CN116094578A - GBAS working mode self-adaptive switching method based on risk event monitoring - Google Patents

GBAS working mode self-adaptive switching method based on risk event monitoring Download PDF

Info

Publication number
CN116094578A
CN116094578A CN202310361424.XA CN202310361424A CN116094578A CN 116094578 A CN116094578 A CN 116094578A CN 202310361424 A CN202310361424 A CN 202310361424A CN 116094578 A CN116094578 A CN 116094578A
Authority
CN
China
Prior art keywords
risk event
monitoring
frequency point
gbas
working mode
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.)
Granted
Application number
CN202310361424.XA
Other languages
Chinese (zh)
Other versions
CN116094578B (en
Inventor
薛瑞
刘博远
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beihang University
Original Assignee
Beihang University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Beihang University filed Critical Beihang University
Priority to CN202310361424.XA priority Critical patent/CN116094578B/en
Publication of CN116094578A publication Critical patent/CN116094578A/en
Application granted granted Critical
Publication of CN116094578B publication Critical patent/CN116094578B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/1851—Systems using a satellite or space-based relay
    • 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
    • G01S19/35—Constructional details or hardware or software details of the signal processing chain
    • G01S19/37—Hardware or software details of the signal processing chain
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/1851—Systems using a satellite or space-based relay
    • H04B7/18513—Transmission in a satellite or space-based system
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/1851—Systems using a satellite or space-based relay
    • H04B7/18519—Operations control, administration or maintenance
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Landscapes

  • Engineering & Computer Science (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Astronomy & Astrophysics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention relates to a GBAS working mode self-adaptive switching method based on risk event monitoring, which comprises the following steps: the GBAS system ground reference station preprocesses the received signals and stores monitoring results including data quality monitoring, precision factor monitoring, code-carrier divergence monitoring and signal power monitoring; classifying risk events including constellation fault events, primary frequency point signal interference/deception events, non-primary frequency point signal interference/deception events and ionospheric abnormal events according to the monitoring results to generate risk event identification vectors; the current working mode of the GBAS system ground reference station and the current risk event identification vector are combined to update the working mode; and broadcasting the updated working mode to an onboard receiver of the GBAS system. The invention realizes the self-adaptive switching of the GBAS working modes under different risk events, ensures the normal use of the GBAS access service, and improves the reliability of the service.

Description

GBAS working mode self-adaptive switching method based on risk event monitoring
Technical Field
The invention relates to the technical field of satellite navigation, in particular to a GBAS working mode self-adaptive switching method based on risk event monitoring.
Background
With the development of global satellite navigation systems (GNSS), the civilian demand for satellite navigation has become an important application direction. The satellite navigation system is applied to civil aviation, and must first meet the performance requirements of the civil aviation on the navigation system. As one of the important GNSS augmentation approaches, GBAS is considered as the GNSS augmentation system most potentially meeting the class III precision approach demand.
For precision approach landing services, the GBAS approach service type is called GAST (GBAS Approach Service Types); GBAS for guiding class III precision approach to landing is compatible with multi-constellation and multi-frequency navigation signals. For example, a constellation and frequency point with a center frequency of 1575.42MHz comprises GPS L1C/A, galileo E1 and Beidou B1C, and is expressed as GNSS L1 in the working mode design; the constellation and frequency point with the center frequency of 1176.45MHz comprises GPS L5, galileo E5a and Beidou B2a, and is expressed as GNSS L5 in the working mode design.
The GBAS operating mode includes the operating level that the GBAS depends on and the conditions and capabilities can support. The conditions relied upon include the combination of observables employed, the mode of positioning, etc. Due to the use of multi-constellation multi-frequency navigation signals, the service reliability under the condition of single constellation or single frequency navigation signal failure can be improved, and for this purpose, the conversion between the GBAS working modes under different possible risk events needs to be considered.
