CN104950315A - Broadcast ephemeris data quality detection method, electronic device and system - Google Patents

Abstract

The invention provides a broadcast ephemeris data quality detection method, electronic device and system, belonging to the technical field of satellite navigation. The method comprises: obtaining at least one piece of broadcast ephemeris data sent by a satellite; detecting the at least one piece of broadcast ephemeris data and producing a detection result which indicates whether the broadcast ephemeris data is available. Through a satellite location, which is positioned and calculated via m reference receivers and n data quality monitoring receivers, the location of the satellite the broadcast ephemeris data of which is received is verified, thereby avoiding satellite navigation according to incorrect broadcast ephemeris data and improving navigation precision. In addition, broadcast ephemeris is detected by adopting the satellites to send signals, without the need for support of satellite on-orbit data from a third part, so that man-made interference to broadcast ephemeris and almanac of the system can be effectively shielded, improving system autonomy and further enhancing navigation precision.

Description

A kind of broadcast ephemeris data quality determining method, electronic equipment and system

Technical field

The present invention relates to field of satellite navigation, particularly a kind of broadcast ephemeris data quality determining method, electronic equipment and system.

Background technology

Along with the development of Beidou satellite navigation system (BeiDou Navigation Satellite System), the widespread use of Beidou satellite navigation system, ground based on the Big Dipper strengthens system (Ground Based Augmentation System, GBAS) just progressively research and apply, make to need to provide a kind of and be applied to the broadcast ephemeris data quality determining method that ground strengthens system, to improve integrity and the accuracy of Big Dipper GBAS system.

Prior art provides a kind of broadcast ephemeris data quality determining method, the method calculates satellite position in-orbit by the satellite orbit parameter comprised in satellite broadcasting ephemeris, and the position obtained is contrasted with using satellite orbit that in the almanac of satellite broadcasting, the satellite orbit parameter that comprises calculates or the satellite orbital position that the satellite orbit parameter that comprises in a broadcast ephemeris before calculates, the detection of broadcast ephemeris data quality is realized according to comparing result.

But because the almanac precision of satellite navigation system is lower, make when adopting the satellite orbit parameter in almanac to calculate satellite orbital position, the position of gained and the error of actual position can be passed in time and can be increased rapidly, so when the method using prior art to provide, reduce the accuracy of satellite navigation.

Summary of the invention

In order to improve the accuracy of satellite navigation, embodiments provide a kind of broadcast ephemeris data quality determining method, electronic equipment and system.Described technical scheme is as follows:

First aspect, provide a kind of broadcast ephemeris data quality determining method, described method comprises:

Obtain at least a broadcast ephemeris data that satellite that m reference receiver and n data quality monitoring receiver receive sends;

Detect described at least a broadcast ephemeris data, generate testing result, described in described testing result is used to indicate, whether at least a broadcast ephemeris data can be used.

Second aspect, provides a kind of electronic equipment, and described equipment comprises:

Acquisition module, at least a broadcast ephemeris data that the acquisition satellite received for m reference receiver and n data quality monitoring receiver sends;

Satellite orbit data processing module, for detecting described at least a broadcast ephemeris data, generate testing result, described in described testing result is used to indicate, whether at least a broadcast ephemeris data can be used;

Information issuing module, strengthens systematically face system for described testing result is sent to ground.

The third aspect, provides a kind of broadcast ephemeris data quality detecting system, and described system comprises electronic equipment described in satellite, second aspect and ground strengthens systematically face system.

Embodiments provide a kind of broadcast ephemeris data quality determining method, electronic equipment and system, the position of satellite position to the satellite that broadcast ephemeris data obtains positioning calculating by m reference receiver and n data quality monitoring receiver is verified, compared to traditional ephemeris-almanac inspection and the inspection of new and old ephemeris, further avoid and carry out satellite navigation according to the broadcast ephemeris data of mistake, thus improve the accuracy of navigation.And owing to broadcasting signal by satellite, broadcast ephemeris is detected, third party is not needed to provide the support of satellite data in-orbit, can effectively the ephemeris of shielding harness broadcast itself and almanac occur improve the problem of artificial interference the independence of system, further increase the accuracy of navigation.

Accompanying drawing explanation

In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.

Fig. 1 is a kind of broadcast ephemeris data quality determining method process flow diagram that the embodiment of the present invention provides;

Fig. 2 is a kind of electronic devices structure schematic diagram that the embodiment of the present invention provides;

Fig. 3 is a kind of signal interaction figure that the embodiment of the present invention provides;

Fig. 4 is the mutual schematic diagram of device interior signal that the embodiment of the present invention provides.

Embodiment

For making the object, technical solutions and advantages of the present invention clearly, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.

Embodiments provide a kind of broadcast ephemeris data quality determining method, the method is applied in a kind of ground enhancing system, and this ground strengthens system and comprises Satellite subsystem, ground subsystem and On-Board Subsystem; Satellite subsystem comprises BDS Navsat, and this BDS Navsat is used for generating ranging signal; Generate broadcast ephemeris data according to this ranging information number, and this broadcast ephemeris data is sent to ground subsystem and On-Board Subsystem.Ground subsystem comprises at least one reference receiver, a data processor and a set of very-high-frequency PECVD; The broadcast ephemeris data that this at least one reference receiver sends for receiving BDS Navsat, this data processor generates the testing result being used to indicate broadcast ephemeris data quality, calculates the pseudorange modified value of satellite position; Very-high-frequency PECVD is used for testing result and pseudorange modified value to be sent to On-Board Subsystem.On-Board Subsystem comprises multi-mode receiver, the testing result being used to indicate broadcast ephemeris data quality sent for the broadcast ephemeris data and ground subsystem that receive the transmission of BDS Navsat and the pseudorange modified value of satellite position, and export the satellite position passing through and revise and the integrity warning information being used to indicate broadcast ephemeris data quality.

The embodiment of the present invention provides a kind of broadcast ephemeris data quality determining method, and with reference to shown in Fig. 1, the method comprises:

101, at least a broadcast ephemeris data of the satellite transmission that m reference receiver and n data quality monitoring receiver receive is obtained.

