CN111025347A - Multi-mode receiver foundation enhancement technical device and processing method - Google Patents
Multi-mode receiver foundation enhancement technical device and processing method Download PDFInfo
- Publication number
- CN111025347A CN111025347A CN201911312083.7A CN201911312083A CN111025347A CN 111025347 A CN111025347 A CN 111025347A CN 201911312083 A CN201911312083 A CN 201911312083A CN 111025347 A CN111025347 A CN 111025347A
- Authority
- CN
- China
- Prior art keywords
- data
- sbas
- satellite
- frequency
- offset
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/29—Acquisition or tracking or demodulation of signals transmitted by the system carrier including Doppler, related
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/243—Demodulation of navigation message
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
- G01S19/258—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to the satellite constellation, e.g. almanac, ephemeris data, lists of satellites in view
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/27—Acquisition or tracking or demodulation of signals transmitted by the system creating, predicting or correcting ephemeris or almanac data within the receiver
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/30—Acquisition or tracking or demodulation of signals transmitted by the system code related
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/32—Multimode operation in a single same satellite system, e.g. GPS L1/L2
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Power Engineering (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention provides a multi-mode receiver foundation enhancement technical device and a processing method, wherein a GNSS receiving assembly receives satellite navigation signal data and SBAS enhancement signal data; the VDB receive component receives GBAS enhanced signal data; the GLS processing component analyzes the received GNSS receiving component data and the received VDB receiving component data, carries out landing guidance calculation according to a working mode selection command and a channel selection control command sent by the interface processing component, and the interface processing component converts the navigation and landing guidance data into a bus signal and an acoustic analog quantity output signal. The invention improves the whole usability of the satellite navigation system, improves the positioning precision and integrity of the satellite navigation in the airway and the non-precision near area, and improves the positioning precision, integrity and usability of the satellite navigation in the precision near area.
Description
Technical Field
The invention relates to airborne satellite navigation, in particular to a device and a processing method for satellite navigation enhancement technology.
Background
The Global Navigation Satellite System (GNSS) currently approved by the International Civil Aviation Organization (ICAO) includes the Global Positioning System (GPS) in the united states, the global navigation satellite system (GLONASS) in russia, the beidou satellite navigation system (BDS) in china, and the GALILEO satellite navigation system (GALILEO) in europe. ICAO has long promoted the adoption of GNSS technology as the primary navigation means to realize navigation of all flight phases of an aircraft. With the improvement of GNSS systems and the continuous development and progress of various enhanced systems, technical support is provided for the application of civil aviation GNSS, and the GNSS as a main navigation source for the future civil aviation operation enters the rapid development and application stage.
The single GNSS system cannot completely meet the precision, integrity, continuity and availability index requirements of the ICAO according to different flight phases and the characteristics of the satellite navigation augmentation system, and the specified auxiliary navigation requirements of each phase. In order to achieve the capability of assisted navigation and even main navigation, an enhancement technology is required to improve the accuracy, integrity, continuity and availability of the GNSS. Typical airborne GNSS augmentation technologies include air-based augmentation system (ABAS) technology, ground-based augmentation system (GBAS) technology, and satellite-based augmentation system (SBAS) technology.
The Beidou satellite-based augmentation system (BDSBAS) with independent intellectual property rights and the civil aviation GNSS foundation augmentation system (BDGBAS) containing the BDS are built in China, and the BDS-based airborne multi-mode receiver is key equipment for the application of the Beidou satellite navigation system in civil aviation.
The multimode receiver (MMR) is a novel airborne landing guide receiver, and integrates a plurality of functions such as an Instrument Landing System (ILS) airborne receiving function, a Microwave Landing System (MLS) airborne receiving function, a satellite navigation landing (GLS) function, a pointer (MB) guided receiving function, an omnidirectional beacon system (VOR) navigation function and the like. Currently, the international airborne multimode receiver has the capability of supporting a type of precise approach (CAT I)/landing operation of a GPS L1 RNP 0.3(ABAS), a GPS L1 satellite-based augmentation system (SBAS) RNP 0.1 and a GPS L1 GLS (GBASLanding System). The Beidou airborne multi-mode receiver in China has already developed flight tests on domestic airplanes ARJ-21. The present airborne multimode receiver only supports a single-constellation single-frequency-point system of GPS L1, does not support multi-constellation multi-frequency systems such as BDS, GALILEO and the like, and does not support the requirement of three types of precision approach (CAT III).
