CN114384557A - Service performance evaluation method and device of satellite-based augmentation system - Google Patents
Service performance evaluation method and device of satellite-based augmentation system Download PDFInfo
- Publication number
- CN114384557A CN114384557A CN202111559324.5A CN202111559324A CN114384557A CN 114384557 A CN114384557 A CN 114384557A CN 202111559324 A CN202111559324 A CN 202111559324A CN 114384557 A CN114384557 A CN 114384557A
- Authority
- CN
- China
- Prior art keywords
- satellite
- user
- service performance
- augmentation system
- calculating
- 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
- G01S19/20—Integrity monitoring, fault detection or fault isolation of space segment
-
- 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
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
- G01S19/072—Ionosphere corrections
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Security & Cryptography (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The embodiment of the application discloses a service performance evaluation method and a service performance evaluation device of a satellite-based augmentation system, wherein the method comprises the following steps: calculating the resolving position of the user, and determining a positioning error by subtracting the resolving position of the user from the real position of the user; calculating a protection level; and analyzing the occurrence frequency of the dangerous misleading information according to the positioning error, the protection level and the alarm threshold. The service performance of the satellite-based augmentation system can be evaluated according to the occurrence frequency of the danger misleading information determined by the method, long-term monitoring of the service performance of the satellite-based augmentation system is achieved, and the service performance evaluation method of the satellite-based augmentation system is independent of a ground monitoring system and does not bring extra errors to a global navigation satellite system.
Description
Technical Field
The embodiment of the application relates to the technical field of satellite navigation, in particular to a service performance evaluation method and device of a satellite-based augmentation system.
Background
The Global Navigation Satellite System (GNSS) can provide real-time, all-weather and high-precision navigation and positioning services for users, and is widely applied to the fields of aviation, navigation, surveying and mapping, automobile navigation and the like.
The method is influenced by various aspects such as satellite navigation errors, user positions and the like, a part of areas such as valleys with complex terrain cannot achieve an ideal navigation and positioning effect only depending on GNSS, and meanwhile, in some fields with special requirements on navigation performance such as aviation and the like, navigation and positioning services with corresponding requirements cannot be completed by singly using the GNSS. For the above reasons, a Satellite-based augmentation System (SBAS for short) has come, and the positioning accuracy and other navigation performances of the GNSS are further improved by using the Satellite-based augmentation System in cooperation with the GNSS, so as to meet the special positioning service requirements in different areas and different fields.
However, in the process of navigation or approach of the SBAS, some system error items generated by the influence of the surrounding environment are sometimes difficult to be observed by the user, and these errors may bring certain influence to the SBAS service, and further bring certain risk to the user.
Disclosure of Invention
The embodiment of the application provides a service performance evaluation method and device of a satellite-based augmentation system, solves the technical problem that errors generated by the satellite-based augmentation system affected by the surrounding environment are sometimes difficult to observe by users in the prior art, and realizes long-term monitoring of the service performance of the satellite-based augmentation system.
In a first aspect, an embodiment of the present application provides a service performance evaluation method for a satellite-based augmentation system, where the method includes: calculating a resolving position of a user, and determining a positioning error by subtracting the resolving position of the user from a real position of the user; calculating a protection level; and analyzing the occurrence frequency of the dangerous misleading information according to the positioning error, the protection level and the alarm threshold.
With reference to the first aspect, in a possible implementation manner, the calculating a solution position of a user includes: obtaining a smoothing time parameter, a pseudo-range observed quantity and a carrier phase observed quantity; detecting and repairing cycle slip in the carrier phase observed quantity, and smoothing the pseudo-range observed quantity by using the carrier phase observed quantity and the smoothing time parameter; and calculating the solution position of the user by using the smoothed pseudo-range observed quantity and combining an ephemeris position, clock bias, ionosphere delay and troposphere delay.