Concrete, at least one navigation message at least comprising broadcast ephemeris data that same the BDS constellation navigation satellite received sends.

The embodiment of the present invention is not limited concrete receive mode.

Wherein, m >=3, m+n >=4.

102, judge that whether any one data at least comprising each subframe in the navigation message of described broadcast ephemeris data is complete; If so, then step 103 is performed, if not, then perform step 110.

Concrete, can judge that whether this each subframe is complete by the origin identification and end mark detecting the data of each subframe in navigation message, be specially:

If the origin identification of the data of each subframe in navigation message detected and terminate mark, then judge that this each subframe is complete;

If can't detect the origin identification of the data of each subframe in navigation message and any one in end mark, then judge that this each subframe is imperfect.

In addition, can also judge that whether the data of each subframe in navigation message are complete by other means, the embodiment of the present invention is not limited concrete deterministic process.

Because error of transmission, loss of data etc. all can cause the imperfect of the data of each subframe in broadcast ephemeris data, and the incomplete broadcast ephemeris data of the data of each subframe comprised can derive the satellite position of mistake, thus reduce the accuracy of satellite navigation, so, the whether complete of the data of each subframe at least a broadcast ephemeris data described in judging can be passed through, the accuracy of further raising broadcasting satellite data quality checking, further avoid and carry out satellite navigation according to the broadcast ephemeris data of mistake, thus improve the accuracy of navigation.

103, judge that whether described synchronizing sub-frame code is correct; If so, then step 104 is performed, if not, then perform step 110.

Concrete, by judging that described synchronizing sub-frame code and the synchronizing sub-frame code prestored contrast, can judge that whether synchronizing sub-frame code is correct, being specially:

If synchronizing sub-frame code is identical with the synchronizing sub-frame code prestored, then judge that synchronizing sub-frame code is correct; Otherwise, judge synchronizing sub-frame code mistake.

In addition, can also judge that whether described synchronizing sub-frame code is correct by other means, the embodiment of the present invention is not limited concrete mode.

Because correct broadcast ephemeris data at least comprises correct synchronizing sub-frame code, so can by judging that whether the synchronizing sub-frame code comprised described in described broadcast ephemeris data is correct, the accuracy of further raising broadcasting satellite data quality checking, further avoid and carry out satellite navigation according to the broadcast ephemeris data of mistake, thus improve the accuracy of navigation.

It should be noted that, step 102 to step 103 realizes any one the whether complete process at least a broadcast ephemeris data described in judgement, except the mode described in above-mentioned steps, can also realize this process by pass-through mode, the embodiment of the present invention is not limited concrete process.

Because error of transmission, loss of data etc. all can cause the imperfect of broadcast ephemeris data, and incomplete broadcast ephemeris data can derive the satellite position of mistake, thus reduce the accuracy of satellite navigation, so, can be whether complete by any one at least a broadcast ephemeris data described in judgement, the accuracy of further raising broadcasting satellite data quality checking, further avoid and carry out satellite navigation according to the broadcast ephemeris data of mistake, thus improve the accuracy of navigation.

It should be noted that, in actual applications, after the described synchronizing sub-frame code check of judgement is correct, directly can also perform step 109.

Because incomplete broadcast ephemeris data can derive the satellite position of mistake, thus reduce the accuracy of satellite navigation, judge at least a broadcast ephemeris data any one complete time, directly can judge that this incomplete broadcast ephemeris data can be used, thus improve the accuracy of broadcasting satellite data quality checking further, further avoid and carry out satellite navigation according to the broadcast ephemeris data of mistake, thus improve the accuracy of navigation.

104, judge whether any one broadcast ephemeris data described passes through cyclic redundancy check (CRC); If so, then step 105 is performed, if not, then perform step 110.

Concrete, the embodiment of the present invention is not limited concrete deterministic process.

Because correct broadcast ephemeris data can pass through cyclic redundancy check (CRC), so can by judging whether any one broadcast ephemeris data described passes through cyclic redundancy check (CRC), the accuracy of further raising broadcasting satellite data quality checking, further avoid and carry out satellite navigation according to the broadcast ephemeris data of mistake, thus improve the accuracy of navigation.

105, judge that whether the clock data comprised described in described broadcast ephemeris data is correct for the length of time; If so, then step 106 is performed, if not, then perform step 110.

Concrete, the embodiment of the present invention is not limited concrete deterministic process.

Because correct broadcast ephemeris data at least comprises the correct clock data length of time, so can by judging that whether the clock data comprised described in described broadcast ephemeris data is correct for the length of time, the accuracy of further raising broadcasting satellite data quality checking, further avoid and carry out satellite navigation according to the broadcast ephemeris data of mistake, thus improve the accuracy of navigation.

It should be noted that, step 104 to step 105 is any one the whether effective process realized at least a broadcast ephemeris data described in judgement, except the mode described in above-mentioned steps, can also realize this process by other means, the embodiment of the present invention is not limited concrete mode.

Whether effective by any one at least a broadcast ephemeris data described in judging, ensure that all broadcast ephemeris data in this at least a broadcast ephemeris data are all effective, the accuracy of further raising broadcasting satellite data quality checking, further avoid and carry out satellite navigation according to the broadcast ephemeris data of mistake, thus improve the accuracy of navigation.

It should be noted that, in actual applications, can also correct in the clock data length of time judging to comprise described in described broadcast ephemeris data after, directly execution step 109.

Because invalid broadcast ephemeris data can derive the satellite position of mistake, thus reduce the accuracy of satellite navigation, judge at least a broadcast ephemeris data any one effective time, directly can judge that this effective broadcast ephemeris data can be used, thus improve the accuracy of broadcasting satellite data quality checking further, further avoid and carry out satellite navigation according to the broadcast ephemeris data of mistake, thus improve the accuracy of navigation.In addition, by on any one the whether complete basis at least a broadcast ephemeris data described in judging, whether any one at least a broadcast ephemeris data of further judgement be effective, the accuracy of further raising broadcasting satellite data quality checking, further avoid and carry out satellite navigation according to the broadcast ephemeris data of mistake, thus improve the accuracy of navigation.