Disclosure of Invention
In order to overcome the defects of the prior art and meet the requirements of civil aircraft on high precision, integrity and usability of satellite navigation, the invention provides a multi-mode receiver foundation enhancement technical device and a processing method.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a multi-mode receiver ground-based augmentation technology device comprises a GNSS receiving component, a VDB receiving component, a GLS processing component and an interface processing component;
the GNSS receiving assembly receives GNSS (GPS, BDS, GALILEO multi-system) satellite navigation signal data and SBAS enhanced signal data and outputs the data to the GLS processing assembly;
the VDB receiving component receives GBAS enhanced signal data and outputs the GBAS enhanced signal data to the GLS processing component;
the GLS processing component analyzes the received GNSS receiving component data and VDB receiving component data, and performs single/double frequency differential positioning navigation resolving on the GBAS mode GPS L1/L2 frequency, the BD B1/B2 frequency and the GALILEO E1/E5a frequency by using GNSS navigation data and combining GBAS enhanced signal data and SBAS enhanced signal data; carrying out landing guidance calculation according to a working mode selection command and a channel selection control command sent by the interface processing component, wherein the landing guidance calculation comprises bias calculation, protection level calculation and navigation performance monitoring; packing and sending the results of the navigation resolving and the landing guiding calculation to an interface processing component;
the interface processing component converts navigation and landing guide data into bus signals and sound analog quantity output signals; and receiving an operation mode selection command and a channel selection control command from the bus and the discrete control line, and transmitting the command conversion to the GLS processing component.
The invention also provides a processing method of the multi-mode receiver foundation enhancement technology device, which comprises the following steps:
step 1: the GNSS receiving assembly module finishes the capture of the satellite navigation signal and the SBAS enhanced signal and outputs signal data to the GLS processing assembly;
step 2: the VDB receiving component receives and demodulates the GBAS enhanced signal and transmits signal data to the GLS processing component;
and step 3: the GLS processing assembly analyzes the satellite navigation signal data, the SBAS enhanced signal data and the GBAS enhanced signal data, and performs differential positioning calculation of the single-frequency double-frequency multi-satellite system in the SBAS mode by combining the satellite navigation signal data with the SBAS enhanced signal data; carrying out single-frequency double-frequency multi-satellite system differential position calculation by combining the satellite navigation signal data with the GBAS enhanced signal data;
and 4, step 4: the GLS processing component determines the approach runway position according to the working mode selection command and the wave channel selection control command of the interface processing component, calculates the approach guidance offset calculation, the protection level calculation and the navigation performance monitoring relative to the runway position by using the position calculation result in the step 3), and finally generates landing guidance output;
and 5: the GLS processing component outputs the navigation resolving and landing guiding calculation results calculated in the steps 3) and 4) to the interface processing component;
step 6: the interface processing component converts the result of the step 5) into a bus signal and an acoustic analog quantity output signal.
The processing method of the multi-mode receiver foundation enhancement technology device comprises the following detailed steps:
step 1: GNSS and VDB data receiving and analyzing;
the GNSS receiving component receives satellite navigation signals and SBAS enhanced signals in real time, the GLS processing component analyzes the satellite navigation signals into ephemeris data and almanac data of a GPS satellite system, a BDS satellite system and a GALILE satellite system, and analyzes the ephemeris data and the almanac data into BDS B1/B2 frequency, GPSL1/L5 frequency and GALILEO E1/E5a frequency pseudo-range information, and analyzes the SBAS enhanced signals into SBAS enhanced message data;
the VDB component receives the real-time GBAS enhanced signal, and the GLS processing component analyzes the received GBAS enhanced signal data into TYPE1, TYPE2, TYPE4 and TYPE11 telegraph messages;
step 2: positioning resolving in a GBAS mode;
performing cycle slip detection of a carrier phase according to the dual-frequency pseudo range information of each satellite system analyzed in the step 1, performing DFree and IFree smooth filtering, calculating an elevation angle and an azimuth angle of the satellite according to the pseudo range information after the smooth filtering and ephemeris data of the satellite, and using the satellite conforming to the condition that the elevation angle is greater than 5 degrees for subsequent calculation; combining TYPE1 and TYPE11 messages in GBAS enhanced data, screening out a satellite subset suitable for a differential positioning algorithm, correcting pseudo range information of a satellite used for the differential positioning algorithm by using differential correction information given by TYPE1 and TYPE11, completing differential positioning calculation in a GBAS mode, and calculating three-dimensional speed (east, north and above), horizontal protection level, horizontal quality factor and vertical quality factor;
and step 3: positioning resolving under an SBAS mode;
the resolving is divided into single-frequency SBAS positioning resolving and double-frequency SBAS positioning resolving; the single-frequency SBAS positioning resolving is carried out on cycle slip detection of a carrier phase according to single-frequency pseudo range information of each satellite system analyzed in the step 1, and the carrier phase is applied to smooth pseudo ranges; using SBAS to enhance the telegraph text, carrying out geometric interpolation by applying the correction number of the ionosphere grid, and calculating the ionosphere vertical delay value at the ionosphere penetration point between the satellite and the satellite; solving troposphere error correction values of the pseudo ranges by using a UNB3 model; calculating to obtain a weighting parameter of each satellite by using a single-frequency integrity parameter to form a weighting matrix, performing differential positioning calculation in an SBAS mode, and calculating three-dimensional speeds (east, north and above);