With reference to the first aspect, in a possible implementation manner, before performing the calculation of the solution position of the user by using the smoothed pseudorange observation and by using an ephemeris position, a clock bias, an ionosphere delay, and a troposphere delay, the method further includes: acquiring a clock correction number and an ephemeris correction number; and correcting the ephemeris position and the clock deviation respectively by using the ephemeris correction number and the clock correction number.
With reference to the first aspect, in one possible implementation manner, the calculating the protection level includes: acquiring a covariance matrix; calculating a weighting matrix according to the user difference distance error, the grid ionosphere vertical error and the degradation parameter; calculating an observation matrix according to the elevation angle and the azimuth angle of the satellite; and determining the protection level according to the observation matrix, the weighting matrix and the covariance matrix.
With reference to the first aspect, in a possible implementation manner, the method further includes: acquiring observation data, and reading the pseudo-range observation quantity and the carrier phase observation quantity from the observation data; and/or acquiring and resolving a navigation message to acquire navigation information of the satellite; wherein the navigation information comprises the ephemeris position and the clock bias; and/or acquiring and resolving an enhanced message to acquire enhanced information of the satellite; wherein the enhancement information comprises satellite parameters, the clock correction number, the ephemeris correction number, the user differential distance error, the grid ionosphere vertical error, the covariance matrix, and the degradation parameters; calculating the elevation angle and the azimuth angle of the satellite according to the satellite parameters.
With reference to the first aspect, in a possible implementation manner, the method further includes: and acquiring a detection threshold, and removing the abnormal pseudo-range observed quantity and the abnormal carrier phase observed quantity by using the detection threshold.
In a second aspect, an embodiment of the present application provides a service performance evaluation apparatus for a satellite-based augmentation system, where the apparatus includes: the positioning error determining module is used for calculating the resolving position of the user, and determining the positioning error by subtracting the resolving position of the user from the real position of the user; the protection level determining module is used for calculating a protection level; and the evaluation module is used for analyzing the occurrence times of the dangerous misleading information according to the positioning error, the protection level and the alarm threshold.
With reference to the second aspect, in a possible implementation manner, when the positioning error determination module calculates the calculated position of the user, the positioning error determination module is specifically configured to: obtaining a smoothing time parameter, a pseudo-range observed quantity and a carrier phase observed quantity; detecting and repairing cycle slip in the carrier phase observed quantity, and smoothing the pseudo-range observed quantity by using the carrier phase observed quantity and the smoothing time parameter; and calculating the solution position of the user by using the smoothed pseudo-range observed quantity and combining an ephemeris position, clock bias, ionosphere delay and troposphere delay.
With reference to the second aspect, in a possible implementation manner, the apparatus further includes: the correction number acquisition module is used for acquiring a clock correction number and an ephemeris correction number; and the correction module is used for correcting the ephemeris position and the clock deviation respectively by using the ephemeris correction number and the clock correction number.
With reference to the second aspect, in a possible implementation manner, the protection level determining module is specifically configured to: acquiring a covariance matrix; calculating a weighting matrix according to the user difference distance error, the grid ionosphere vertical error and the degradation parameter; calculating an observation matrix according to the elevation angle and the azimuth angle of the satellite; and determining the protection level according to the observation matrix, the weighting matrix and the covariance matrix.
With reference to the second aspect, in a possible implementation manner, the apparatus further includes: the satellite data acquisition module is used for acquiring observation data and reading the pseudo-range observation quantity and the carrier phase observation quantity from the observation data; and/or, the navigation message is used for acquiring and resolving the navigation message to acquire the navigation information of the satellite; wherein the navigation information comprises the ephemeris position and the clock bias; and/or, the system is used for acquiring and resolving the enhancement message to obtain the enhancement information of the satellite; wherein the enhancement information comprises satellite parameters, the clock correction number, the ephemeris correction number, the user differential distance error, the grid ionosphere vertical error, the covariance matrix, and the degradation parameters; and for calculating the elevation and the azimuth of a satellite from the satellite parameters.