106, whether at least a broadcast ephemeris data described in judgement is consistent, if so, then performs step 107, if not, then perform step 110.

Concrete, if any one at least a broadcast ephemeris data described in judging is effective, then recycle ratio pair is carried out to described at least a broadcast ephemeris data, obtain identical broadcast ephemeris data number;

Judge whether described identical broadcast ephemeris data number meets pre-conditioned, described in if so, then judging, at least a broadcast ephemeris data is consistent.

This is pre-conditioned can be the half of total broadcast ephemeris data number or over half for identical broadcast ephemeris data number.

Due in error allowed band, the broadcast ephemeris data that the frequency of appearance is more is correct broadcasting satellite data, so, can be whether consistent by least a broadcast ephemeris data described in judgement, the accuracy of further raising broadcasting satellite data quality checking, further avoid and carry out satellite navigation according to the broadcast ephemeris data of mistake, thus improve the accuracy of navigation.

It should be noted that, after at least a broadcast ephemeris data described in judgement is consistent, directly can perform step 109.

Broadcast ephemeris data due to mistake can derive the satellite position of mistake, thus reduce the accuracy of satellite navigation, when described in judging, at least a broadcast ephemeris data is consistent, directly can judge that this broadcast ephemeris data can be used, thus improve the accuracy of broadcasting satellite data quality checking further, further avoid and carry out satellite navigation according to the broadcast ephemeris data of mistake, thus improve the accuracy of navigation.In addition, on any one whether complete any one whether effective basis with judging at least a broadcast ephemeris data at least a broadcast ephemeris data described in judging, described in further judgement, whether at least a broadcast ephemeris data is consistent, the accuracy of further raising broadcasting satellite data quality checking, further avoid and carry out satellite navigation according to the broadcast ephemeris data of mistake, thus improve the accuracy of navigation.

107, according to described at least a broadcast ephemeris data, the position of described satellite is obtained.

Concrete, calculate satellite orbital position according to radio news program;

Wherein, radio news program and almanac parameters as shown in table 1.

Table 1

Calculate that the process of satellite orbital position can be according to radio news program:

A, according to the first algorithm, obtain satellite orbit semi-major axis A, mean angular velocity n that satellite orbits and the eccentric anomaly M of current epoch moment t satellite in tracks _k, this first algorithm can be:

$A={\left(\sqrt{A}\right)}^2,$

$n=\sqrt{\frac{\mathrm{\μ}}{{\left(A\right)}^3}}+\mathrm{\Δn},$

M _k＝M ₀+n×(t-t _oe)，

Wherein, μ=3.986004418 × 10 ¹⁴m ³/ s ²for the Gravitational coefficient of the Earth in CGCS2000 coordinate system;

B, on the basis of the second algorithm, according to satellite orbit semi-major axis A, obtain intermediate parameters E _k, the true anomaly V of satellite in tracks _kand the ascending node angular distance Φ of satellite motion track _k, this second algorithm can be:

E _k＝M _k+e×cosE _k，

$\cos v_k=\frac{(\cos E_k-e)}{(1-e\×\cos E_k)},\sin v_k=\frac{\sqrt{1-e^2}\×\sin E_k}{(1-e\×\cos E_k)}$

$v_k=\mathrm{arctg}\left[\frac{\sqrt{1-e^2}\×\sin E_k}{\cos E_k-e}\right],$

Φ _k＝v _k+ω；

C, on the basis of the 3rd algorithm, according to satellite orbit semi-major axis A, intermediate parameters E _kwith the ascending node angular distance Φ of satellite motion track _k, obtain the satellite motion ascending node of orbit angular distance u through overcorrect _k, satellite radius vector r _kwith inclination of satellite orbit i _k, the 3rd algorithm can be:

u _k＝Φ _k+C _ussin(2Φ _k)+C _uscos(2Φ _k)，

r _k＝A(1-ecosE _k)+C _rssin(2Φ _k)+C _rscos(2Φ _k)，

$i_k=i_0+\stackrel{\·}{i}\×t_k+C_{\mathrm{is}}\sin \left(2{\mathrm{\Φ}}_k\right)+C_{\mathrm{is}}\cos \left(2{\mathrm{\Φ}}_k\right);$

D, on the basis of the 4th algorithm, according to the satellite motion ascending node of orbit angular distance u through overcorrect _kwith satellite radius vector r _k, obtain the position (x of satellite in track plane coordinate system _p, y _p):

x _p＝r _kcosu _k，

y _p＝r _ksinu _k；

Optionally, if this satellite is MEO/IGSO satellite, then calculate that the process of satellite orbital position also comprises according to radio news program:

E, according to the 5th algorithm, obtain MEO/IGSO satellite from ephemeris with reference to the time t counted epoch _kwith the longitude of ascending node Ω of satellite motion track through overcorrect _k, the 5th algorithm can be:

t _k＝t-t _oe，

${\mathrm{\Ω}}_k={\mathrm{\Ω}}_0+(\stackrel{\·}{\mathrm{\Ω}}-{\stackrel{\·}{\mathrm{\Ω}}}_e)\left(t_k\right)-{\stackrel{\·}{\mathrm{\Ω}}}_e{t}_{\mathrm{oe}},$

Wherein, ${\stackrel{\·}{\mathrm{\Ω}}}_e=7.2921150\×{10}^{-5}\mathrm{rad}/s$ For rotational-angular velocity of the earth.