Disclosure of Invention
In view of the above analysis, the present invention aims to disclose a GBAS operation mode adaptive switching method based on risk event monitoring; for solving the problem of the influence of different risk events on the GBAS access service,
the invention discloses a GBAS working mode self-adaptive switching method based on risk event monitoring, which comprises the following steps:
the GBAS system ground reference station preprocesses the received signals and stores monitoring results including data quality monitoring, precision factor monitoring, code-carrier divergence monitoring and signal power monitoring;
classifying risk events including constellation fault events, primary frequency point signal interference/deception events, non-primary frequency point signal interference/deception events and ionospheric abnormal events according to the monitoring results to generate risk event identification vectors;
the current working mode of the GBAS system ground reference station and the current risk event identification vector are combined to update the working mode;
and broadcasting the updated working mode to an onboard receiver of the GBAS system.
Further, the pretreatment process comprises the steps of,
performing data quality monitoring based on the received ephemeris information and almanac information in each visible star navigation message, and judging whether the ephemeris information is valid or not; storing the data quality monitoring result of the visible star with the ephemeris information effective;
based on the ephemeris information in each constellation after data quality monitoring, the ephemeris information in each constellation is effectively visible, the accuracy factor is monitored by independently calculating the accuracy factor DOP value of each constellation, and the accuracy factor monitoring result is stored;
for each frequency point of each visible star with valid ephemeris information, code-carrier divergence monitoring is carried out based on code pseudo-range observables and carrier phase observables, and code-carrier divergence monitoring results are stored;
and for each frequency point of each visible star with effective ephemeris information, carrying out signal power monitoring based on the carrier-to-noise power ratio of each frequency point of the visible star, and storing a signal power monitoring result.
Further, in the data quality monitoring based on the received ephemeris information and almanac information in each visible star navigation message, when any one of the first condition and the second condition is met, the ephemeris information is judged to be valid; wherein,
the first condition is: the distance is satisfied
Figure SMS_1
The first distance threshold is not more than;
Figure SMS_2
to calculate the satellite position at the current moment from the most recent ephemeris:
Figure SMS_3
to calculate the satellite position at the current moment from the latest almanac:
the second condition is: the distance is satisfied
Figure SMS_4
A second distance threshold is less than or equal to;
Figure SMS_5
to calculate the satellite position at the current moment from the old ephemeris:
Figure SMS_6
to calculate the satellite position at the current moment from the new ephemeris.
Further, in code-carrier diversity monitoring, forkTime of daymFirst satellitenThe code-carrier divergence of each frequency point is subjected to moving average to obtain a signal power monitoring calculation result
Figure SMS_7
：
Figure SMS_8
；
wherein ,
Figure SMS_9
；
Figure SMS_10
；
Figure SMS_11
and />
Figure SMS_12
Respectively iskTime of daymFirst satellitenCode pseudo-range observables and carrier phase observables of the frequency points;Kfor smoothing time constant, +.>
Figure SMS_13
The initial value is +.>
Figure SMS_14
。
Further, in signal power monitoring, forkTime of daymFirst satellitenThe carrier-to-noise power ratio of each frequency point is smoothed to obtain a signal power monitoring calculation result
Figure SMS_15
：
Figure SMS_16
；
After that, save
Figure SMS_17
Values.
Further, the risk event identification vector is a 4-dimensional vector; each dimension element in the vector corresponds to a monitoring state of a risk event, an element of "0" indicates no corresponding risk event, and "1" indicates the presence of a corresponding risk event.