With reference to the second aspect, in a possible implementation manner, the apparatus further includes: the input data module is used for acquiring a detection threshold; and the removing module is used for removing the abnormal pseudo-range observed quantity and the abnormal carrier phase observed quantity by using the detection threshold.
In a third aspect, an embodiment of the present application provides a service performance evaluation device of a satellite-based augmentation system, where the device includes a memory and a processor; the memory is to store computer-executable instructions; the processor is configured to execute the computer-executable instructions to implement the method according to the first aspect and any possible implementation manner of the first aspect.
In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, where executable instructions are stored, and when the executable instructions are executed by a computer, the method according to the first aspect and any possible implementation manner of the first aspect can be implemented.
The technical scheme provided by the embodiment of the invention at least has the following technical effects or advantages:
according to the service performance evaluation method of the satellite-based augmentation system, the positioning error and the protection level are calculated, the occurrence frequency of the dangerous misleading information is analyzed according to the positioning error, the protection level and the alarm threshold, the service performance of the satellite-based augmentation system can be evaluated according to the occurrence frequency of the dangerous misleading information, the long-term monitoring of the service performance of the satellite-based augmentation system is achieved, the service performance evaluation method of the satellite-based augmentation system is independent of a ground monitoring system, and extra errors cannot be brought to a global navigation satellite system.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart of a service performance evaluation method of a satellite-based augmentation system according to an embodiment of the present application;
FIG. 2 is a flow chart of calculating a resolved position of a user according to an embodiment of the present disclosure;
FIG. 3 is a flow chart of correcting ephemeris position, clock bias, and ionospheric delay as provided by an embodiment of the present application;
FIG. 4 is a flow chart of computing a protection level provided by an embodiment of the present application;
fig. 5A is a schematic structural diagram of a service performance evaluation apparatus of a satellite-based augmentation system according to an embodiment of the present application;
fig. 5B is a schematic structural diagram of a service performance evaluation apparatus of a satellite-based augmentation system according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a service performance evaluation device of a satellite-based augmentation system according to an embodiment of the present application;
fig. 7 is an application scenario diagram of a service performance evaluation device of a satellite-based augmentation system according to an embodiment of the present application.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the application provides a service performance evaluation method of a satellite-based augmentation system, which is mainly applied to a service performance evaluation device 600 of the satellite-based augmentation system, and an application scenario of the device is shown in fig. 7. Satellite 800 sends a signal to monitoring station 700; the service performance evaluation device 600 of the satellite-based augmentation system is connected to the monitoring station 700, and is capable of reading data from the monitoring station 700, where the read data includes satellite observation data, navigation messages, augmentation messages, and the like. Fig. 6 shows a structure of a service performance evaluation device 600 of a satellite-based augmentation system, which includes a processor 601 and a memory 602, where the memory 602 is used to store computer-executable instructions, and the processor 601 is used to execute the computer-executable instructions, and can implement the service performance evaluation method of the satellite-based augmentation system provided by the embodiment of the present application. Specifically, the service performance evaluation device 600 of the satellite-based augmentation system may be a personal computer, a single chip microcomputer, or the like.
Referring to fig. 1, the service performance evaluation method of the satellite-based augmentation system provided in the embodiment of the present application includes steps S101 to S103, which are specifically as follows.
Step S101: and calculating the resolving position of the user, and determining the positioning error by subtracting the resolving position of the user from the real position of the user. The calculated position of the user refers to a user position calculated according to the received satellite observation data and preset parameters. The user's true location refers to the location for which the user is actually located. Fig. 2 shows specific steps of calculating the calculated position of the user in step S101, including step S201 to step S202.