F, on the basis of the 6th algorithm, according to the position (x of satellite in track plane coordinate system _p, y _p) and satellite motion track through the longitude of ascending node Ω of overcorrect _k, obtain the coordinate (x of MEO/IGSO satellite in CGCS2000 coordinate system _s, y _s, z _s), the 6th algorithm can be:

x _s＝x _pcosΩ _k-y _pcosi _ksinΩ _k，

y _s＝x _psinΩ _k-y _pcosi _kcosΩ _k，

z _s＝y _psini _k。

If this satellite is GEO satellite, then calculate that the process of satellite orbital position also comprises according to radio news program:

G, according to the 7th algorithm, obtain GEO satellite from ephemeris with reference to the time t counted epoch _kwith the longitude of ascending node Ω of satellite motion track through overcorrect _k, the 7th algorithm can be:

t _k＝t-t _oe，

${\mathrm{\Ω}}_k={\mathrm{\Ω}}_0+\stackrel{\·}{\mathrm{\Ω}}{t}_k-{\stackrel{\·}{\mathrm{\Ω}}}_e{t}_{\mathrm{oe}}.$

H, on the basis of the 8th algorithm, according to the position (x of satellite in track plane coordinate system _p, y _p) and satellite motion track through the longitude of ascending node Ω of overcorrect _k, obtain GEO satellite at the coordinate (x in self-defined three-dimensional system of coordinate system _z, y _z, z _z), the 8th algorithm can be:

x _z＝x _pcosΩ _k-y _pcosi _ksinΩ _k，

y _z＝x _psinΩ _k-y _pcosi _kcosΩ _k，

z _z＝y _psini _k。

I, on the basis of the 9th algorithm, according to GEO satellite at the coordinate (x in self-defined three-dimensional system of coordinate system _z, y _z, z _z), obtain GEO satellite at the coordinate (x in self-defined spherical coordinate system system _z, y _z, z _z), the 9th algorithm can be:

Wherein:

108, judge whether the position of described satellite meets pre-conditioned; If so, then step 109 is performed, if not, then perform step 110.

Concrete, if the position of satellite meets the following conditions, then judge that the position stating satellite meets pre-conditioned.

Difference between the position of satellite and the satellite position of multi-receiver location Calculation is less than the first threshold value;

By the satellite orbit parameter in the ephemeris that detects, the position of satellite calculates that the difference between phase satellite orbital position is in the same time less than the second threshold value with according to a on continuous print;

The position of satellite is less than the 3rd threshold value with the difference calculated according to the satellite orbit parameter in almanac between phase satellite orbital position in the same time.

Wherein, the process whether difference judging between the position of satellite and the satellite position of multi-receiver location Calculation is less than the first threshold value can be:

Combinations of satellites is designated as: SAT _pRN={ PRN ₁, PRN ₂, L, PRN _n, N is the number of satellites checked by step 2;

Utilize the observation pseudorange of same the BDS constellation navigation satellite that m reference receiver and n data quality monitoring receiver receive SAT _pRNi(1≤i≤N) satellite position positions and resolves:

J, remember each receiver pair observation pseudo-range integration be;

${\mathrm{PSR}}_{{\mathrm{SAT}}_{{\mathrm{PRN}}_i}}=\left\{\begin{array}{c}{\mathrm{PSR}}_{{1\_\mathrm{SAT}}_{{\mathrm{PRN}}_i}}\\ {\mathrm{PSR}}_{{2\_\mathrm{SAT}}_{{\mathrm{PRN}}_i}}\\ .\\ .\\ .\\ {\mathrm{PSR}}_{{m+n\_\mathrm{SAT}}_{{\mathrm{PRN}}_i}}\end{array}\right\}$

If SAT _pRNicoordinate figure be X=(x, y, z), the reference position coordinate of each known receiver is (x ^l, y ^l, z ^l), (x ^(l), y ^(l), z ^(l)), 1≤l≤m+n then has:

$\left\{\begin{array}{c}{\mathrm{PSR}}_{{1\_\mathrm{SAT}}_{{\mathrm{PRN}}_i}}\\ {\mathrm{PSR}}_{{2\_\mathrm{SAT}}_{{\mathrm{PRN}}_i}}\\ .\\ .\\ .\\ {\mathrm{PSR}}_{{m+n\_\mathrm{SAT}}_{{\mathrm{PRN}}_i}}\end{array}\right\}=\left\{\begin{array}{c}\sqrt{{(x^{\left(1\right)}-x)}^2+{(y^{\left(1\right)}-y)}^2+{(z^{\left(1\right)}-z)}^2}\mathrm{\δ}{t}_{u\left(1\right)}-{\mathrm{\δ}}_t+I+T+{\mathrm{\ϵ}}_1\\ \sqrt{{(x^{\left(2\right)}-x)}^2+{(y^{\left(2\right)}-y)}^2+{(z^{\left(2\right)}-z)}^2}+\mathrm{\δ}{t}_{u\left(2\right)}-{\mathrm{\δ}}_t+I+T+{\mathrm{\ϵ}}_2\\ .\\ .\\ .\\ \sqrt{{(x^{(m+n)}-x)}^2+{(y^{(m+n)}-y)}^2+{(z^{(m+n)}-z)}^2}+\mathrm{\δ}{t}_{u(m+n)}-{\mathrm{\δ}}_t+I+T+{\mathrm{\ϵ}}_{m+n}\end{array}\right\}$

Wherein, δ t _{u (k)}, 1≤k≤m+n is the local clock correction of K known receiver, δ _tfor SAT _pRNisatellite clock correction, I is ionosphere time delay, and T is troposphere time delay, and ε is receiver noise.

Now, ε can be thought ₁≈ ε ₂≈ ... ≈ ε _m+n, then above formula can be counted:

$\left\{\begin{array}{c}{\mathrm{PSR}}_{{1\_\mathrm{SAT}}_{{\mathrm{PRN}}_i}}\\ {\mathrm{PSR}}_{{2\_\mathrm{SAT}}_{{\mathrm{PRN}}_i}}\\ .\\ .\\ .\\ {\mathrm{PSR}}_{{m+n\_\mathrm{SAT}}_{{\mathrm{PRN}}_i}}\end{array}\right\}=\left\{\begin{array}{c}\sqrt{{(x^{\left(1\right)}-x)}^2+{(y^{\left(1\right)}-y)}^2+{(z^{\left(1\right)}-z)}^2}\mathrm{\δ}{t}_{u\left(1\right)}+\mathrm{\δ}\\ \sqrt{{(x^{\left(2\right)}-x)}^2+{(y^{\left(2\right)}-y)}^2+{(z^{\left(2\right)}-z)}^2}+\mathrm{\δ}{t}_{u\left(2\right)}+\mathrm{\δ}\\ .\\ .\\ .\\ \sqrt{{(x^{(m+n)}-x)}^2+{(y^{(m+n)}-y)}^2+{(z^{(m+n)}-z)}^2}+\mathrm{\δ}{t}_{u(m+n)}+\mathrm{\δ}\end{array}\right\}$

Wherein, δ=-δ _t+ I+T+ ε.

