CN113917495A - Beidou GBAS-based multi-frequency-point multi-constellation high-reliability autonomous monitoring method and equipment - Google Patents
Beidou GBAS-based multi-frequency-point multi-constellation high-reliability autonomous monitoring method and equipment Download PDFInfo
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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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- 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
- G01S19/21—Interference related issues ; Issues related to cross-correlation, spoofing or other methods of denial of service
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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
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
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Abstract
The invention discloses a Beidou GBAS-based multi-frequency point multi-constellation high-reliability autonomous monitoring method and equipment. The equipment comprises a multi-frequency-point multi-constellation satellite navigation antenna, an integrity monitoring processing module, a multi-frequency-point multi-constellation self-adaptive module, a real-time closed-loop monitoring module, a differential enhanced message generating module and a single-double link sending module, and realizes real-time monitoring processing of multi-system integrity by utilizing flexible combination of multi-frequency and multi-constellation observed quantities, thereby effectively eliminating errors such as an ionized layer and the like; predicting the current and future available states of a satellite constellation by using the multi-system integrity monitoring result, and rejecting unavailable satellites or constellations; screening out a high-reliability satellite combination under the multi-frequency point multi-constellation self-adaption by using the principle of optimal satellite geometric configuration and signal quality; the GBAS equipment autonomously switches and recovers among various operation modes through a real-time closed-loop monitoring module to generate a differential enhanced message and supports the sending of a double-link message at the same time so as to improve the GBAS service performance.
Description
Technical Field
The invention relates to the technical field of Beidou satellite navigation enhancement, in particular to a Beidou GBAS-based multi-frequency point multi-constellation high-reliability autonomous monitoring method and equipment.
Background
With the continuous development of satellite positioning and navigation technology in the field of aviation application, the GBAS system is developing to replace the existing landing system to become the primary system. The GBAS is a navigation system for precise approach and landing of an airplane, mainly completes the functions of high-precision satellite navigation signal measurement, differential correction amount calculation and integrity monitoring and processing, and provides precise approach guiding service for airborne equipment.
At present, GBASCAT-I is standardized, CAT-I precise approach navigation service can be provided by using single-frequency L1 waveband signals, but when the signals are interfered, GBAS service is unavailable, and the safety of approach guidance landing is seriously influenced. Therefore, a GBAS detection method with multiple frequencies and multiple constellations needs to be researched to improve the safety and robustness of GBAS operation.
Disclosure of Invention
Therefore, the invention aims to provide a multi-frequency multi-constellation high-reliability autonomous monitoring method and equipment based on Beidou GBAS, which automatically switch a main mode to a most optimal standby mode when signals are interfered, and improve the integrity, continuity and availability of GBAS access services.
In order to achieve the purpose, the multi-frequency-point multi-constellation high-reliability autonomous monitoring equipment based on the Beidou GBAS comprises a multi-frequency-point multi-constellation satellite navigation antenna, an integrity monitoring processing module, a multi-frequency-point multi-constellation self-adaption module, a real-time closed-loop monitoring module, a differential enhancement message generation module and a single-link and double-link sending module, wherein the satellite navigation antenna is used for receiving multi-frequency-point multi-constellation satellite signals; the integrity monitoring processing module is used for generating satellite observed quantity information according to the received multi-frequency point multi-constellation satellite signals, carrying out integrity monitoring on the satellite according to the observed quantity information, and rejecting a fault satellite according to an integrity monitoring result;
the multi-frequency-point multi-constellation self-adaptive module is used for combining the retained multi-frequency-point multi-constellation satellites, setting weight coefficients according to the principle that the geometrical configuration of the satellite constellation and the signal quality are optimal, calculating the geometrical performance of the satellite constellation under different combinations, comparing the geometrical performance with a preset performance threshold value, screening out the satellite combinations higher than the performance threshold value, and generating corresponding multiple standby operation modes.
The real-time closed-loop monitoring module is used for monitoring abnormal interference signals, fault information and the like in real time, and can detect the fault information and the abnormal interference signals generated by the whole GBAS system and abnormal interference signals occurring in the environment; when abnormal interference signals or fault information is monitored, screening out the optimal mode of the main operation mode and the standby operation mode according to a preset main replacement principle and a preset standby replacement principle;
the differential enhanced message generation module is used for generating corresponding differential enhanced messages for the main mode and the residual standby operation modes;
and the single-link and double-link sending module is used for carrying out single-link or double-link broadcasting according to the number of available satellites in the differential enhanced message.