Step S201: and obtaining a smoothing time parameter, a pseudo-range observed quantity and a carrier phase observed quantity. The smoothing time parameter is a preset parameter, which can be preset through a touch screen, a keyboard and other devices, and can be modified according to actual conditions. Specifically, the processor 601 of the service performance evaluation device 600 of the satellite-based augmentation system obtains the smoothing time parameter from an input device such as a touch screen, a keyboard and the like. The pseudorange observations and the carrier-phase observations may be read from observations of the satellites. Step S202: and detecting and repairing cycle slip in the carrier phase observed quantity, and smoothing the pseudo-range observed quantity by using the carrier phase observed quantity and the smoothing time parameter. Step S203: and calculating the resolving position of the user by using the smoothed pseudo-range observed quantity and combining the ephemeris position, the clock deviation, the ionosphere delay and the troposphere delay. The ephemeris position and the clock deviation can be obtained after the navigation message is resolved; calculating to obtain ionospheric delay, specifically ionospheric delay in the observation direction of a user and a satellite, by using the ionospheric grid correction number, wherein the ionospheric grid correction number can be obtained by enhanced message resolution; the tropospheric delay can be calculated from a tropospheric model.
Step S301 and step S302 shown in fig. 3 may also be performed before step S203 is performed, which is described in detail below. Step S301: a clock correction number and an ephemeris correction number are obtained. Wherein, the clock correction number and the ephemeris correction number can be obtained by enhanced message resolution. Step S302: and correcting the ephemeris position and the clock deviation respectively by using the ephemeris correction number and the clock correction number. The calculation result of the calculated position is more accurate by correcting the ephemeris position and the clock deviation.
Step S102: and calculating the protection level. The specific calculation steps of the protection level are shown in fig. 4, and include steps S401 to S404.
Step S401: a covariance matrix is obtained. Wherein, the covariance matrix can be obtained by enhanced message resolution. Step S402: and calculating a weighting matrix according to the user difference distance error, the grid ionosphere vertical error and the degradation parameter. The user difference distance error, the grid ionosphere vertical error and the efficiency reduction parameter can be obtained by enhanced message resolution. Step S403: an observation matrix is calculated from the elevation and azimuth of the satellite. Step S404: and determining the protection level according to the observation matrix, the weighting matrix and the covariance matrix.
Step S103: and analyzing the occurrence frequency of the dangerous misleading information according to the positioning error, the protection level and the alarm threshold.
The service performance evaluation method of the satellite-based augmentation system provided by the embodiment of the application further comprises the following steps: acquiring observation data, and reading pseudo-range observation quantity and carrier phase observation quantity from the observation data; and/or acquiring and resolving a navigation message to acquire navigation information of the satellite; the navigation information comprises ephemeris position and clock deviation; and/or acquiring and resolving an enhanced message to acquire enhanced information of the satellite; the enhancement information comprises satellite parameters, clock correction numbers, ephemeris correction numbers, user difference distance errors, grid ionosphere vertical errors, covariance matrixes and efficiency reduction parameters; and calculating the elevation angle and the azimuth angle of the satellite according to the satellite parameters.
The service performance evaluation method of the satellite-based augmentation system provided by the embodiment of the application further comprises the following steps: and acquiring a detection threshold, and removing abnormal pseudo-range observed quantity and carrier phase observed quantity by using the detection threshold. The detection threshold is a preset parameter, can also be preset through an input device such as a touch screen and a keyboard, and can be modified according to actual conditions. Specifically, the processor 601 of the service performance evaluation device 600 of the satellite-based augmentation system obtains the detection threshold from an input device such as a touch screen, a keyboard, and the like.
According to the service performance evaluation method of the satellite-based augmentation system, the positioning error and the protection level are calculated, the occurrence frequency of the dangerous misleading information is analyzed according to the positioning error, the protection level and the alarm threshold, the service performance of the satellite-based augmentation system can be evaluated according to the occurrence frequency of the dangerous misleading information, the long-term monitoring of the service performance of the satellite-based augmentation system is achieved, the service performance evaluation method of the satellite-based augmentation system is independent of a ground monitoring system, and extra errors cannot be brought to a global navigation satellite system.