Further, in classifying the risk event according to the monitoring result, and generating a risk event identification vector:
when the accuracy monitoring result is that all ephemeris of all constellations are effective and the GDOP is less than or equal to 20, the risk event identification vector is a 0 vector, and no risk event is represented;
when the accuracy monitoring result is that any constellation exists and all ephemeris thereof is valid and the GDOP is more than 20, the identification corresponding to the constellation fault event in the risk event identification vector is set to be 1, which indicates that the risk event of the constellation fault exists;
when the number of satellites exceeding a set threshold value in the signal power monitoring calculation result of all satellites of the main frequency point exceeds 50% of the number of visible satellites of the frequency point, the identification corresponding to the interference/deception event of the main frequency point in the risk event identification vector is set to be '1', which indicates that the risk event of the interference/deception event of the main frequency point exists;
when the number of satellites exceeding a set threshold value in the signal power monitoring calculation result of all satellites of the non-main frequency point exceeds 50% of the number of visible satellites of the frequency point, the identification corresponding to the interference/deception event of the non-main frequency point in the risk event identification vector is set to be '1', which indicates that the risk event of the interference/deception event of the non-main frequency point exists;
when the number of the satellites of which the code-carrier divergence monitoring calculation results of all the visible satellites exceed the set threshold exceeds 50% of the number of the satellites of all the visible satellites, the identification corresponding to the ionospheric abnormal event in the risk event identification vector is set to be 1, which indicates that the risk event of the ionospheric abnormal event exists.
Further, according to the positions and the number of '1' in the current risk event identification vector, corresponding working mode updating is carried out on the current working mode of the GBAS system ground reference station.
Further, when the first dimension of the risk event identification vector is a constellation fault event identification; the second dimension is the primary frequency point interference/deception event identification; the third dimension is a non-primary frequency point interference/deception event identifier; the fourth dimension is the ionosphere abnormal event identification;
and, the GBAS system ground reference station currently works in the dual-frequency mode GAST-F, when supporting CAT-I/II/III,
the working mode updating by combining the risk event identification vector comprises the following specific updating modes:
1) When the risk event identification vector is [0,0 ]: when [1, 0], [1,0, 1], [0, 1], after the working mode is updated, a dual-frequency mode GAST-F is still used to support CAT-I/II/III;
2) When the risk event identification vector is [0,1, 0], [0,1,0,1], [1, 0], [1,0, 1], the working mode is updated as follows: the non-main frequency point signal only supports CAT-I;
3) When the risk event identification vector is [0,1, 0], [1,0,1,0], the working mode is updated as follows: the main frequency point signal GAST-D supports CAT-I/II/III;
4) When the risk event identification vector is [0, 1], [1,0, 1], the working mode is updated as follows: the main frequency point signal GAST-C supports CAT-I;
5) When the risk event identification vector is [0,1,0 ]: [1, 0], [0,1 ]: [1, 1], the working mode is updated as follows: services are not available.
Further, when the first dimension of the risk event identification vector is a constellation fault event identification; the second dimension is the primary frequency point interference/deception event identification; the third dimension is a non-primary frequency point interference/deception event identifier; the fourth dimension is the ionosphere abnormal event identification;
when the current working mode of the GBAS system ground reference station is the main frequency point signal GAST-D and CAT-I/II/III is supported,
the working mode updating by combining the risk event identification vector comprises the following specific updating modes:
1) When the risk event identification vector is [0, 0], [0,1, 0], [1, 0], [1,0,1,0], and after the working mode is updated, the main frequency point signal GAST-D is still used to support CAT-I/II/III;
2) When the risk event identification vector is [1,0, 1], [1,0, 1], [0, 1], the working mode is updated as follows: the main frequency point signal GAST-C supports CAT-I;
3) When the risk event identification vector is [0,1, 0], [0,1, 0], [0,1,0,1], [0, 1]
[1, 0], [1,0 ]: [1,0, 1], [1, 1], the working mode is updated as follows: services are not available.
The invention can realize one of the following beneficial effects:
according to the GBAS working mode self-adaptive switching method based on risk event monitoring, the influence of different risk events on GBAS access service is solved based on a conventional GBAS monitoring means, the self-adaptive switching of the GBAS working mode under different risk events is realized, the normal use of the GBAS access service is ensured, and the reliability of the service is improved.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, like reference numerals being used to designate like parts throughout the drawings;
fig. 1 is a flowchart of a GBAS operation mode adaptive switching method based on risk event monitoring in an embodiment of the present invention;
FIG. 2 is a flowchart of a preprocessing process in an embodiment of the invention.
