CN111198386A - Integrity monitoring system and method of GNSS augmentation system - Google Patents

Integrity monitoring system and method of GNSS augmentation system Download PDF

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CN111198386A
CN111198386A CN201811372441.9A CN201811372441A CN111198386A CN 111198386 A CN111198386 A CN 111198386A CN 201811372441 A CN201811372441 A CN 201811372441A CN 111198386 A CN111198386 A CN 111198386A
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monitoring
integrity
integrity monitoring
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broadcasting
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陈杰
冯绍军
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Qianxun Spatial Intelligence Inc
Qianxun Position Network Co Ltd
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Qianxun Spatial Intelligence Inc
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    • 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
    • G01S19/20—Integrity monitoring, fault detection or fault isolation of space segment

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  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
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Abstract

The invention provides an integrity monitoring system of a GNSS augmentation system, which is characterized by comprising: the monitoring system comprises a first-stage monitoring module and a second-stage monitoring module, wherein the first-stage monitoring module is connected with the second-stage monitoring module; the first-level monitoring module comprises a pre-distribution integrity monitoring module, and the second-level monitoring module comprises a post-distribution integrity monitoring module. The invention also provides a method for monitoring the integrity of the GNSS augmentation system, which is characterized by comprising the following steps: t is0Monitoring the integrity of the corrected number to be broadcast at any moment; the step of broadcasting the integrity monitoring result before broadcasting by telegraph text coding; at T0+TPMonitoring the integrity of the broadcasted correction parameters at any moment; and E, encoding and broadcasting the integrity monitoring result after broadcasting. The integrity monitoring system and method of the GNSS augmentation system can provide an integrity monitoring solution in high-precision service, and the probability that a user segment is influenced by a fault is greatly smaller than that in the prior artThe integrity monitoring solution has extremely high industrial application value.

Description

Integrity monitoring system and method of GNSS augmentation system
Technical Field
The present invention relates to an integrity monitoring System and method for a positioning System, and more particularly, to an integrity monitoring System and method for a GNSS (global navigation Satellite System) augmentation System.
Background
The integrity refers to that when the error of the navigation system exceeds the allowable limit value and the navigation system cannot be used for specified navigation work, the system gives an alarm in time to inform the user or terminate the function of the signal. Integrity is mainly used to meet the use requirements of life safety related applications. Since the true value of the positioning error cannot be known in the real-time positioning, the positioning error may exceed the expected value due to the occurrence of a fault. The system estimates the limit of the error through the integrity algorithm, and sends an alarm to the user if the limit value exceeds the alarm threshold. If the estimated limit of the integrity algorithm is too small, the integrity risk will occur, and if the estimated limit of the integrity algorithm is too large, an alarm will occur, reducing the service availability, both of which will make the service unavailable for life safety related applications.
GNSS such as GPS, GLONASS, Galileo systems, and beidou satellite navigation systems cannot meet the requirements of life safety-related applications, and additional augmentation systems are required to improve the accuracy and integrity of satellite navigation services. The existing integrity monitoring schemes are all derived from the civil aviation field, pseudo-range observed quantities are used for positioning and resolving in the civil aviation field, the integrity monitoring schemes are designed according to meter-level precision requirements, single-level integrity monitoring is adopted to ensure integrity risk indexes, namely integrity parameters broadcasted at different times are obtained by the same algorithm, and a user converts the same conversion relation into an estimated value of a corrected error or an 'unusable' state. Due to low positioning precision requirement, correction error estimation values of civil aviation are conservative, and the main purpose is to guarantee integrity.
Taking a single-frequency satellite-based augmentation system of civil aviation as an example, the integrity parameter of the track and clock correction error in the ranging domain is UDREI, and the conversion relation of the parameter is listed in the following table, so that the method is obviously not suitable for high-precision service.
Figure BDA0001869287920000011
Figure BDA0001869287920000021
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, it is an object of the present invention to provide a system and a method for integrity monitoring of GNSS augmentation systems, which are used to solve the problem that the prior art is not suitable for life safety related high precision positioning applications.
To achieve the above and other related objects, the present invention provides an integrity monitoring system for GNSS augmentation systems, comprising: the monitoring system comprises a first-stage monitoring module and a second-stage monitoring module, wherein the first-stage monitoring module is connected with the second-stage monitoring module in series; the first-level monitoring module comprises a pre-distribution integrity monitoring module, and the second-level monitoring module comprises a post-distribution integrity monitoring module.
