</mo>
</msubsup>
<mo>+</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>y</mi>
<mrow>
<mi>i</mi>
<mo>+</mo>
<mn>1</mn>
</mrow>
</msub>
<mo>-</mo>
<mfrac>
<mi>δ</mi>
<mn>2</mn>
</mfrac>
<mo>)</mo>
</mrow>
<mo>]</mo>
</mrow>
</math> Or <math>
<mrow>
<msubsup>
<mi>D</mi>
<mrow>
<mn>1</mn>
<mo>,</mo>
<mrow>
<mo>(</mo>
<mi>i</mi>
<mo>+</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
</mrow>
<mo>-</mo>
</msubsup>
<mo>=</mo>
<mi>max</mi>
<mo>[</mo>
<mn>0</mn>
<mo>,</mo>
<msubsup>
<mi>D</mi>
<mrow>
<mn>1</mn>
<mo>,</mo>
<mi>i</mi>
</mrow>
<mo>-</mo>
</msubsup>
<mo>+</mo>
<mrow>
<mo>(</mo>
<mo>-</mo>
<msub>
<mi>y</mi>
<mrow>
<mi>i</mi>
<mo>+</mo>
<mn>1</mn>
</mrow>
</msub>
<mo>-</mo>
<mfrac>
<mi>δ</mi>
<mn>2</mn>
</mfrac>
<mo>)</mo>
</mrow>
<mo>]</mo>
</mrow>
</math> Obtaining offset statistics
Or
Wherein i is more than or equal to t +1,
5. the pseudo-range acceleration fault detection method in the satellite navigation area augmentation system of any one of claims 2 to 4, wherein:
when the offset statistic value is judged to be larger than the preset judgment distance threshold value, the method further comprises the following steps after the pseudo-range acceleration fault signal is generated:
and acquiring a quality index average chain length value for indicating the detection performance according to the average value and the standard deviation of the first data sequence, the average value of the second data sequence and a preset judgment distance threshold value.
6. The pseudo-range acceleration fault detection method in the satellite navigation area augmentation system of claim 5, wherein:
the obtaining of the average chain length value of the quality index for indicating the detection performance according to the mean value and the standard deviation of the first data sequence, the mean value of the second data sequence, and the preset determination threshold includes:
according to <math>
<mrow>
<mfrac>
<mn>1</mn>
<mi>ARL</mi>
</mfrac>
<mo>=</mo>
<mfrac>
<mrow>
<mn>2</mn>
<msup>
<mrow>
<mo>(</mo>
<mi>δ</mi>
<mo>-</mo>
<mi>k</mi>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
</mrow>
<mrow>
<mi>exp</mi>
<mo>[</mo>
<mo>-</mo>
<mn>2</mn>
<mrow>
<mo>(</mo>
<mi>δ</mi>
<mo>-</mo>
<mi>k</mi>
<mo>)</mo>
</mrow>
<mrow>
<mo>(</mo>
<mi>H</mi>
<mo>+</mo>
<mn>1.166</mn>
<mo>)</mo>
</mrow>
<mo>+</mo>
<mn>2</mn>
<mrow>
<mo>(</mo>
<mi>δ</mi>
<mo>-</mo>
<mi>k</mi>
<mo>)</mo>
</mrow>
<mrow>
<mo>(</mo>
<mi>H</mi>
<mo>+</mo>
<mn>1.166</mn>
<mo>)</mo>
</mrow>
<mo>]</mo>
</mrow>
</mfrac>
<mo>+</mo>
<mfrac>
<mrow>
<mn>2</mn>
<msup>
<mrow>
<mo>(</mo>
<mo>-</mo>
<mi>δ</mi>
<mo>-</mo>
<mi>k</mi>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
</mrow>
<mrow>
<mi>exp</mi>
<mo>[</mo>
<mo>-</mo>
<mn>2</mn>
<mrow>
<mo>(</mo>
<mi>δ</mi>
<mo>-</mo>
<mi>k</mi>
<mo>)</mo>
</mrow>
<mrow>
<mo>(</mo>
<mi>H</mi>
<mo>+</mo>
<mn>1.166</mn>
<mo>)</mo>
</mrow>
<mo>+</mo>
<mn>2</mn>
<mrow>
<mo>(</mo>
<mi>δ</mi>
<mo>-</mo>
<mi>k</mi>
<mo>)</mo>
</mrow>
<mrow>
<mo>(</mo>
<mi>H</mi>
<mo>+</mo>
<mn>1.166</mn>
<mo>)</mo>
</mrow>
<mo>]</mo>
</mrow>
</mfrac>
</mrow>
</math> Obtaining a quality index average chain length value ARL for indicating detection performance, wherein,
k is a preset reference value, and H is a preset judgment distance threshold value.
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