Further preferably, the multi-frequency multi-constellation satellite system further comprises a satellite constellation prediction module, and the satellite constellation prediction module predicts the available states of the multi-frequency multi-constellation satellite in the current and future N minutes by using ephemeris or almanac, signal related peak information and integrity monitoring results.
Further preferably, the integrity monitoring processing module is compatible with a plurality of satellite systems, and the plurality of satellite systems include beidou, GPS, Galileo, GLONASS systems, and the like.
The multi-frequency point multi-constellation self-adaptive module adopts the geometrical configuration of a satellite constellation and the signal quality SiThe principle is optimal. Flexibly combining multi-frequency point multi-constellation satellites which normally operate, setting weight coefficients and calculating constellation performance Y under different combinations, wherein:
in which a and biThe weight coefficient is in a range of 0-1, D is a weighted DOP value, and a Precision factor for calculating the satellite geometric configuration in a DOP value (Dilution of Precision) GPS is generally interpreted as a relative error; i is the satellite number and the total number of satellites is n. The signal quality includes monitoring quantities such as carrier-to-noise ratio, signal correlation peak, code carrier consistency and the like, and is not limited to a certain DOP value, signal monitoring means or combination. And comparing the satellite performance Y with a preset performance threshold value, screening out a multi-frequency point multi-constellation satellite combination higher than the performance threshold value, and correspondingly generating multiple standby operation modes.
Preferably, the preset main and standby replacement principles include calculating different position estimation error values generated by a main mode and various standby operation modes, defaulting the big dipper as the main mode, and keeping the current main mode unchanged when the position estimation error value of the main mode falls within a preset estimation error range; otherwise, the following processing is carried out: when the position estimation error value of the standby operation mode falls into a preset estimation error range, switching the current main mode to a standby operation mode corresponding to the minimum position estimation error value; and when the position estimation error values of the standby operation mode exceed the preset estimation error range, keeping the original main mode.
Further preferably, the single-link and dual-link sending module is further configured to determine the number of available satellites in the generated differential enhanced message, perform dual-link sending when the number of available satellites is greater than a certain number threshold, which is described below by taking 18 as an example, and perform single-link sending when the number of available satellites is less than or equal to 18.
The invention provides a Beidou GBAS-based multi-frequency-point multi-constellation high-reliability autonomous monitoring method, which comprises the following steps of:
s1, acquiring multi-frequency multi-constellation satellite signals to generate observation quantity information of the satellite;
s2, according to the observed quantity information, integrity monitoring is carried out on the satellite, and according to the integrity monitoring result, a fault satellite is removed;
s3, combining the retained multi-frequency multi-constellation satellites, setting weight coefficients to calculate satellite constellation performance under different combinations according to the principle of satellite constellation geometric configuration and signal quality optimization, comparing with a preset performance threshold, screening out satellite combinations higher than the performance threshold, and generating corresponding multiple standby operation modes. The operation mode supports self-adaptive degradation, namely when a certain constellation or a certain frequency point is unavailable, the constellation or the frequency point is removed, and the constellation or the frequency point is automatically degraded into other constellations and frequency points until a single constellation and a single frequency point are processed.
S4, monitoring abnormal interference signals, fault information and the like in real time, and screening out the optimal mode of the primary operation mode and the standby operation mode according to a preset primary replacement principle and a preset standby replacement principle when the abnormal interference signals or the fault information are monitored, and generating corresponding differential enhancement messages;
and S5, performing single-link or double-link broadcasting according to the number of available satellites in the differential enhancement message.
Further preferably, the following steps are further included between S2 and S3: and predicting the available states of the multi-frequency multi-constellation satellite in the current and future N minutes by using ephemeris or almanac, signal correlation peak information and integrity monitoring results.
Further preferably, the method further comprises the step of judging whether the satellite is available according to a prediction result of the available state of the multi-frequency point multi-constellation satellite; if the satellite is available, the satellite continues to participate in performing operations S3 and S4, and if not, the satellite does not participate in performing operations S3 and S4.