The invention also provides a method for monitoring the integrity of the GNSS augmentation system, which is characterized by comprising the following steps: t is0Monitoring the integrity of the corrected number to be broadcast at any moment; the step of broadcasting the integrity monitoring result before broadcasting by telegraph text coding; at T0+TPMonitoring the integrity of the broadcasted correction parameters at any moment; and E, encoding and broadcasting the integrity monitoring result after broadcasting.
A integrity monitoring terminal of a GNSS augmentation system is used for receiving and analyzing monitoring results broadcasted by an integrity monitoring platform or system; wherein the integrity monitoring platform or system is at T respectively0Time and T0+TPMonitoring the integrity at any moment; the monitoring result comprises four states: state 1 is T0The time monitoring result is 'unavailable' and T is not performed yet0+TPMonitoring the integrity of the moment; state 2 is T0The time monitoring result is available and T is not performed yet0+TPMonitoring the integrity of the moment; state 3 is T0The time integrity monitoring result is available and T0+TPThe time integrity monitoring result is 'available'; state 4 is T0The time integrity monitoring result is available and T0+TPThe time integrity monitoring result is 'unavailable'; the method for processing the monitoring result by the terminal comprises the following steps: receiving T0A time integrity monitoring result; judgment of T0Monitoring the state of the result at any time, if soIf the state is 1, the T is not used directly0And monitoring correction parameters in the result at any time.
As described above, the integrity monitoring system and method of the GNSS augmentation system of the present invention can provide an integrity monitoring solution in a high-precision service, and the probability of the user segment being affected by a fault is much smaller than the integrity monitoring solution of the prior art, so that the present invention has a very high industrial application value.
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FIG. 1 is a logic diagram of an integrity monitoring system of a GNSS augmentation system of the present invention;
FIG. 2 is a block diagram of an integrity monitoring system process of the GNSS augmentation system of the present invention;
FIG. 3 is a flowchart illustrating the processing of the received monitoring result by the integrity monitoring terminal of the GNSS augmentation system of the present invention.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention.
Please refer to the attached drawings. It should be noted that the drawings provided in the present embodiment are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
Referring first to FIG. 1, FIG. 1 is a logic diagram of an integrity monitoring system of a GNSS augmentation system of the present invention. The integrity monitoring system comprises a pre-broadcasting monitoring module, a post-broadcasting monitoring module and a former broadcasting module. It should be noted that although the pre-distribution monitoring module and the post-distribution monitoring module are respectively connected to the distribution module in the figure, those skilled in the art can understand that the pre-distribution monitoring module and the post-distribution monitoring module can share a single distribution module in practice.
The pre-broadcasting monitoring module and the post-broadcasting monitoring module form two-stage monitoring, and the two stages adopt heterogeneous settings. The heterogeneous monitoring module is used for monitoring the integrity of the two stages of the monitoring modules, wherein the heterogeneous monitoring module is used for monitoring the integrity of the two stages of the monitoring modules, and the heterogeneous monitoring module is used for monitoring the integrity of the two stages of the monitoring modules. By distributing the overall missed detection probability, the missed detection index of the whole system can be greatly lower than each level of integrity monitoring, so that the margin of correcting error estimation values is reduced, and high precision, high integrity and high availability of service are realized. As will be appreciated by those skilled in the art: the two-stage monitoring module of the present embodiment is for exemplary purposes only, and in practice, more stages of monitoring modules may be provided.
Referring now to fig. 2, fig. 2 is a block flow diagram of the integrity monitoring system of the present invention. In the integrity monitoring system, the first-stage monitoring module comprises a pre-broadcasting integrity monitoring module, the second-stage monitoring module comprises a post-broadcasting integrity monitoring module, and the integrity monitoring result is whether correction parameters are available or not, and comprises four states: the state 1 is that the result of integrity monitoring before broadcasting is "unavailable" and integrity monitoring after broadcasting is not performed, the state 2 is that the result of integrity monitoring before broadcasting is "available" and integrity monitoring after broadcasting is not performed, the state 3 is that the result of integrity monitoring before broadcasting is "available" and the result of integrity monitoring after broadcasting is "available", the state 4 is that the result of integrity monitoring before broadcasting is "available" and the result of integrity monitoring after broadcasting is "unavailable". States 1 and 2 are given by the pre-dissemination integrity monitoring module and states 3 and 4 are given by the post-dissemination integrity monitoring module.
The integrity monitoring module monitors the integrity of the corrected number before the corrected telegraph text is broadcast so as to ensure that the corrected number can meet the index requirement before being quantized into the correction parameters in the telegraph text. The module is triggered by an event (the event indicates that new correction parameters are generated), when the new correction parameters need to be broadcast, the module monitors the correction numbers to be broadcast, and the monitoring result can be broadcast along with the correction parameters.