the difference between double-frequency SBAS positioning calculation and single-frequency carrier waves lies in that a DFree algorithm is applied to smooth pseudo-range;
and 4, step 4: calculating an approach guidance parameter;
the GLS processing module receives a working mode selection command output by the interface processing component to determine a currently used working mode;
under the GBAS mode, according to the channel number output by the receiving interface processing assembly, selecting current approaching airport runway information from a TYPE4 message in GBAS enhanced data, and calculating the offset (horizontal offset and pitching offset) required by approach guidance and the distance to the runway entry point by using the positioning calculation result of the step 2) and the runway information; calculating two integrity parameters VPL and LPL by using TYPE1 and TYPE2 messages in the GBAS enhanced messages and the positioning calculation result in the step 2); carrying out validity detection, satellite geometric distribution detection, ground continuity integrity detection, monitoring whether VPL and LPL values exceed a threshold, deviation approach monitoring and reference receiver fault monitoring on a VDB message so as to monitor whether current approach guidance meets CAT III type requirements; if the CATIII type approach requirement is met, marking that CAT III type approach is currently provided, and outputting an offset, an offset effective mark and a distance to a runway entry point; when the requirement of CAT III class can not be met, carrying out validity detection on the VDB message, monitoring whether VPL and LPL values exceed a threshold or not, detecting whether the current state meets the CAT I class approach requirement or not, if the CAT I class approach requirement is met, actively reducing the current state to CAT-I class, marking that the current state provides CAT I class approach, and outputting an offset, an offset valid mark and a distance to a runway entry point; if the CAT I type approach requirement is not met, indicating that the approach cannot be provided currently, outputting an offset, an offset invalid mark and a distance to a runway entry point;
the SBAS mode calculation searches the runway information of the current approaching airport in the database according to the number of the wave channel output by the receiving interface processing assembly, and calculates the offset (horizontal offset and pitching offset) required by the approaching guide and the distance to the runway entry point by using the positioning calculation result of the step 3) and the runway information; calculating two integrity parameters VPL and LPL by using the SBAS enhanced message and the positioning calculation result in the step 3); when the number of the SBAS healthy satellites meets the requirement and the VPL and the LPL do not exceed the threshold, indicating that the approach can be provided currently, outputting an offset amount, an effective offset and a distance to an entry point of a runway; otherwise, outputting offset, invalid offset and distance to the entry point of the runway;
and 5: outputting the result;
the GLS processing module sends the differential positioning result of the step 3) or the step 4) and the approach parameter of the step 4) to an interface processing component according to the current working mode, and the interface processing component converts the data result into a bus signal and an acoustic analog quantity output signal and outputs the bus signal and the acoustic analog quantity output signal to other airborne systems.
The invention has the beneficial effects that:
1) the invention is compatible with three core constellations of a Global Positioning System (GPS) in the United states, a Beidou satellite navigation system (BDS) in China and a Galileo satellite navigation system (GALILEO) in Europe, thereby improving the overall availability of the satellite navigation system;
2) because the invention uses L1 and L2 frequencies of GPS, B1 and B2 frequencies of BDS, E1 and E5a frequencies of GALILEO to eliminate ionospheric refraction error, the positioning accuracy is improved;
3) the invention improves the positioning precision and integrity of satellite navigation in an airway and a non-precise approach area by using an SBAS (satellite based navigation system) satellite-based augmentation technology, particularly a BDSBAS augmentation technology;
4) according to the invention, the GBAS foundation enhancement technology is used, so that the positioning accuracy, integrity and availability of satellite navigation in a precise near area are improved;
the invention can provide automatic and manual selection of navigation functions of GBAS mode and SBAS mode according to different stages of flight, thereby improving the flexibility of the multi-mode receiver.
Drawings
FIG. 1 is a block diagram of an apparatus architecture of the present invention.
FIG. 2 is a method for treating the foundation reinforcing technology.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
The invention provides a multi-mode receiver foundation enhancement technology processing method and device. The invention comprises the following steps:
1) integrated satellite landing system functions (GLS) and global navigation satellite navigation system functions (GNSS);
2) the satellite navigation system has the functions of multi-system satellite navigation such as GPS, BDS, GALILEO and the like;
3) and the navigation functions of GBAS mode and SBAS mode are supported. The lowest level combination requirements of different flight stages are automatically selected and met in various working modes;
4) the single-frequency and double-frequency multi-system (GPS, BDS, GALILEO) SBAS satellite-based enhancement technology is used to meet the non-precision approach requirement;
5) the single-frequency and double-frequency multi-system (GPS, BDS, GALILEO) GBAS ground-based enhancement processing technology is used for improving the satellite navigation performance so as to meet the CAT-I, CAT-III precision approach requirement.