Further preferably, if the operation of a certain satellite is interrupted within the current or future N minutes, the satellite is not available.
Further preferably, in S4, the preset primary and backup replacement principle includes the following steps:
calculating position estimation error values of a target to be measured in a main mode and various standby operation modes, and keeping the current main mode unchanged when the position estimation error values of the main mode fall within a preset estimation error range; otherwise, the following processing is carried out: when the position estimation error value of the standby operation mode falls into a preset estimation error range, switching the current main mode to the standby operation mode corresponding to the minimum position estimation error value; and when the position estimation error values of the standby operation mode exceed the preset estimation error range, keeping the original main mode.
Compared with the prior art, the multi-frequency-point multi-constellation high-reliability autonomous monitoring method and equipment based on the Beidou GBAS at least have the following advantages:
1. according to the multi-frequency-point multi-constellation high-reliability autonomous monitoring method and equipment based on the Beidou GBAS, seamless real-time adaptive switching between a main mode and a standby mode can be achieved when the GBAS equipment is interfered or fails, and integrity, continuity and availability of GBAS access service can be improved.
2. Under the GBAS framework of the application, the real-time monitoring processing of the integrity of multiple systems is realized by utilizing the flexible combination of multi-frequency and multi-constellation observed quantities, and errors such as an ionized layer are effectively eliminated; predicting the current and future available states of a satellite constellation by using the multi-system integrity monitoring result, and rejecting unavailable satellites or constellations; the equipment screens out a high-reliability satellite combination under the multi-frequency point multi-constellation self-adaption by taking the geometric configuration of the satellite and the optimal signal quality as the principle, and comprises a self-adaption degradation mode, namely when a certain constellation or a certain frequency point is unavailable, the constellation or the frequency point is excluded, and the satellite combination is automatically degraded into other constellations and frequency points until a single constellation and a single frequency point are processed. The GBAS equipment autonomously switches and recovers among various operation modes through a real-time closed-loop monitoring module, finally generates a differential enhanced message in an optimal processing mode, and supports the sending of a double-link message at the same time to improve the GBAS service performance.
Drawings
Fig. 1 is a relational diagram of internal modules of a Beidou GBAS-based multi-frequency-point multi-constellation high-reliability autonomous monitoring device according to an embodiment of the present invention.
Fig. 2 is a flow chart of selecting a satellite combination in the Beidou GBAS-based multi-frequency-point multi-constellation high-reliability autonomous monitoring device according to the embodiment of the present invention.
Fig. 3 is a working flow chart of the Beidou GBAS-based multi-frequency-point multi-constellation high-reliability autonomous monitoring method provided by the embodiment of the invention.
Fig. 4 is a flowchart of a Beidou GBAS-based multi-frequency point multi-constellation high-reliability autonomous monitoring method in another embodiment of the present invention.
Fig. 5 is a flowchart of the real-time closed-loop monitoring according to an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and the detailed description.
As shown in fig. 1, in an aspect of the present invention, a Beidou GBAS-based multi-frequency-point multi-constellation high-reliability autonomous monitoring apparatus includes a multi-frequency-point multi-constellation satellite navigation antenna, an integrity monitoring processing module, a satellite constellation prediction module, a multi-frequency-point multi-constellation adaptive module, a real-time closed-loop monitoring module, a differential enhanced message generation module, and a single-link and dual-link transmission module, where the satellite navigation antenna is configured to receive multi-frequency-point multi-constellation satellite signals;
the integrity monitoring processing module is used for generating 4 paths of satellite observation quantity information according to the received multi-frequency point multi-constellation satellite signals, carrying out integrity monitoring on the multi-frequency point multi-constellation satellite in parallel and rejecting fault satellites in each path; it should be noted that the integrity monitoring processing module is compatible with various satellite systems, wherein the various satellite systems include beidou, GPS, Galileo, GLONASS systems, and the like.