The post-broadcast integrity monitoring module carries out integrity monitoring on the correction parameters after the corrected telegraph text is broadcast so as to ensure that the correction parameters in the telegraph text can meet the index requirements. The module is triggered in time, and the triggering time interval is recorded as TpThe value may be taken within a range not exceeding the warning time, and preferably, the smaller value between half the minimum update period of the correction parameter and the warning time may be taken. The module is used for monitoring the correction parameters with the integrity monitoring result of state 2 before broadcasting, if T is0If the integrity monitoring result before broadcasting of a certain type of correction parameters which are broadcast at any time is in a state 1, the integrity monitoring module does not monitor T after broadcasting0The correction parameters are broadcast at all times, but the integrity monitoring result of the correction parameters is kept as state 1. The monitoring results of the module can be broadcast independently of the correction parameters. If at T0～T0+TpIf the system does not generate correction parameters within the time, the integrity monitoring before broadcasting is not needed, but the integrity monitoring after broadcasting is used for continuously monitoring the previous correction number. The trigger time interval TP may be constrained in the signal protocol and built into the user receiver or may be informed to the user receiver by a text message.
The invention also provides a method for monitoring the integrity of the GNSS augmentation system, which comprises the following steps:
S1：T0and at the moment, the integrity of the corrected number to be broadcasted is monitored by a platform or a system end before being broadcasted.
The triggering mode of the step is event triggering, wherein the event indicates that new correction parameters are generated. When new correction parameters need to be broadcast, the module monitors the number of corrections to be broadcast.
S2: and broadcasting the integrity monitoring result before broadcasting to the user.
Preferably, the monitoring result is broadcast to the user after being coded by a telegram, and the integrity parameters in the telegram can be broadcast to the user along with the correction parameters.
S3：T0+TpAnd at any moment, the platform or the system monitors the integrity of the broadcasted correction parameters after broadcasting.
This step is triggered by time, the triggered time TpThe value may be taken within a range not exceeding the warning time, and preferably the smaller value between half the minimum update period of the correction parameter and the warning time may be taken. The trigger interval may be constrained in the signal protocol and built into the user receiver or the user receiver may be informed by a text message.
S4: and the platform or the system carries out text coding on the integrity monitoring result after the broadcasting and broadcasts the result to the user.
Wherein: the integrity monitoring result is whether the correction parameters are available or not, and comprises four states: the state 1 is that the result of integrity monitoring before broadcasting is "unavailable" and integrity monitoring after broadcasting is not performed, the state 2 is that the result of integrity monitoring before broadcasting is "available" and integrity monitoring after broadcasting is not performed, the state 3 is that the result of integrity monitoring before broadcasting is "available" and the result of integrity monitoring after broadcasting is "available", the state 4 is that the result of integrity monitoring before broadcasting is "available" and the result of integrity monitoring after broadcasting is "unavailable".
States 1 and 2 are given by step S1, and states 3 and 4 are given by step S3. The monitoring object of step S3 is the correction parameter with the integrity monitoring result of state 2 before broadcasting, if T is0If the pre-broadcast integrity monitoring result of a certain type of correction parameters broadcast at any time is state 1, S3 does not monitor T0The correction parameters are broadcast at all times, but the integrity monitoring result of the correction parameters is kept as state 1. Step S4 may broadcast the monitoring results independently of the correction parameters. If at T0～T0+TpIf the system does not generate correction parameters within the time period, step S3 does not need to perform pre-distribution integrity monitoring, but continues to monitor the previous correction number by the post-distribution integrity monitoring.
The invention also provides a integrity monitoring terminal of the GNSS augmentation system, which is used for receiving and analyzing the integrity monitoring result. Wherein the monitoring result of the integrity monitoring is whether the correction parameter is available or notThe method comprises four states: state 1 is T0The time monitoring result is 'unavailable' and T is not performed yet0+TPTime integrity monitoring with state 2 as T0The time monitoring result is available and T is not performed yet0+TPMonitoring the integrity of the moment; state 3 is T0The time integrity monitoring result is available and T0+TPThe time integrity monitoring result is 'available'; state 4 is T0The time integrity monitoring result is available and T0+TPThe time integrity monitoring result is 'unavailable'. It should be noted that "available" and "unavailable" may be set to a predefined flag bit to indicate.
The processing flow of the terminal is shown in fig. 3, and the processing steps are as follows:
S1：T0and receiving the correction parameters of the broadcasting and the integrity monitoring result before the broadcasting.