The multi-mode receiver ground-based augmentation technology device comprises a GNSS receiving component, a VDB component, a GLS processing component and an interface processing component.
The GNSS receiving assembly captures and tracks GNSS signals, obtains observed quantities, demodulates messages and finally outputs message demodulation results to the GLS processing assembly through the serial port.
The VDB receiving assembly receives the GBAS ground-based augmentation system broadcast augmentation signal, completes the VDB intermediate frequency signal processing function, performs digital filtering, signal extraction, 8DPSK phase demodulation, signal phase discrimination and data resolving digital signal processing, and outputs the processing result to the GLS processing assembly.
And the interface processing component receives the working mode selection command and the channel selection control command and outputs the result to the GLS processing component.
The GLS processing component collects data of the GNSS receiving component, the VDB receiving component and the interface processing component; analyzing the data into satellite navigation signal data, SBAS enhanced signal data and GBAS enhanced signal data, and performing differential positioning calculation of a single-frequency double-frequency multi-satellite system in an SBAS mode by using the satellite navigation signal data and the SBAS enhanced signal data; combining the satellite navigation signal data with GBAS enhanced differential signal data to perform differential positioning calculation of the single-frequency dual-frequency multi-satellite system in the GBAS mode; determining approach runway information according to a channel selection control command of an interface processing component, determining which differential positioning mode is used according to a working mode selection command of the interface processing component, performing approach guidance offset calculation, protection level calculation and navigation performance monitoring relative to the position of the runway in a corresponding mode to obtain speed, position, protection level, horizontal offset, pitching offset and offset effectiveness information, and packaging and sending the information to the interface processing component; the data of the interface processing component is converted into a bus signal and an acoustic analog quantity output signal, and the bus signal and the acoustic analog quantity output signal are output to other airborne equipment to complete approach guidance.
Referring to fig. 2, the processing method of the multi-mode receiver ground based augmentation technology apparatus of the present invention comprises the following steps:
step 1: GNSS and VDB data receiving and analyzing;
the GNSS receiving component receives satellite navigation signals and SBAS enhanced signals in real time, the GLS processing component analyzes the satellite navigation signals into ephemeris data and almanac data of a GPS satellite system, a BDS satellite system and a GALILE satellite system, and analyzes the ephemeris data and the almanac data into BDS B1/B2 frequency, GPSL1/L5 frequency and GALILEO E1/E5a frequency pseudo-range information, and analyzes the SBAS enhanced signals into SBAS enhanced message data;
the VDB component receives the real-time GBAS enhanced signal, and the GLS processing component analyzes the received GBAS enhanced signal data into TYPE1, TYPE2, TYPE4 and TYPE11 telegraph messages;
step 2: positioning resolving in a GBAS mode;
performing cycle slip detection of a carrier phase according to the dual-frequency pseudo range information of each satellite system analyzed in the step 1, performing DFree and IFree smooth filtering, calculating an elevation angle and an azimuth angle of the satellite according to the pseudo range information after the smooth filtering and ephemeris data of the satellite, and using the satellite conforming to the condition that the elevation angle is greater than 5 degrees for subsequent calculation; combining TYPE1 and TYPE11 messages in GBAS enhanced data, screening out a satellite subset suitable for a differential positioning algorithm, correcting pseudo range information of a satellite used for the differential positioning algorithm by using differential correction information given by TYPE1 and TYPE11, completing differential positioning calculation in a GBAS mode, and calculating three-dimensional speed (east, north and above), horizontal protection level, horizontal quality factor and vertical quality factor;
and step 3: positioning resolving under an SBAS mode;
the resolving is divided into single-frequency SBAS positioning resolving and double-frequency SBAS positioning resolving; the single-frequency SBAS positioning resolving is carried out on cycle slip detection of a carrier phase according to single-frequency pseudo range information of each satellite system analyzed in the step 1, and the carrier phase is applied to smooth pseudo ranges; using SBAS to enhance the telegraph text, carrying out geometric interpolation by applying the correction number of the ionosphere grid, and calculating the ionosphere vertical delay value at the ionosphere penetration point between the satellite and the satellite; solving troposphere error correction values of the pseudo ranges by using a UNB3 model; calculating to obtain a weighting parameter of each satellite by using a single-frequency integrity parameter to form a weighting matrix, performing differential positioning calculation in an SBAS mode, and calculating three-dimensional speeds (east, north and above);