Although the present application provides method steps as in an embodiment or a flowchart, more or fewer steps may be included based on conventional or non-inventive labor. The sequence of steps recited in this embodiment is only one of many steps performed and does not represent a unique order of execution. When an actual apparatus or client product executes, it can execute sequentially or in parallel (e.g., in the context of parallel processors or multi-threaded processing) according to the methods shown in this embodiment or the figures.
The embodiment of the present application further provides a service performance evaluation apparatus 500 of a satellite-based augmentation system, as shown in fig. 5A, the service performance evaluation apparatus 500 of the satellite-based augmentation system includes a positioning error determination module 501 and a protection level determination module 502.
The positioning error determining module 501 is configured to calculate a calculated position of a user, and determine a positioning error by subtracting the calculated position of the user from a real position of the user. The calculated position of the user refers to a user position calculated according to the received satellite observation data and preset parameters. The user's true location refers to the location for which the user is actually located. The positioning error determination module 501 is specifically used for the following steps when calculating the calculated position of the user.
And obtaining a smoothing time parameter, a pseudo-range observed quantity and a carrier phase observed quantity. The smoothing time parameter is a preset parameter, which can be preset through a touch screen, a keyboard and other devices, and can be modified according to actual conditions. Specifically, the service performance evaluation apparatus 500 of the satellite-based augmentation system obtains the smoothing time parameter from an input device such as a touch screen or a keyboard. The pseudorange observations and the carrier-phase observations may be read from observations of the satellites. Detecting and repairing cycle slip in the carrier phase observed quantity, and smoothing the pseudo-range observed quantity by utilizing the carrier phase observed quantity and the smoothing time parameter; and calculating the resolving position of the user by using the smoothed pseudo-range observed quantity and combining the ephemeris position, the clock deviation, the ionosphere delay and the troposphere delay. Ephemeris position and clock deviation can be obtained after the navigation message is resolved; calculating to obtain ionospheric delay, specifically ionospheric delay in the observation direction of a user and a satellite, by using the ionospheric grid correction number, wherein the ionospheric grid correction number can be obtained by enhanced message resolution; the tropospheric delay can be calculated from a tropospheric model.
As shown in fig. 5B, the service performance evaluation apparatus 500 of the satellite-based augmentation system according to the embodiment of the present application further includes a correction number obtaining module 504 and a correcting module 505. Before the positioning error determining module 501 works, the correction number obtaining module 504 is configured to obtain a clock correction number and an ephemeris correction number; the correction module 505 is configured to correct the ephemeris position and the clock bias using the ephemeris correction and the clock correction, respectively. Wherein, the clock correction number and the ephemeris correction number can be obtained by enhanced message resolution. The correction module 505 corrects the ephemeris position and the clock bias, so that the calculation result of the calculated position is more accurate.
The protection level determination module 502 is used to calculate the protection level. The protection level determination module 502 is specifically configured to perform the following steps. Acquiring a covariance matrix; wherein, the covariance matrix can be obtained by enhanced message resolution. Calculating a weighting matrix according to the user difference distance error, the grid ionosphere vertical error and the degradation parameter; the user difference distance error, the grid ionosphere vertical error and the efficiency reduction parameter can be obtained by enhanced message resolution. Calculating an observation matrix according to the elevation angle and the azimuth angle of the satellite; and determining the protection level according to the observation matrix, the weighting matrix and the covariance matrix.
The evaluation module 503 is configured to analyze the occurrence frequency of the dangerous misleading information according to the positioning error, the protection level, and the alarm threshold.