K, resolve the location coordinate obtaining satellite according to the method for least square method; Least square method iteration calculates: location algorithm solves with next quaternary Nonlinear System of Equations exactly:

$\left\{\begin{array}{c}\sqrt{{(x^{\left(1\right)}-x)}^2+{(y^{\left(1\right)}-y)}^2+{(z^{\left(1\right)}-z)}^2}+\mathrm{\δ}={\mathrm{\ρ}}_c^{\left(1\right)}={\mathrm{PSR}}_{{1\_\mathrm{SAT}}_{{\mathrm{PRN}}_i}}-\mathrm{\δ}{t}_{u\left(1\right)}\\ \sqrt{{(x^{\left(2\right)}-x)}^2+{(y^{\left(2\right)}-y)}^2+{(z^{\left(2\right)}-z)}^2}+\mathrm{\δ}={\mathrm{\ρ}}_c^{\left(2\right)}={\mathrm{PSR}}_{{2\_\mathrm{SAT}}_{{\mathrm{PRN}}_i}}-\mathrm{\δ}{t}_{u\left(2\right)}\\ ...\\ \sqrt{{(x^{(m+n)}-x)}^2+{(y^{(m+n)}-y)}^2+{(z^{(m+n)}-z)}^2}+\mathrm{\δ}={\mathrm{\ρ}}_c^{(m+n)}={\mathrm{PSR}}_{{m+n\_\mathrm{SAT}}_{{\mathrm{PRN}}_i}}-\mathrm{\δ}{t}_{u(m+n)}\end{array}\right.---\left(1\right)$

L, prepare data and initial solution is set.

Arranging current position coordinates initial estimate is X=[0 0 0] ^t, calculate the pseudo-range measurements after differential corrections.

M, Nonlinear System of Equations linearization.

Receiver is to the geometric distance of satellite:

$r^{\left(k\right)}=\sqrt{{(x^{\left(k\right)}-x)}^2+{(y^{\left(k\right)}-y)}^2+{(z^{\left(k\right)}-z)}^2}---\left(2\right)$

Find a function r ^(k)to the local derviation of x:

$\frac{\∂r^{\left(k\right)}}{\∂x}=\frac{-(x^{\left(k\right)}-x)}{\sqrt{{(x^{\left(k\right)}-x)}^2+{(y^{\left(k\right)}-y)}^2+{(z^{\left(k\right)}-z)}^2}}=\frac{-(x^{\left(k\right)}-x)}{r^{\left(k\right)}}=-I_x^{\left(k\right)}---\left(3\right)$

Similar to function r ^(k)local derviation is asked to y, z, namely has:

$\left[\begin{array}{c}\frac{\∂r^{\left(k\right)}}{\∂x}\\ \frac{\∂r^{\left(k\right)}}{\∂y}\\ \frac{\∂r^{\left(k\right)}}{\∂z}\end{array}\right]=\left[\begin{array}{c}-I_x^{\left(k\right)}\\ -I_y^{\left(k\right)}\\ -I_z^{\left(k\right)}\end{array}\right]---\left(4\right)$

Formula (1) is at [X _k-1, δ _k-1] ^tmatrix equation after place's linearization is:

$G\left[\begin{array}{c}\mathrm{\Δx}\\ \mathrm{\Δy}\\ \mathrm{\Δz}\\ \mathrm{\Δ\δ}\end{array}\right]=b$

Wherein:

$G=\left[\begin{array}{cccc}-I_x^{\left(1\right)}\left(x_{k-1}\right)& -I_y^{\left(1\right)}\left(x_{k-1}\right)& -I_z^{\left(1\right)}\left(x_{k-1}\right)& 1\\ -I_x^{\left(2\right)}\left(x_{k-1}\right)& -I_y^{\left(2\right)}\left(x_{k-1}\right)& -I_z^{\left(2\right)}\left(x_{k-1}\right)& 1\\ ...& ...& ...& ...\\ -I_x^{(m+n)}\left(x_{k-1}\right)& -I_y^{(m+n)}\left(x_{k-1}\right)& -I_z^{(m+n)}\left(x_{k-1}\right)& 1\end{array}\right],b=\left[\begin{array}{c}{\mathrm{\ρ}}_c^{\left(1\right)}-r^{\left(1\right)}\left(x_{k-1}\right)-{\mathrm{\δ}}_{k-1}\\ {\mathrm{\ρ}}_c^{\left(2\right)}-r^{\left(2\right)}\left(x_{k-1}\right)-{\mathrm{\δ}}_{k-1}\\ ...\\ {\mathrm{\ρ}}_c^{(m+n)}-r^{(m+n)}\left(x_{k-1}\right)-{\mathrm{\δ}}_{k-1}\end{array}\right]$

N, solve system of linear equations.

Apply mechanically the solution formula of least square method:

$\left[\begin{array}{c}\mathrm{\Δx}\\ \mathrm{\Δy}\\ \mathrm{\Δz}\\ \mathrm{\Δ\δ}\end{array}\right]={\left(G^{T}G\right)}^{-1}{G}^{T}b$

The root of o, renewal Nonlinear System of Equations.

X _k＝X _k-1+ΔX

δ _k＝δ _k-1+Δδ

P, finally judge the convergence of iteration: the length of displacement calculating vector Δ x:

$\left|\right|\mathrm{\&Delta;X}\left|\right|=\sqrt{\mathrm{\&Delta;}{x}^2+\mathrm{\&Delta;}{y}^2+\mathrm{\&Delta;}{z}^2}<e^{-5};$

Q, obtain final satellite position result X.