the difference between double-frequency SBAS positioning calculation and single-frequency carrier waves lies in that a DFree algorithm is applied to smooth pseudo-range;
and 4, step 4: calculating an approach guidance parameter;
the GLS processing module receives a working mode selection command output by the interface processing component to determine a currently used working mode;
under the GBAS mode, according to the channel number output by the receiving interface processing assembly, selecting current approaching airport runway information from a TYPE4 message in GBAS enhanced data, and calculating the offset (horizontal offset and pitching offset) required by approach guidance and the distance to the runway entry point by using the positioning calculation result of the step 2) and the runway information; calculating two integrity parameters VPL and LPL by using TYPE1 and TYPE2 messages in the GBAS enhanced messages and the positioning calculation result in the step 2); carrying out validity detection, satellite geometric distribution detection, ground continuity integrity detection, monitoring whether VPL and LPL values exceed a threshold, deviation approach monitoring and reference receiver fault monitoring on a VDB message so as to monitor whether current approach guidance meets CAT III type requirements; if the CATIII type approach requirement is met, marking that CAT III type approach is currently provided, and outputting an offset, an offset effective mark and a distance to a runway entry point; when the requirement of CAT III class can not be met, carrying out validity detection on the VDB message, monitoring whether VPL and LPL values exceed a threshold or not, detecting whether the current state meets the CAT I class approach requirement or not, if the CAT I class approach requirement is met, actively reducing the current state to CAT-I class, marking that the current state provides CAT I class approach, and outputting an offset, an offset valid mark and a distance to a runway entry point; if the CAT I type approach requirement is not met, indicating that the approach cannot be provided currently, outputting an offset, an offset invalid mark and a distance to a runway entry point;
the SBAS mode calculation searches the runway information of the current approaching airport in the database according to the number of the wave channel output by the receiving interface processing assembly, and calculates the offset (horizontal offset and pitching offset) required by the approaching guide and the distance to the runway entry point by using the positioning calculation result of the step 3) and the runway information; calculating two integrity parameters VPL and LPL by using the SBAS enhanced message and the positioning calculation result in the step 3); when the number of the SBAS healthy satellites meets the requirement and the VPL and the LPL do not exceed the threshold, indicating that the approach can be provided currently, outputting an offset amount, an effective offset and a distance to an entry point of a runway; otherwise, outputting offset, invalid offset and distance to the entry point of the runway;
and 5: outputting the result;
the GLS processing module sends the differential positioning result of the step 3) or the step 4) and the approach parameter of the step 4) to an interface processing component according to the current working mode, and the interface processing component converts the data result into a bus signal and an acoustic analog quantity output signal and outputs the bus signal and the acoustic analog quantity output signal to other airborne systems.
Claims (3)
1. A multi-mode receiver ground based augmentation technique apparatus, comprising:
the multi-mode receiver ground-based augmentation technology device comprises a GNSS receiving component, a VDB receiving component, a GLS processing component and an interface processing component;
the GNSS receiving assembly receives GNSS (GPS, BDS, GALILEO multi-system) satellite navigation signal data and SBAS enhanced signal data and outputs the data to the GLS processing assembly;
the VDB receiving component receives GBAS enhanced signal data and outputs the GBAS enhanced signal data to the GLS processing component;
the GLS processing component analyzes the received GNSS receiving component data and VDB receiving component data, and performs single/double frequency differential positioning navigation resolving on GBAS mode and SBAS mode GPSL1/L2 frequency, BD B1/B2 frequency and GALILEO E1/E5a frequency by using GNSS navigation data and combining GBAS enhanced signal data and SBAS enhanced signal data; carrying out landing guidance calculation according to a working mode selection command and a channel selection control command sent by the interface processing component, wherein the landing guidance calculation comprises bias calculation, protection level calculation and navigation performance monitoring; packing and sending the results of the navigation resolving and the landing guiding calculation to an interface processing component;
the interface processing component converts navigation and landing guide data into bus signals and sound analog quantity output signals; and receiving an operation mode selection command and a channel selection control command from the bus and the discrete control line, and transmitting the command conversion to the GLS processing component.