As shown in fig. 5B, the service performance evaluation apparatus 500 of the satellite-based augmentation system provided in the embodiment of the present application further includes a satellite data obtaining module 506, configured to obtain observation data, and read a pseudo-range observation and a carrier-phase observation from the observation data; and/or, the navigation message is used for acquiring and resolving the navigation message to acquire the navigation information of the satellite; the navigation information comprises ephemeris position and clock deviation; and/or, the system is used for acquiring and resolving the enhancement message to obtain the enhancement information of the satellite; the enhancement information comprises satellite parameters, clock correction numbers, ephemeris correction numbers, user difference distance errors, grid ionosphere vertical errors, covariance matrixes and efficiency reduction parameters; and is used to calculate the elevation and azimuth of the satellite from the satellite parameters.
With continued reference to fig. 5B, the service performance evaluation apparatus 500 of the satellite-based augmentation system according to the embodiment of the present application further includes an input data module 507 and a culling module 508. The input data module 507 is used to obtain a detection threshold. The detection threshold is a preset parameter, can also be preset through an input device such as a touch screen and a keyboard, and can be modified according to actual conditions. Specifically, the input data module 507 obtains the detection threshold from an input device such as a touch screen or a keyboard, and then transmits the detection threshold to the culling module 508. In addition, the input data module 507 may obtain the smoothing time parameter from an input device such as a touch screen or a keyboard, and then transmit the smoothing time parameter to the positioning error determination module 501. The culling module 508 is configured to cull the anomalous pseudorange observations and carrier phase observations using a detection threshold.
The service performance evaluation device 500 of the satellite-based augmentation system provided by the embodiment of the application can evaluate the service performance of the satellite-based augmentation system according to the occurrence frequency of the dangerous misleading information by calculating the positioning error and the protection level and then analyzing the occurrence frequency of the dangerous misleading information according to the positioning error, the protection level and the alarm threshold, so that the long-term monitoring of the service performance of the satellite-based augmentation system is realized, and the service performance evaluation method of the satellite-based augmentation system is independent of a ground monitoring system and does not bring extra errors to a global navigation satellite system.
The apparatuses or modules illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. For convenience of description, the above devices are described as being divided into various modules by functions, and are described separately. The functionality of the modules may be implemented in the same one or more software and/or hardware implementations of the present application. Of course, a module that implements a certain function may be implemented by a plurality of sub-modules or sub-units in combination. Some of the modules in the apparatus of the present application may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, classes, etc. that perform particular tasks or implement particular abstract data types. The application may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
An embodiment of the present application further provides a computer-readable storage medium, where executable instructions are stored in the computer-readable storage medium, and when the computer executes the executable instructions, the method according to the first aspect and any possible implementation manner of the first aspect can be implemented.
The storage medium includes, but is not limited to, a Random Access Memory (RAM), a Read-Only Memory (ROM), a Cache, a Hard Disk (Hard Disk Drive), or a Memory Card (HDD). The memory may be used to store computer program instructions.
The methods, apparatus or modules herein may be implemented in a computer readable program code means for a controller in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer readable medium storing computer readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, Application Specific Integrated Circuits (ASICs), programmable logic controllers and embedded microcontrollers, examples of which include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320, the memory controller may also be implemented as part of the control logic for the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller as pure computer readable program code, the same functionality can be implemented by logically programming method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Such a controller may therefore be considered as a hardware component, and the means included therein for performing the various functions may also be considered as a structure within the hardware component. Or even means for performing the functions may be regarded as being both a software module for performing the method and a structure within a hardware component.
From the above description of the embodiments, it is clear to those skilled in the art that the present application can be implemented by software plus necessary hardware. Based on such understanding, the technical solutions of the present application may be embodied in the form of software products or in the implementation process of data migration, which essentially or partially contributes to the prior art. The computer software product may be stored in a storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, mobile terminal, server, or network device, etc.) to perform the methods of the various embodiments or portions of the embodiments of the present application.
The embodiments in the present specification are described in a progressive manner, and the same or similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. All or portions of the present application are operational with numerous general purpose or special purpose computing system environments or configurations. For example: personal computers, server computers, hand-held or portable devices, tablet-type devices, mobile communication terminals, multiprocessor systems, microprocessor-based systems, programmable electronic devices, network PCs, minicomputers, mainframe computers, distributed computing environments that include any of the above systems or devices, and the like.