The satellite constellation prediction module is used for predicting the available states of the satellite or the constellation in the current and future N minutes by using ephemeris or almanac, signal related peak information and integrity monitoring results, and if the satellite or the constellation is unavailable in the current or future N minutes, the satellite or the constellation does not participate in the combination and differential positioning among the constellations;
a multi-frequency point multi-constellation self-adaptive module, which integrates the monitoring results and the interference types to obtain the geometric configuration of the satellite constellation and the signal quality SiThe optimal principle is that the multi-frequency point multi-constellation satellite which normally runs is flexibly combined, the weight coefficient is set to calculate the constellation performance Y under different combinations, i is the satellite number, the total number of the satellites is n, a and biAre weight coefficients respectively, and range from 0 to 1,
the satellite constellation geometric configuration performance D is a weighted DOP value, and a Precision factor for calculating the satellite configuration in a DOP value (Dilution of Precision) GPS is generally interpreted as a relative error; the signal quality comprises carrier-to-noise ratio, signal correlation peak, code carrier consistency and the like; and comparing the satellite performance Y with a preset performance threshold value, screening out a multi-frequency point multi-constellation satellite combination higher than the performance threshold value, and correspondingly generating m standby operation modes.
As shown in fig. 2, the real-time closed-loop monitoring module is used for monitoring abnormal interference of the system and reverse closed-loop monitoring positioning results of a plurality of operation modes. And if the interference is unexpected, the switching mode is selected in a degrading mode from the main mode and the m standby operation modes, and the optimal mode in the operation modes is selected as the main mode according to the preset main and standby replacement principles. The combination of the big Dipper and the GPS double-star seat is taken as an example for explanation, wherein the big Dipper adopts B1c and B2a frequency points, the GPS adopts L1 and L5 frequency points as examples for explanation, and other frequency points or constellation combinations are similar.
As shown in fig. 5, the preset primary and backup replacement principles of the real-time closed-loop monitoring module include calculating different position estimation error values generated in a primary mode and various backup operation modes, and when the position estimation error value of the primary mode falls within a preset estimation error range, keeping the current primary mode unchanged; otherwise, the following processing is carried out: when the position estimation error value of the standby operation mode falls into a preset estimation error range, switching the current main mode to a standby operation mode corresponding to the minimum position estimation error value; and when the position estimation error values of the standby operation mode exceed the preset estimation error range, keeping the original main mode.
The differential enhanced message generation module is in bidirectional connection with the real-time closed-loop monitoring module and selects and generates differential enhanced message information in the remaining standby operation mode; and generating a differential enhanced message for the user to use.
And the input end of the single-link and double-link sending module is connected with the differential enhanced message generating module, and the output end of the single-link and double-link sending module is connected with the antenna or the external communication equipment. When a plurality of constellations work at a plurality of frequencies, if the number of usable satellites in the generated differential enhanced message is more than 18, double-link transmission is carried out, otherwise, single-link transmission is carried out.
As shown in fig. 3, the invention further provides a Beidou GBAS-based multi-frequency point multi-constellation high-reliability autonomous monitoring method, which comprises the following steps:
s1, acquiring multi-frequency multi-constellation satellite signals to generate observation quantity information of the satellite;
s2, according to the observed quantity information, integrity monitoring is carried out on the satellite, and according to the integrity monitoring result, a fault satellite is removed;
and predicting the available states of the multi-frequency multi-constellation satellite in the current and future N minutes by using ephemeris or almanac, signal correlation peak information and an integrity monitoring result.
Specifically, whether the satellite is available is judged according to the prediction result of the available state of the multi-frequency point multi-constellation satellite; if the operation of a certain satellite is interrupted in the current or future N minutes, the satellite is unavailable; if the satellite is available, the satellite continues to participate in performing operations S3 and S4, and if not, the satellite does not participate in performing operations S3 and S4.
S3, combining the satellites of the multi-frequency point multi-constellation, setting weight coefficients to calculate the performance of the satellite constellation under different combinations according to the principle that the geometric configuration of the satellite constellation and the signal quality are optimal, comparing the performance with a preset performance threshold, screening out the satellite combinations higher than the performance threshold, and generating corresponding various standby operation modes.
S4, monitoring abnormal interference signals, faults and the like in the system in real time, and when the abnormal interference signals or faults are monitored, screening out the optimal mode of the primary operation mode and the standby operation mode according to a preset primary replacement principle and a preset standby replacement principle to generate corresponding differential enhancement messages;
calculating position estimation error values of a target to be detected, which are generated in a main mode and various standby operation modes, and keeping the current main mode unchanged when the position estimation error values of the main mode fall into a preset estimation error range; otherwise, the following processing is carried out: when the position estimation error value of the target to be detected in the standby operation mode falls into a preset estimation error range, switching the current main mode to a standby operation mode corresponding to the minimum position estimation error value; and when the position estimation error values of the standby operation mode exceed the preset estimation error range, keeping the original main mode.