2. A method of processing using the multi-mode receiver ground based augmentation technology apparatus of claim 1, comprising the steps of:
step 1: the GNSS receiving assembly module finishes the capture of the satellite navigation signal and the SBAS enhanced signal and outputs signal data to the GLS processing assembly;
step 2: the VDB receiving component receives and demodulates the GBAS enhanced signal and transmits signal data to the GLS processing component;
and step 3: the GLS processing assembly analyzes the satellite navigation signal data, the SBAS enhanced signal data and the GBAS enhanced signal data, and performs differential positioning calculation of the single-frequency double-frequency multi-satellite system in the SBAS mode by combining the satellite navigation signal data with the SBAS enhanced signal data; carrying out single-frequency double-frequency multi-satellite system differential position calculation by combining the satellite navigation signal data with the GBAS enhanced signal data;
and 4, step 4: the GLS processing component determines the approach runway position according to the working mode selection command and the wave channel selection control command of the interface processing component, calculates the approach guidance offset calculation, the protection level calculation and the navigation performance monitoring relative to the runway position by using the position calculation result in the step 3), and finally generates landing guidance output;
and 5: the GLS processing component outputs the navigation resolving and landing guiding calculation results calculated in the steps 3) and 4) to the interface processing component;
step 6: the interface processing component converts the result of the step 5) into a bus signal and an acoustic analog quantity output signal.
3. The processing method of the multi-mode receiver ground based augmentation technology apparatus as claimed in claim 2, wherein:
step 1: GNSS and VDB data receiving and analyzing;
the GNSS receiving assembly receives satellite navigation signals and SBAS enhancement signals in real time, the GLS processing assembly analyzes the satellite navigation signals into ephemeris data and almanac data of a GPS satellite system, a BDS satellite system and a GALILE satellite system, and analyzes the ephemeris data and the almanac data into BDS B1/B2 frequency, GPS L1/L5 frequency and GALILEO E1/E5a frequency pseudo-range information, and analyzes the SBAS enhancement signals into SBAS enhancement message data;
the VDB component receives the real-time GBAS enhanced signal, and the GLS processing component analyzes the received GBAS enhanced signal data into TYPE1, TYPE2, TYPE4 and TYPE11 telegraph messages;
step 2: positioning resolving in a GBAS mode;
performing cycle slip detection of a carrier phase according to the dual-frequency pseudo range information of each satellite system analyzed in the step 1, performing DFree and IFree smooth filtering, calculating an elevation angle and an azimuth angle of the satellite according to the pseudo range information after the smooth filtering and ephemeris data of the satellite, and using the satellite conforming to the condition that the elevation angle is greater than 5 degrees for subsequent calculation; combining TYPE1 and TYPE11 messages in GBAS enhanced data, screening out a satellite subset suitable for a differential positioning algorithm, correcting pseudo range information of a satellite used for the differential positioning algorithm by using differential correction information given by TYPE1 and TYPE11, completing differential positioning calculation in a GBAS mode, and calculating three-dimensional speed (east, north and above), horizontal protection level, horizontal quality factor and vertical quality factor;
and step 3: positioning resolving under an SBAS mode;
the resolving is divided into single-frequency SBAS positioning resolving and double-frequency SBAS positioning resolving; the single-frequency SBAS positioning resolving is carried out on cycle slip detection of a carrier phase according to single-frequency pseudo range information of each satellite system analyzed in the step 1, and the carrier phase is applied to smooth pseudo ranges; using SBAS to enhance the telegraph text, carrying out geometric interpolation by applying the correction number of the ionosphere grid, and calculating the ionosphere vertical delay value at the ionosphere penetration point between the satellite and the satellite; solving troposphere error correction values of the pseudo ranges by using a UNB3 model; calculating to obtain a weighting parameter of each satellite by using a single-frequency integrity parameter to form a weighting matrix, performing differential positioning calculation in an SBAS mode, and calculating three-dimensional speeds (east, north and above);
the difference between double-frequency SBAS positioning calculation and single-frequency carrier waves lies in that a DFree algorithm is applied to smooth pseudo-range;
and 4, step 4: calculating an approach guidance parameter;
the GLS processing module receives a working mode selection command output by the interface processing component to determine a currently used working mode;