The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the present application; although the present application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications or substitutions do not depart from the spirit and scope of the present disclosure.
Claims (9)
1. A service performance evaluation method of a satellite-based augmentation system is characterized by comprising the following steps:
calculating a resolving position of a user, and determining a positioning error by subtracting the resolving position of the user from a real position of the user;
calculating a protection level;
and analyzing the occurrence frequency of the dangerous misleading information according to the positioning error, the protection level and the alarm threshold.
2. The service performance evaluation method of the satellite-based augmentation system of claim 1, wherein the calculating the solution position of the user comprises:
obtaining a smoothing time parameter, a pseudo-range observed quantity and a carrier phase observed quantity;
detecting and repairing cycle slip in the carrier phase observed quantity, and smoothing the pseudo-range observed quantity by using the carrier phase observed quantity and the smoothing time parameter;
and calculating the solution position of the user by using the smoothed pseudo-range observed quantity and combining an ephemeris position, clock bias, ionosphere delay and troposphere delay.
3. The method of service performance evaluation of a satellite-based augmentation system of claim 2, wherein the computing the solution position of the user using the smoothed pseudorange observations in combination with ephemeris position, clock bias, ionospheric delay and tropospheric delay is performed before further comprising:
acquiring a clock correction number and an ephemeris correction number;
and correcting the ephemeris position and the clock deviation respectively by using the ephemeris correction number and the clock correction number.
4. The service performance evaluation method of the satellite-based augmentation system of claim 3, wherein the calculating the protection level comprises:
acquiring a covariance matrix;
calculating a weighting matrix according to the user difference distance error, the grid ionosphere vertical error and the degradation parameter;
calculating an observation matrix according to the elevation angle and the azimuth angle of the satellite;
and determining the protection level according to the observation matrix, the weighting matrix and the covariance matrix.
5. The service performance evaluation method of the satellite-based augmentation system of claim 4, further comprising:
acquiring observation data, and reading the pseudo-range observation quantity and the carrier phase observation quantity from the observation data; and/or the presence of a gas in the gas,
acquiring and resolving a navigation message to acquire navigation information of a satellite; wherein the navigation information comprises the ephemeris position and the clock bias; and/or the presence of a gas in the gas,
acquiring and resolving an enhancement message to acquire enhancement information of a satellite; wherein the enhancement information comprises satellite parameters, the clock correction number, the ephemeris correction number, the user differential distance error, the grid ionosphere vertical error, the covariance matrix, and the degradation parameters;
calculating the elevation angle and the azimuth angle of the satellite according to the satellite parameters.
6. The service performance evaluation method of the satellite-based augmentation system of claim 2, further comprising:
and acquiring a detection threshold, and removing the abnormal pseudo-range observed quantity and the abnormal carrier phase observed quantity by using the detection threshold.
7. A service performance evaluation device of a satellite-based augmentation system, comprising:
the positioning error determining module is used for calculating the resolving position of the user, and determining the positioning error by subtracting the resolving position of the user from the real position of the user;
the protection level determining module is used for calculating a protection level;
and the evaluation module is used for analyzing the occurrence times of the dangerous misleading information according to the positioning error, the protection level and the alarm threshold.
8. The service performance evaluation equipment of the satellite-based augmentation system is characterized by comprising a memory and a processor;
the memory is to store computer-executable instructions;
the processor is configured to execute the computer-executable instructions, and is capable of implementing the method of any one of claims 1-6.