Because the difference between the position of satellite that obtains according to correct broadcast ephemeris data and the satellite position of multi-receiver location Calculation is less than the first threshold value, by the satellite orbit parameter in the ephemeris that detects, the position of the satellite obtained according to correct broadcast ephemeris data calculates that the difference between phase satellite orbital position is in the same time less than the second threshold value with according to a on continuous print, position according to the satellite of correct broadcast ephemeris data acquisition is less than the 3rd threshold value with the difference calculated according to the satellite orbit parameter in almanac between phase satellite orbital position in the same time, so, can traditional by according to outside the position having been calculated satellite orbital position in the same time mutually by the satellite orbit parameter in the ephemeris that detects and calculated the satellite that satellite orbital position checking in the same time mutually obtains according to broadcast ephemeris data according to the satellite orbit parameter in almanac a on continuous print, the position of satellite position to the satellite that broadcast ephemeris data obtains that can also position calculating by m reference receiver and n data quality monitoring receiver is verified, thus improve the accuracy of broadcasting satellite data quality checking further, further avoid and carry out satellite navigation according to the broadcast ephemeris data of mistake, thus improve the accuracy of navigation.

The embodiment of the present invention is to judging by the satellite orbit parameter in the ephemeris that detects, the position of satellite calculates that the difference between phase satellite orbital position is in the same time less than the second threshold value with according to a on continuous print; With judge the position of satellite and be not limited according to the concrete mode that the difference that the satellite orbit parameter in almanac calculates mutually between satellite orbital position is in the same time less than the 3rd threshold value.

It should be noted that, step 107 to step 108 be realize judging described at least a broadcast ephemeris data whether can process, except the mode described in above-mentioned steps, can also realize this process according to other modes, the embodiment of the present invention is not limited concrete mode.

By judging whether at least a broadcast ephemeris data can be used, and further avoid and carries out satellite navigation according to the broadcast ephemeris data of mistake, thus improve the accuracy of navigation.In addition, whether complete in any one described in judging at least a broadcast ephemeris data, judge at least a broadcast ephemeris data any one whether effectively with judge described on the whether consistent basis of at least a broadcast ephemeris data, judge whether at least a broadcast ephemeris data can be used, the accuracy of further raising broadcasting satellite data quality checking, further avoid and carry out satellite navigation according to the broadcast ephemeris data of mistake, thus improve the accuracy of navigation.

It should be noted that in actual applications, only have the position difference met between the satellite position of multi-receiver location Calculation when the satellite obtained according to broadcast ephemeris data to be less than the first threshold value, calculate that the difference between phase satellite orbital position is in the same time less than the second threshold value by the satellite orbit parameter in the ephemeris that detects with according to a on continuous print, the 3rd threshold value is less than with the difference calculated according to the satellite orbit parameter in almanac between phase satellite orbital position in the same time, just can judge that broadcast ephemeris data can be used, so correspondence, judge at least a broadcast ephemeris data whether can process in, need to perform step and judge that the difference between the position of satellite and the satellite position of multi-receiver location Calculation is less than the first threshold value, step judges the position of satellite and is less than the second threshold value according to the difference having calculated between phase satellite orbital position in the same time by the satellite orbit parameter in the ephemeris that detects a on continuous print and step judges the position of satellite and calculates that the difference between phase satellite orbital position is in the same time less than the 3rd threshold value according to the satellite orbit parameter in almanac.

109, generate be used to indicate described at least a broadcast ephemeris data can the first testing result.

Concrete, the embodiment of the present invention is not limited concrete generative process.

Described in the first testing result is used to indicate, at least a broadcast ephemeris data can be used, so according to the second testing result, available broadcast ephemeris data can be obtained, and carry out satellite navigation according to this available broadcast ephemeris data, avoid carrying out satellite navigation according to the broadcast ephemeris data of mistake, thus improve the accuracy of navigation.

110, generate be used to indicate described in disabled second testing result of at least a broadcast ephemeris data.

Concrete, the embodiment of the present invention is not limited concrete generative process.

Described in the second testing result is used to indicate, at least a broadcast ephemeris data is unavailable, so according to the second testing result, can avoid carrying out satellite navigation according to the broadcast ephemeris data of mistake, thus improve the accuracy of navigation.

Optionally, can also comprise:

111, according to described first testing result, generate the availability matrix corresponding with described at least a broadcast ephemeris data, described availability matrix is for the availability of at least a broadcast ephemeris data described in describing;

Concrete, by the first monitoring result, in input broadcast ephemeris data availability matrix, this broadcast ephemeris data availability matrix can be:

Wherein, SN is navigational system Satellite quantity, PRN _k(1≤k≤SN) represents satellite number, PER _k(1≤k≤SN) represents many reference receivers broadcast ephemeris data consistency check result, EER _k(1≤k≤SN) represents new and old ephemeris detection method testing result, EAR _k(1≤k≤SN) represents ephemeris-almanac detection method testing result, in this matrix, every a line represents the broadcast ephemeris availability that application three kinds of detection methods detect a satellite of gained, the whole matrix description usability status of all satellite broadcasting ephemeris of satellite navigation system, strengthens system health for ground and monitors.

By according to described first testing result, generate corresponding with the described at least a broadcast ephemeris data availability matrix at least a broadcast ephemeris data described in describing, make according to this availability matrix, obtain the quality of at least a broadcast ephemeris data, thus further avoid and carry out satellite navigation according to the broadcast ephemeris data of mistake, thus improve the accuracy of navigation.

112, according to described availability matrix, availability broadcast ephemeris array is obtained.

Concrete, the embodiment of the present invention is not limited concrete process.