under the GBAS mode, according to the channel number output by the receiving interface processing assembly, selecting current approaching airport runway information from a TYPE4 message in GBAS enhanced data, and calculating the offset (horizontal offset and pitching offset) required by approach guidance and the distance to the runway entry point by using the positioning calculation result of the step 2) and the runway information; calculating two integrity parameters VPL and LPL by using TYPE1 and TYPE2 messages in the GBAS enhanced messages and the positioning calculation result in the step 2); carrying out validity detection, satellite geometric distribution detection, ground continuity integrity detection, monitoring whether VPL and LPL values exceed a threshold, deviation approach monitoring and reference receiver fault monitoring on a VDB message so as to monitor whether current approach guidance meets CAT III type requirements; if the CAT III class approach requirement is met, marking that the current provided approach is CAT III class approach, and outputting an offset, an offset effective mark and a distance to an entry point of the runway; when the requirement of CAT III class can not be met, carrying out validity detection on the VDB message, monitoring whether VPL and LPL values exceed a threshold or not, detecting whether the current state meets the CAT I class approach requirement or not, if the CAT I class approach requirement is met, actively reducing the current state to CAT-I class, marking that the current state provides CAT I class approach, and outputting an offset, an offset valid mark and a distance to a runway entry point; if the CAT I type approach requirement is not met, indicating that the approach cannot be provided currently, outputting an offset, an offset invalid mark and a distance to a runway entry point;
the SBAS mode calculation searches the runway information of the current approaching airport in the database according to the number of the wave channel output by the receiving interface processing assembly, and calculates the offset (horizontal offset and pitching offset) required by the approaching guide and the distance to the runway entry point by using the positioning calculation result of the step 3) and the runway information; calculating two integrity parameters VPL and LPL by using the SBAS enhanced message and the positioning calculation result in the step 3); when the number of the SBAS healthy satellites meets the requirement and the VPL and the LPL do not exceed the threshold, indicating that the approach can be provided currently, outputting an offset amount, an effective offset and a distance to an entry point of a runway; otherwise, outputting offset, invalid offset and distance to the entry point of the runway;
and 5: outputting the result;
the GLS processing module sends the differential positioning result of the step 3) or the step 4) and the approach parameter of the step 4) to an interface processing component according to the current working mode, and the interface processing component converts the data result into a bus signal and an acoustic analog quantity output signal and outputs the bus signal and the acoustic analog quantity output signal to other airborne systems.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911312083.7A CN111025347A (en) | 2019-12-18 | 2019-12-18 | Multi-mode receiver foundation enhancement technical device and processing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911312083.7A CN111025347A (en) | 2019-12-18 | 2019-12-18 | Multi-mode receiver foundation enhancement technical device and processing method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111025347A true CN111025347A (en) | 2020-04-17 |
Family
ID=70209730
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911312083.7A Pending CN111025347A (en) | 2019-12-18 | 2019-12-18 | Multi-mode receiver foundation enhancement technical device and processing method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111025347A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112835068A (en) * | 2021-03-17 | 2021-05-25 | 哈尔滨天枢问道技术有限公司 | Global satellite navigation system-based GBAS and SBAS fusion system |
| CN113247283A (en) * | 2021-04-29 | 2021-08-13 | 中国电子科技集团公司第二十研究所 | Airborne display equipment based on satellite-based augmentation system and warning method |
| CN113917495A (en) * | 2021-12-14 | 2022-01-11 | 天津七一二通信广播股份有限公司 | Beidou GBAS-based multi-frequency-point multi-constellation high-reliability autonomous monitoring method and equipment |
| CN114047526A (en) * | 2022-01-12 | 2022-02-15 | 天津七一二通信广播股份有限公司 | Ionized layer anomaly monitoring method and device based on dual-frequency dual-constellation GBAS |
| CN116094578A (en) * | 2023-04-07 | 2023-05-09 | 北京航空航天大学 | GBAS working mode self-adaptive switching method based on risk event monitoring |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150145722A1 (en) * | 2013-11-27 | 2015-05-28 | Honeywell International Inc. | Using sbas ionospheric delay measurements to mitigate ionospheric error |
| EP2930533A1 (en) * | 2014-04-07 | 2015-10-14 | Honeywell International Inc. | Systems and methods for a code carrier divergence high-pass filter monitor |
| CN108333603A (en) * | 2018-02-12 | 2018-07-27 | 千寻位置网络有限公司 | The method for broadcasting service and location-based service based on the satellite-baseds GNSS ground |
| CN108919312A (en) * | 2018-05-03 | 2018-11-30 | 武汉大学 | Independent navigation signal enhancing method based on low orbit satellite |