S2: judgment of T0Constantly monitoring the state of the result, and if the monitoring result is in the state 1, directly not using T0Correction parameters of time of day.
S3: if T0The monitoring result at the moment is state 2, then at T0+TpTime of day reception T0+TPAnd (5) monitoring the integrity at any time.
S4: is judged at T0+TPThe state of the result is monitored according to the integrity at any time, and if the state of the monitoring result is 3, the user can use T0Correction parameters of time of day, otherwise, T is not available to the user0Correction parameters of time of day.
In summary, the integrity monitoring system and method of the GNSS augmentation system of the present invention can greatly reduce the probability of the user side being affected by the fault, and the present invention is provided with
Figure BDA0001869287920000061
Is the probability that the user segment is affected by the fault,
Figure BDA0001869287920000062
in order to determine the probability of the occurrence of a failure,
Figure BDA0001869287920000063
and
Figure BDA0001869287920000064
the missed detection probabilities of the integrity monitoring module before broadcasting and the integrity monitoring module after broadcasting are respectively, and the probability that the user side is affected by the fault is as follows:
Figure BDA0001869287920000065
clearly lower than the single stage monitoring scheme of the prior art.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims (27)

1. An integrity monitoring system for a GNSS augmentation system, comprising:
the monitoring system comprises a first-stage monitoring module and a second-stage monitoring module, wherein the first-stage monitoring module is connected with the second-stage monitoring module;
the first-level monitoring module comprises a pre-distribution integrity monitoring module, and the second-level monitoring module comprises a post-distribution integrity monitoring module.
2. The integrity monitoring system of a GNSS augmentation system of claim 1, wherein the first level monitoring module and the second level monitoring module are heterologous.
3. The integrity monitoring system of a GNSS augmentation system of claim 1, wherein the first stage monitoring module and the second stage monitoring module are heterogeneous.
4. The integrity monitoring system of a GNSS augmentation system of claim 1, wherein the monitoring results of the monitoring system comprise four states: the state 1 is that the integrity monitoring result before broadcasting is a first identification value and the integrity monitoring after broadcasting is not carried out yet; the state 2 is that the integrity monitoring result before broadcasting is a second identification value and the integrity monitoring after broadcasting is not carried out yet; the state 3 is that the integrity monitoring result before broadcasting is a second identification value and the integrity monitoring result after broadcasting is a third identification value; and in the state 4, the integrity monitoring result before broadcasting is a second identification value, and the integrity monitoring result after broadcasting is a fourth identification value.
5. The integrity monitoring system of a GNSS augmentation system of claim 4, wherein the states 1 and 2 are given by the pre-dissemination integrity monitoring module and the states 3 and 4 are given by the post-dissemination integrity monitoring module.
6. The integrity monitoring system of a GNSS augmentation system of claim 1, wherein the pre-broadcast integrity monitoring module performs integrity monitoring on the correction parameters prior to correcting the broadcast of the telegraph.
7. The integrity monitoring system of a GNSS augmentation system of claim 1, wherein the triggering manner of the pre-broadcast integrity monitoring module is event triggering.
8. The integrity monitoring system of a GNSS augmentation system of claim 7, wherein the event is a new correction parameter generation; and when new correction parameters need to be broadcast, the integrity monitoring module monitors the correction numbers before broadcast.
9. The integrity monitoring system of a GNSS augmentation system of claim 1 wherein the post-issuance integrity monitoring module performs integrity monitoring on the correction parameters after issuance of the correction parameters.
10. The integrity monitoring system of a GNSS augmentation system of claim 1, wherein the triggering manner of the post-broadcast integrity monitoring module is time-triggered.
11. The integrity monitoring system of a GNSS augmentation system of claim 10 wherein the time of the trigger does not exceed an alarm time.
12. The integrity monitoring system of GNSS augmentation system of claim 9, wherein the monitored object of the post-broadcast integrity monitoring module is the correction parameter of state 2 of the pre-broadcast integrity monitoring result if T is0The pre-broadcast integrity monitoring result of the correction parameters broadcast at any moment is state 1, and the post-broadcast integrity monitoring module does not monitor T0The correction parameters are broadcast at any time and the integrity monitoring result of the correction parameters is kept in a state 1.
13. The integrity monitoring system of a GNSS augmentation system of claim 9, wherein the monitoring result of the post-broadcast integrity monitoring module is broadcast independently of correction parameters.
14. The integrity monitoring system of a GNSS augmentation system of claim 9 wherein the trigger time interval is constrained in a signal protocol or communicated to the receiver by a message.