The method that the embodiment of the present invention provides, the compatible method of traditional data quality monitoring, gets rid of and is receiving the reference receiver and the respective broadcast ephemeris that occur broadcast ephemeris data mistake in resolving; Achieve by the method for multi-receiver the accurate positioning calculation of satellite orbital position; And detect based on ground multi-receiver surveillance satellite broadcast ephemeris data owing to adopting, improve the precision of satellite orbital position prediction, solve the problem that precision in classic method is low, reduce the quality of data in ground enhancing system and monitor the integrity risk produced; Owing to broadcasting signal by satellite, broadcast ephemeris is detected, third party is not needed to provide the support of satellite data in-orbit, effectively the ephemeris of shielding harness broadcast itself and almanac can there is the problem of artificial interference, improve the independence of system, the present invention is simultaneously applied to and strengthens field, to Beidou satellite navigation system satellite data quality monitoring based on dipper system ground; Improve the accuracy of satellite navigation.Simultaneously, when positioning utilizing satellite or navigate, four positions of receiver to satellite are at least needed to position, make in four receivers at least one when breaking down, can cannot complete and the position of satellite is positioned, and then cannot realize utilizing satellite to position or navigating, and the method that the embodiment of the present invention provides, by m reference receiver and n data quality monitoring receiver, satellite is positioned, and due to m >=3, m+n >=4, thus can reduce cause because at least one in four receivers breaks down cannot complete the situation that the position of satellite is positioned, thus achieve the reliability of navigation.

Embodiments provide a kind of broadcast ephemeris data quality determining method, the position of satellite position to the satellite that broadcast ephemeris data obtains positioning calculating by m reference receiver and n data quality monitoring receiver is verified, compared to traditional ephemeris-almanac inspection and the inspection of new and old ephemeris, further avoid and carry out satellite navigation according to the broadcast ephemeris data of mistake, thus improve the accuracy of navigation.And owing to broadcasting signal by satellite, broadcast ephemeris is detected, third party is not needed to provide the support of satellite data in-orbit, can effectively the ephemeris of shielding harness broadcast itself and almanac occur improve the problem of artificial interference the independence of system, further increase the accuracy of navigation.

A kind of electronic equipment 2 that embodiment two provides for the embodiment of the present invention, with reference to shown in Fig. 2, this electronic equipment 2 comprises:

Acquisition module 21, at least a broadcast ephemeris data that the satellite received for obtaining m reference receiver and n data quality monitoring receiver sends;

Satellite orbit data processing module 22, for detecting described at least a broadcast ephemeris data, generate testing result, described in described testing result is used to indicate, whether at least a broadcast ephemeris data can be used;

Information issuing module 23, strengthens systematically face system for described testing result is sent to ground.

Wherein, this acquisition module comprises four number of units according to quality monitoring receiver, be respectively quality of data warning receiver 211, quality of data warning receiver 212, quality of data warning receiver 213 and quality of data warning receiver 214, the antenna of these four data quality monitoring receivers is in exact position;

This electronic book equipment also comprises rubidium atomic frequency standard provides module 24: for providing quality of data warning receiver time and frequency standard, makes each receiver keep clock synchronous.

Optionally, satellite orbit data processing module 22 at least by following steps, detects described at least a broadcast ephemeris data, generates testing result:

According to m reference receiver and n data quality monitoring receiver, described satellite position is positioned, obtain the position of described satellite;

Judge whether the position of described satellite meets pre-conditioned, if described satellite position meets pre-conditioned, then described in judging, at least a broadcast ephemeris data can be used.

Optionally, satellite orbit data processing module 22 is also for performing following operation:

Whether any one at least a broadcast ephemeris data described in judgement be complete;

Whether any one at least a broadcast ephemeris data described in judgement be effective;

Described in judgement, whether at least a broadcast ephemeris data is consistent.

Optionally, satellite orbit data processing module 22 specifically for:

If any one at least a broadcast ephemeris data described in judging is complete, then whether any one at least a broadcast ephemeris data described in judging be effective;

If any one at least a broadcast ephemeris data described in judging is effective, then described in judging, whether at least a broadcast ephemeris data is consistent;

If at least a broadcast ephemeris data is consistent described in judging, then performs and describedly according to m reference receiver and n data quality monitoring receiver, described satellite position to be positioned, obtain the step of the position of described satellite.

Optionally, satellite orbit data processing module 22 specifically for:

If any one data integrity described in meeting at least a broadcast ephemeris, at least one effective, the described at least a broadcast ephemeris data one in described at least a almanac data make peace described at least a broadcast ephemeris data can use, then generate at least a broadcast ephemeris data described in being used to indicate can the first testing result; Otherwise, then disabled second testing result of at least a broadcast ephemeris data described in being used to indicate is generated.

Optionally, satellite orbit data processing module 22 specifically for:

According to described first testing result, generate the availability matrix corresponding with described at least a broadcast ephemeris data, described availability matrix is for the availability of at least a broadcast ephemeris data described in describing;

According to described availability matrix, obtain availability broadcast ephemeris array.

Optionally, information issuing module 23 also strengthens system for this availability broadcast ephemeris array being sent to ground.

It should be noted that this electronic equipment and ground strengthen data interaction systematically between face system can with reference to shown in Fig. 3, in figure 3,

Data interaction between the modules of these electronic equipment internal data can with reference to shown in Fig. 4, and in the diagram, in electronic equipment, the flow direction of signal can be:

Ground strengthens systematically face system A, is forwarded by the interface b that the navigation observation data comprising broadcast ephemeris data of ground subsystem reference receiver is sent in electronic equipment 2 by ground network.Meanwhile, by interface b also for forwarding information release module send broadcast ephemeris availability matrix and available broadcast ephemeris array 10.

Four quality of data integrity warning receiver B1, receive BDS signal, and export navigation observation data, comprise pseudo range data, ephemeris, almanac, satellite clock correction and temporal information, observation data 1 ~ 4 is forwarded above-mentioned data by interface a.

Satellite orbit data processing module 22 receives the quality of data integrity warning receiver navigation observation data 5 forwarded by interface a, receive the ground forwarded by interface b and strengthen systematically face system navigation observation data 7, carry out the quality of data and monitor process, complete ephemeris-almanac inspection, the inspection of new and old ephemeris, ground multi-receiver detection satellite broadcasting ephemeris, export broadcast ephemeris availability matrix and available broadcast ephemeris array 6.

Information issuing module 23, receives broadcast ephemeris availability matrix and available broadcast ephemeris array 6, is stored by integrity information, and by quality of data integrity court verdict 8, be transmitted to ground strengthen systematically face system A by interface b.

Rubidium atomic frequency standard provides module 24, for four quality of data integrity warning receivers provide Time and frequency standard signal 11.