And S5, performing single-link or double-link broadcasting according to the number of available satellites in the differential enhancement message.
In one embodiment provided by the present application, the device is prepared prior to use by: and writing the integrity monitoring, the multi-frequency point multi-constellation self-adaption, the estimation error range and the performance threshold of the constellation into a configuration file and storing the configuration file in the equipment, wherein the size of the threshold determines the positioning precision, the integrity and the continuity which can be provided by the equipment.
Connecting a satellite navigation antenna with the equipment for receiving satellite signals; the single-link and double-link sending module is connected with the communication antenna and the communication equipment and used for broadcasting the differential enhanced message information and providing differential enhanced service for the airborne user equipment.
In the embodiment shown in fig. 4, the working flow of the Beidou GBAS multi-frequency-point multi-constellation-based high-reliability autonomous monitoring method in the scheme is as follows:
1. the equipment is powered on, and original data of the multi-frequency point multi-constellation satellite is received.
2. And carrying out integrity monitoring on a plurality of single systems in parallel, and eliminating fault stars.
3. And predicting the availability of the satellite or the constellation in the current and future N minutes by using ephemeris or almanac information, signal correlation peak information and integrity monitoring results, and rejecting the unavailable satellite or constellation.
4. And (3) according to the principle that the geometric configuration of each constellation satellite and the signal quality are optimal, after the abnormal satellites and constellations are eliminated, the high-reliability satellite combination is selected in a self-adaptive mode. When combined, there are several cases where each constellation may have a plurality of frequency point satellite combinations:
1) a single constellation satellite combination;
2) any two constellation satellites are combined;
3) any three satellites are combined;
4) four constellation satellites are combined.
5. And monitoring abnormal interference signals or faults in the system in real time, and screening out the optimal mode of the main operation mode and the standby operation mode according to a preset main replacement principle and a preset standby replacement principle.
6. And generating a differential enhanced message in the optimal processing mode.
7. And performing single-link or double-link broadcasting according to the number of the available satellites in the differential enhancement message, performing simultaneous double-link transmission to the end when the number of the available satellites in the differential enhancement message is more than 18, and otherwise performing single-link transmission to the end.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (10)
1. A Beidou GBAS-based multi-frequency point multi-constellation high-reliability autonomous monitoring device is characterized by comprising a multi-frequency point multi-constellation satellite navigation antenna, an integrity monitoring processing module, a multi-frequency point multi-constellation self-adaptive module, a real-time closed-loop monitoring module, a differential enhanced message generating module and a single-link and double-link sending module, wherein,
the satellite navigation antenna is used for receiving multi-frequency point multi-constellation satellite signals;
the integrity monitoring processing module is used for generating satellite observed quantity information according to the received multi-frequency point multi-constellation satellite signals, carrying out integrity monitoring on the satellite according to the observed quantity information, and rejecting a fault satellite according to an integrity monitoring result;
the multi-frequency point multi-constellation self-adaptive module is used for combining the retained multi-frequency point multi-constellation satellites, setting weight coefficients according to the principle that the geometrical configuration of the satellite constellation and the signal quality are optimal, calculating the geometrical performance of the satellite constellation under different combinations, comparing the geometrical performance with a preset performance threshold value, screening out the satellite combinations higher than the performance threshold value, and generating a plurality of corresponding standby operation modes;
the real-time closed-loop monitoring module is used for monitoring abnormal interference signals and fault information in real time, and screening out the optimal mode of the main operation mode and the standby operation mode according to a preset main replacement principle and a preset standby replacement principle when the abnormal interference signals or the fault information are monitored;
the differential enhanced message generation module is used for generating corresponding differential enhanced messages for the main mode and the residual standby operation modes;
and the single-link and double-link sending module is used for carrying out single-link or double-link broadcasting according to the number of available satellites in the differential enhanced message.