| CN109782303A (en) * | 2018-12-27 | 2019-05-21 | 中国电子科技集团公司第二十研究所 | A kind of performance test methods of ground strengthening system, apparatus and system |
| CN209417305U (en) * | 2018-12-25 | 2019-09-20 | 中电科西北集团有限公司 | Ground strengthening system ground installation |
-
2019
- 2019-12-18 CN CN201911312083.7A patent/CN111025347A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150145722A1 (en) * | 2013-11-27 | 2015-05-28 | Honeywell International Inc. | Using sbas ionospheric delay measurements to mitigate ionospheric error |
| EP2930533A1 (en) * | 2014-04-07 | 2015-10-14 | Honeywell International Inc. | Systems and methods for a code carrier divergence high-pass filter monitor |
| CN108333603A (en) * | 2018-02-12 | 2018-07-27 | 千寻位置网络有限公司 | The method for broadcasting service and location-based service based on the satellite-baseds GNSS ground |
| CN108919312A (en) * | 2018-05-03 | 2018-11-30 | 武汉大学 | Independent navigation signal enhancing method based on low orbit satellite |
| CN209417305U (en) * | 2018-12-25 | 2019-09-20 | 中电科西北集团有限公司 | Ground strengthening system ground installation |
| CN109782303A (en) * | 2018-12-27 | 2019-05-21 | 中国电子科技集团公司第二十研究所 | A kind of performance test methods of ground strengthening system, apparatus and system |
Non-Patent Citations (4)
| Title |
|---|
| 张斌浩: "基于GNSS的地基增强***完好性算法与应用研究", 《中国优秀硕士学位论文全文数据库》 * |
| 张洪亮: "BD/GPS地基增强***(GBAS）完好性技术研究", 《中国优秀硕士学位论文全文数据库信息科技辑》 * |
| ***: "基于北斗的GBAS差分和完好性算法研究与实现", 《中国优秀硕士学位论文全文数据库信息科技辑》 * |
| 高虎: "地基增强***数据解析软件的设计与实现", 《科技传播》 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112835068A (en) * | 2021-03-17 | 2021-05-25 | 哈尔滨天枢问道技术有限公司 | Global satellite navigation system-based GBAS and SBAS fusion system |
| CN113247283A (en) * | 2021-04-29 | 2021-08-13 | 中国电子科技集团公司第二十研究所 | Airborne display equipment based on satellite-based augmentation system and warning method |
| CN113247283B (en) * | 2021-04-29 | 2024-02-20 | 中国电子科技集团公司第二十研究所 | Onboard display equipment based on star-based enhancement system and alarming method |
| CN113917495A (en) * | 2021-12-14 | 2022-01-11 | 天津七一二通信广播股份有限公司 | Beidou GBAS-based multi-frequency-point multi-constellation high-reliability autonomous monitoring method and equipment |
| CN114047526A (en) * | 2022-01-12 | 2022-02-15 | 天津七一二通信广播股份有限公司 | Ionized layer anomaly monitoring method and device based on dual-frequency dual-constellation GBAS |
| CN116094578A (en) * | 2023-04-07 | 2023-05-09 | 北京航空航天大学 | GBAS working mode self-adaptive switching method based on risk event monitoring |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111025347A (en) | Multi-mode receiver foundation enhancement technical device and processing method | |
| Walter et al. | Worldwide vertical guidance of aircraft based on modernized GPS and new integrity augmentations | |
| US8818582B2 (en) | Method and system for determining the position of an aircraft during its approach to a landing runway | |
| CN110988934B (en) | Multi-mode receiver satellite-based enhancement technology device and processing method | |
| RU2497149C2 (en) | Network and method for calculating ionosphere corrections | |
| EP3206048B1 (en) | Use of wide area reference receiver network data to mitigate local area error sources | |
| JP4723932B2 (en) | Positioning system | |
| US6839631B1 (en) | Space based augmentation system with hierarchy for determining geographical corrections source | |
| US9784847B1 (en) | Multiple GNSS constellation tracking for a blended navigation solution | |
| Sakai et al. | Augmentation performance of QZSS L1-SAIF signal | |
| van Graas et al. | Ohio University/FAA flight test demonstration of local Area Augmentation System (LAAS) | |
| Ammana et al. | Advantage of IRNSS S-band signal for GBAS applications in adverse ionospheric storm conditions | |
| Sunehra | Estimation of prominent global positioning system measurement errors for Gagan applications | |
| KR101705882B1 (en) | Apparatus for detecting cycle slip using position information of receiver in reference station environment and the method thereof | |
| Kitamura et al. | Development of Prototype Dual-frequency Multi-constellation SBAS for MSAS | |
| Skorkowski et al. | Analysis of EGNOS-augmented GPS receiver positioning accuracy | |
| Sakai et al. | GPS/GLONASS Multi-Constellation SBAS Trial and Preliminary Results for East-Asia Region | |
| Păunescu et al. | „Considerations for GNSS measurements” | |
| Soon et al. | Flight test results of precision approach and landing augmented by airport pseudolites | |
| Wang et al. | Ionospheric delay gradient threat model for GBAS based on GPS data in China | |
| Heinrichs et al. | User RAIM integrity and interference mitigation test results with upgraded German Galileo test range GATE | |
| Čaušević et al. | GNSS Limitations During Position Determination and Receiver Rerformance Testing Using Android Mobile Application. | |
| CN114152959B (en) | Beidou GBAS-PAN equipment navigability compliance verification method and system | |
| Kucera et al. | Flight Test Validation of New Honeywell DFMC GNSS Prototype–Future Aviation Grade Receiver | |
| CN115220066B (en) | Pseudo satellite number design method, device, equipment and readable storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200417 |
|
| RJ01 | Rejection of invention patent application after publication |