Embodiments provide a kind of electronic equipment, this electronic equipment is detected by the carrying out of at least a broadcast ephemeris data, avoids and carries out satellite navigation according to the broadcast ephemeris data of mistake, thus improve the accuracy of navigation.And owing to broadcasting signal by satellite, broadcast ephemeris is detected, third party is not needed to provide the support of satellite data in-orbit, can effectively the ephemeris of shielding harness broadcast itself and almanac occur improve the problem of artificial interference the independence of system, further increase the accuracy of navigation.

A kind of broadcast ephemeris data quality detecting system that embodiment three provides for the embodiment of the present invention, with reference to shown in Fig. 3, this system comprises Satellite subsystem, ground subsystem and On-Board Subsystem, and this ground subsystem at least comprises the electronic equipment described in embodiment two.

Embodiments provide a kind of broadcast ephemeris data quality detecting system, the position of satellite position to the satellite that broadcast ephemeris data obtains that this system positions calculating by m reference receiver and n data quality monitoring receiver is verified, compared to traditional ephemeris-almanac inspection and the inspection of new and old ephemeris, further avoid and carry out satellite navigation according to the broadcast ephemeris data of mistake, thus improve the accuracy of navigation.And owing to broadcasting signal by satellite, broadcast ephemeris is detected, third party is not needed to provide the support of satellite data in-orbit, can effectively the ephemeris of shielding harness broadcast itself and almanac occur improve the problem of artificial interference the independence of system, further increase the accuracy of navigation.

Above-mentioned all alternatives, can adopt and combine arbitrarily formation optional embodiment of the present invention, this is no longer going to repeat them.

It should be noted that: the electronic equipment that above-described embodiment provides and system are when carrying out the detection of broadcast ephemeris data quality, only be illustrated with the division of above-mentioned each functional module, in practical application, can distribute as required and by above-mentioned functions and be completed by different functional modules, inner structure by equipment is divided into different functional modules, to complete all or part of function described above.In addition, the electronic equipment that above-described embodiment provides, system and broadcast ephemeris data quality determining method embodiment belong to same design, and its specific implementation process refers to embodiment of the method, repeats no more here.

One of ordinary skill in the art will appreciate that all or part of step realizing above-described embodiment can have been come by hardware, the hardware that also can carry out instruction relevant by program completes, described program can be stored in a kind of computer-readable recording medium, the above-mentioned storage medium mentioned can be ROM (read-only memory), disk or CD etc.

The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (10)

1. a broadcast ephemeris data quality determining method, is characterized in that, described method comprises:

Obtain at least a broadcast ephemeris data that satellite that m reference receiver and n data quality monitoring receiver receive sends;

Detect described at least a broadcast ephemeris data, generate testing result, described in described testing result is used to indicate, whether at least a broadcast ephemeris data can be used.

2. method according to claim 1, is characterized in that, at least by following steps, detects described at least a broadcast ephemeris data, generates testing result:

According to m reference receiver and n data quality monitoring receiver, described satellite position is positioned, obtain the position of described satellite;

Judge whether the position of described satellite meets pre-conditioned, if described satellite position meets pre-conditioned, then described in judging, at least a broadcast ephemeris data can be used.

3. method according to claim 1, is characterized in that, described detection described at least a broadcast ephemeris data also comprises following operation:

Whether any one at least a broadcast ephemeris data described in judgement be complete;

Whether any one at least a broadcast ephemeris data described in judgement be effective;

Described in judgement, whether at least a broadcast ephemeris data is consistent.

4. method according to claim 3, is characterized in that,

If any one at least a broadcast ephemeris data described in judging is complete, then whether any one at least a broadcast ephemeris data described in judging be effective;

If any one at least a broadcast ephemeris data described in judging is effective, then described in judging, whether at least a broadcast ephemeris data is consistent;

If at least a broadcast ephemeris data is consistent described in judging, then performs and describedly according to m reference receiver and n data quality monitoring receiver, described satellite position to be positioned, obtain the step of the position of described satellite.

5., according to the arbitrary described method of Claims 1-4, it is characterized in that, described generation testing result comprises:

If any one data integrity described in meeting at least a broadcast ephemeris, at least one effective, the described at least a broadcast ephemeris data one in described at least a almanac data make peace described at least a broadcast ephemeris data can use, then generate at least a broadcast ephemeris data described in being used to indicate can the first testing result; Otherwise, then disabled second testing result of at least a broadcast ephemeris data described in being used to indicate is generated.

6. method according to claim 5, is characterized in that, described method also comprises:

According to described first testing result, generate the availability matrix corresponding with described at least a broadcast ephemeris data, described availability matrix is for the availability of at least a broadcast ephemeris data described in describing;

According to described availability matrix, obtain availability broadcast ephemeris array.

7. an electronic equipment, is characterized in that, described electronic equipment comprises:

Acquisition module, at least a broadcast ephemeris data that the satellite received for obtaining m reference receiver and n data quality monitoring receiver sends;

Satellite orbit data processing module, for detecting described at least a broadcast ephemeris data, generate testing result, described in described testing result is used to indicate, whether at least a broadcast ephemeris data can be used;

Information issuing module, strengthens systematically face system for described testing result is sent to ground.

8. equipment according to claim 7, is characterized in that, described satellite orbit data processing module, at least by following operation, detects described at least a broadcast ephemeris data:

According to m reference receiver and n data quality monitoring receiver, described satellite position is positioned, obtain the position of described satellite;

Judge whether the position of described satellite meets pre-conditioned, if described satellite position meets pre-conditioned, then described in judging, at least a broadcast ephemeris data can be used.

9. a broadcast ephemeris data quality detecting system, is characterized in that, described system comprises electronic equipment described in satellite, claim 7 or 8 and ground strengthens systematically face system.

10. system according to claim 9, is characterized in that, described electronic equipment, at least by following operation, detects the carrying out of described at least a broadcast ephemeris data:

According to m reference receiver and n data quality monitoring receiver, described satellite position is positioned, obtain the position of described satellite;

Judge whether the position of described satellite meets pre-conditioned, if described satellite position meets pre-conditioned, then described in judging, at least a broadcast ephemeris data can be used.