15. A method for monitoring integrity of a GNSS augmentation system, comprising:
T0monitoring the integrity of the corrected number to be broadcast at any moment;
broadcasting the integrity monitoring result before broadcasting;
at T0+TPMonitoring the integrity of the broadcasted correction parameters at any moment;
and broadcasting the integrity monitoring result after broadcasting.
16. The integrity monitoring method of a GNSS augmentation system of claim 15, wherein the T is0And in the step of monitoring the integrity before broadcasting the correction number to be broadcasted constantly, the triggering mode is event triggering.
17. The integrity monitoring method of a GNSS augmentation system of claim 16, wherein the event is a new correction parameter generation; and when new correction parameters need to be broadcast, the integrity monitoring module monitors the correction numbers before broadcast.
18. The integrity monitoring method of a GNSS augmentation system of claim 15, wherein said at T is0+TPThe step of monitoring the post-broadcast integrity of the broadcasted correction parameters at all times is triggered by time.
19. The method for integrity monitoring of a GNSS augmentation system of claim 18 wherein the trigger time does not exceed a minimum update period of correction parameters.
20. The integrity monitoring method of a GNSS augmentation system of claim 19, wherein the trigger time interval is constrained in a signal protocol or signaled to the receiver by a message.
21. The integrity monitoring method of the GNSS augmentation system of claim 15, wherein the monitoring result of the integrity monitoring method comprises four states: the state 1 is that the integrity monitoring result before broadcasting is a first identification value and the integrity monitoring after broadcasting is not carried out yet; the state 2 is that the integrity monitoring result before broadcasting is a second identification value and the integrity monitoring after broadcasting is not carried out yet; the state 3 is that the integrity monitoring result before broadcasting is a second identification value and the integrity monitoring result after broadcasting is a third identification value; and in the state 4, the integrity monitoring result before broadcasting is a second identification value, and the integrity monitoring result after broadcasting is a fourth identification value.
22. The integrity monitoring method of the GNSS augmentation system of claim 21, wherein the states 1 and 2 are given by the step of performing pre-broadcast integrity monitoring of the upcoming correction at the time T0; the states 3 and 4 are given by the step of post-dissemination integrity monitoring of the disseminated correction parameters at time T0+ TP.
23. A integrity monitoring terminal of a GNSS augmentation system is used for receiving and analyzing a monitoring result, wherein the monitoring result comprises four states: the state 1 is that the integrity monitoring result before broadcasting is a first identification value and the integrity monitoring after broadcasting is not carried out yet; the state 2 is that the integrity monitoring result before broadcasting is a second identification value and the integrity monitoring after broadcasting is not carried out yet; the state 3 is that the integrity monitoring result before broadcasting is a second identification value and the integrity monitoring result after broadcasting is a third identification value; state 4 the integrity monitoring result before broadcasting is a second identification value and the integrity monitoring result after broadcasting is a fourth identification value;
the method for processing the monitoring result by the terminal comprises the following steps:
receiving T0A time integrity monitoring result;
judgment of T0The state of the result is monitored according to the integrity at any time, and if the monitoring result is in the state 1, the T is not used directly0And monitoring correction parameters in the result at any time.
24. The integrity monitoring terminal of GNSS augmentation system of claim 23, wherein the determination T is made0In the step of monitoring the result state of the time integrity, if T is the result of the time integrity monitoring, the method further comprises0The monitoring result at the moment is state 2, then at T0+TPTime of day reception T0+TpAnd (5) monitoring the integrity at any time.
25. The integrity monitoring terminal of GNSS augmentation system of claim 24, wherein if T is said0The monitoring result at the moment is state 2, and the T is0Time to T0+TPUsing T between moments0Correction parameters monitored at all times.
26. The integrity monitoring terminal of GNSS augmentation system of claim 23, wherein the determination T is made0After the step of monitoring the result state of the time integrity, the method also comprises the step of judging that the time integrity is T0+TPMonitoring the result state of the time integrity if T0+TPIf the time integrity monitoring result is state 3, using the T0And monitoring correction parameters in the result at any time.
27. The integrity monitoring terminal of a GNSS augmentation system of claim 23, wherein the determination is made at T0+TPIn the step of monitoring the result state of the time integrity, if T is the result of the time integrity monitoring, the method further comprises0+TPIf the time integrity monitoring result is state 4, the T is not available0And monitoring correction parameters in the result at any time.
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CN114143800A (en) * 2020-09-04 2022-03-04 大唐移动通信设备有限公司 Positioning integrity detection method, positioning server, terminal, device and medium
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Application publication date: 20200526