2. The Beidou GBAS-based multi-frequency-point multi-constellation high-reliability autonomous monitoring device of claim 1, further comprising a satellite constellation prediction module, wherein the satellite constellation prediction module predicts the available states of the multi-frequency-point multi-constellation satellite in the current and future N minutes by using ephemeris or almanac, signal-related peak information and integrity monitoring results.
3. The Beidou GBAS-based multi-frequency-point-multi-constellation high-reliability autonomous monitoring device of claim 1, wherein said multi-frequency-point-multi-constellation adaptive module is configured to adapt to satellite constellation geometry and signal qualityQuantity SiThe optimal principle is that a multi-frequency point multi-constellation satellite which normally operates is flexibly combined, a weight coefficient is set to calculate the constellation performance Y under different combinations, and the formula is as follows:
wherein, a and biThe weight coefficient is in the range of 0-1, D is the weighted DOP value, i is the number of the satellite, and the total number of the satellites is n.
4. The multi-frequency-point multi-constellation high-reliability autonomous monitoring device based on the Beidou GBAS as claimed in claim 1, wherein the preset main and standby replacement principles comprise calculating position estimation error values of the target to be detected in main and various standby operation modes.
5. The Beidou GBAS-based multi-frequency-point multi-constellation high-reliability autonomous monitoring device of claim 1, wherein the single-link and dual-link transmission module is further configured to determine the number of available satellites in the generated differential enhanced message, and perform dual-link transmission when the number of available satellites is greater than a certain threshold, or perform single-link transmission otherwise.
6. A multi-frequency-point multi-constellation high-reliability autonomous monitoring method based on Beidou GBAS is characterized by comprising the following steps:
s1, acquiring multi-frequency multi-constellation satellite signals to generate observation quantity information of the satellite;
s2, according to the observed quantity information, integrity monitoring is carried out on the satellite, and according to the integrity monitoring result, a fault satellite is removed;
s3, combining the retained multi-frequency multi-constellation satellites, setting weight coefficients according to the principle of satellite constellation geometric configuration and optimal signal quality, calculating the geometric performance of the satellite constellation under different combinations, comparing the geometric performance with a preset performance threshold, screening out satellite combinations higher than the performance threshold, and generating corresponding multiple standby operation modes;
s4, monitoring abnormal interference signals and fault information in real time, and when the abnormal interference signals or the fault information are monitored, screening out the optimal mode of the primary operation mode and the standby operation mode according to a preset primary replacement principle and a preset standby replacement principle to generate corresponding differential enhancement messages;
and S5, performing single-link or double-link broadcasting according to the number of available satellites in the differential enhancement message.
7. The Beidou GBAS-based multi-frequency-point multi-constellation high reliability autonomous monitoring method of claim 6, further comprising the following steps between S2 and S3:
and predicting the available states of the multi-frequency multi-constellation satellite in the current and future N minutes by using ephemeris or almanac, signal correlation peak information and integrity monitoring results.
8. The Beidou GBAS-based multi-frequency-point multi-constellation high reliability autonomous monitoring method of claim 7, further comprising determining whether a satellite is available according to a prediction result of an available state of a multi-frequency-point multi-constellation satellite; if the satellite is available, participation continues to perform operations of S3 and S4, and if the satellite is not available, the unavailable satellite does not participate in performing operations of S3 and S4.
9. The Beidou GBAS-based multi-frequency-point multi-constellation high-reliability autonomous monitoring method of claim 8, wherein if the predicted result shows that a satellite is out of service within N minutes currently or in the future, the satellite is unavailable.
10. The Beidou GBAS-based multi-frequency-point multi-constellation high reliability autonomous monitoring method of claim 6, wherein in S4, said preset primary and backup replacement principle comprises the following steps:
calculating a position estimation error value of a target to be detected in a main mode and various standby operation modes, and keeping the current main mode unchanged when the position estimation error value of the main mode falls into a preset estimation error range; otherwise, the following processing is carried out: when the position estimation error value of the standby operation mode falls into a preset estimation error range, switching the current main mode to the standby operation mode corresponding to the minimum position estimation error value; and when the position estimation error values of the standby operation mode exceed the preset estimation error range, keeping the original main mode.
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| CN114070385A (en) * | 2022-01-17 | 2022-02-18 | 天津七一二通信广播股份有限公司 | GBAS system in complex airport environment and application method |
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| 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 |
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