9. A computer-readable storage medium having stored thereon executable instructions that, when executed by a computer, are capable of implementing the method of any one of claims 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111559324.5A CN114384557A (en) | 2021-12-20 | 2021-12-20 | Service performance evaluation method and device of satellite-based augmentation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111559324.5A CN114384557A (en) | 2021-12-20 | 2021-12-20 | Service performance evaluation method and device of satellite-based augmentation system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114384557A true CN114384557A (en) | 2022-04-22 |
Family
ID=81198397
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111559324.5A Pending CN114384557A (en) | 2021-12-20 | 2021-12-20 | Service performance evaluation method and device of satellite-based augmentation system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114384557A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117335899A (en) * | 2023-10-09 | 2024-01-02 | 中国人民解放军32021部队 | Beidou satellite-based enhanced service degradation degree evaluation method |
| CN117388885A (en) * | 2023-10-10 | 2024-01-12 | 中国人民解放军32021部队 | Beidou system precise single-point positioning service performance degradation deduction method and device |
-
2021
- 2021-12-20 CN CN202111559324.5A patent/CN114384557A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117335899A (en) * | 2023-10-09 | 2024-01-02 | 中国人民解放军32021部队 | Beidou satellite-based enhanced service degradation degree evaluation method |
| CN117335899B (en) * | 2023-10-09 | 2024-04-19 | 中国人民解放军32021部队 | Beidou satellite-based enhanced service degradation degree evaluation method |
| CN117388885A (en) * | 2023-10-10 | 2024-01-12 | 中国人民解放军32021部队 | Beidou system precise single-point positioning service performance degradation deduction method and device |
| CN117388885B (en) * | 2023-10-10 | 2024-03-26 | 中国人民解放军32021部队 | Beidou system precise single-point positioning service performance degradation deduction method and device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| RU2501039C2 (en) | Device and method for real-time monitoring of integrity of satellite navigation system | |
| US10684375B2 (en) | Method of multiple satellite measurement failure detection and isolation for GNSS | |
| US7693660B2 (en) | Computing long term orbit and clock models with variable time-horizons | |
| Castaldo et al. | P‐RANSAC: An Integrity Monitoring Approach for GNSS Signal Degraded Scenario | |
| Iwase et al. | Estimation and exclusion of multipath range error for robust positioning | |
| CN114384557A (en) | Service performance evaluation method and device of satellite-based augmentation system | |
| El-Mowafy et al. | Limited sensitivity analysis of ARAIM availability for LPV-200 over Australia using real data | |
| CN109085619B (en) | Positioning method and device of multimode GNSS system, storage medium and receiver | |
| CN103728643A (en) | Beidou tri-band network RTK ambiguity single epoch fixing method accompanied by wide-lane constraint | |
| WO2015145718A1 (en) | Positioning device | |
| CN111736188B (en) | Satellite positioning method, device, electronic equipment and storage medium | |
| Ziedan | Improved multipath and NLOS signals identification in urban environments | |
| CN111435167B (en) | Receiver data quality analysis method and device based on Beidou III | |
| CN101726745B (en) | Method and system for resolving signal in space error | |
| CN114035216A (en) | Positioning method, device, equipment and storage medium | |
| CN111856513A (en) | Satellite observation value acquisition method and device, computer equipment and storage medium | |
| Gunning et al. | Multi-GNSS constellation anomaly detection and performance monitoring | |
| CN114355390A (en) | Fault detection method, device, equipment and storage medium for server product | |
| JP6320254B2 (en) | Positioning method and positioning system | |
| Verhagen | A New Software Tool: Studying the performance of Global Navigation Satellite Systems.(Innovation) | |
| Osechas et al. | Carrier‐Phase Acceleration RAIM for GNSS Satellite Clock Fault Detection | |
| CN114355391A (en) | Ionosphere monitoring method and device of satellite-based augmentation system | |
| Kashani et al. | A New Network‐Based Rapid‐Static Module for the NGS Online Positioning User Service–OPUS‐RS | |
| Gonzalez et al. | Vulnerability analysis of GPS receiver software | |
| Zainab Farooq et al. | CS detection and correction techniques for RTK positioning using single‐frequency GNSS receivers: trends and comparison |
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 |