Detailed Description
Preferred embodiments of the present invention are described in detail below with reference to the attached drawing figures, which form a part of the present application and, together with the embodiments of the present invention, serve to explain the principles of the invention.
An embodiment of the invention discloses a GBAS working mode self-adaptive switching method based on risk event monitoring, as shown in figure 1, comprising the following steps:
s1, preprocessing a received signal by a GBAS system ground reference station, and storing monitoring results including data quality monitoring, precision factor monitoring, code-carrier divergence monitoring and signal power monitoring;
step S2, classifying risk events including constellation fault events, main frequency point signal interference/deception events, non-main frequency point signal interference/deception events and ionosphere abnormal events according to the monitoring results to generate risk event identification vectors;
step S3, the current working mode of the GBAS system ground reference station and the current risk event identification vector are combined to update the working mode;
and S4, broadcasting the updated working mode to an onboard receiver of the GBAS system.
Specifically, as shown in fig. 2, in step S1, the pretreatment process includes,
step S101, data quality monitoring is carried out based on received ephemeris information and almanac information in each visible star navigation message, and whether the ephemeris information is effective is judged; storing the data quality monitoring result of the visible star with the ephemeris information effective;
step S102, based on the ephemeris information in each constellation after data quality monitoring, the ephemeris information in each constellation is effectively visible, and accuracy factor monitoring is carried out by independently calculating the accuracy factor DOP value of each constellation, and an accuracy monitoring result is stored;
step S103, for each frequency point of each visible star for which ephemeris information is effective, code-carrier divergence monitoring is carried out based on code pseudo-range observables and carrier phase observables, and code-carrier divergence monitoring results are stored;
step S104, for each frequency point of each visible star for which ephemeris information is effective, signal power monitoring is carried out based on the carrier-to-noise power ratio of each frequency point of the visible star, and a signal power monitoring result is stored.
Specifically, in step S101, in performing data quality monitoring based on the received ephemeris information and almanac information in each visible star navigation message, when either condition one or condition two is satisfied, it is determined that the ephemeris information is valid; wherein,
the first condition is: the distance is satisfied
Figure SMS_18
The first distance threshold is not more than; wherein,
Figure SMS_19
to calculate the satellite position in the ECEF coordinate system at the current moment from the latest ephemeris:
Figure SMS_20
；
Figure SMS_21
to calculate the satellite position in the ECEF coordinate system at the current moment from the latest almanac:
Figure SMS_22
；
the first distance threshold is empirically obtained, preferably 7000m。
The second condition is: the distance is satisfied
Figure SMS_23
A second distance threshold is less than or equal to; wherein,
Figure SMS_24
for calculating satellite positions in the ECEF coordinate system at the current moment according to the old ephemeris:
Figure SMS_25
；
Figure SMS_26
calculating satellite positions under an ECEF coordinate system at the current moment according to the new ephemeris;
Figure SMS_27
；
the first distance threshold is empirically obtained, preferably 250m。
Specifically, in step S102, the calculation of the precision factor (DOP) includes the steps of monitoring the visible satellites in each constellation for which the ephemeris information is valid; in the calculation, each constellation calculates a precision factor.
Specifically, in the code-carrier divergence monitoring of step S103, forkTime of daymFirst satellitenThe code-carrier divergence of each frequency point is subjected to moving average to obtain a signal power monitoring calculation result
Figure SMS_28
：
Figure SMS_29
；
wherein ,
Figure SMS_30
；
Figure SMS_31
；
Figure SMS_32
and />
Figure SMS_33
Respectively iskTime of daymFirst satellitenCode pseudo-range observables and carrier phase observables of the frequency points;Kfor smoothing time constant, +.>
Figure SMS_34
The initial value is +.>
Figure SMS_35
。
Specifically, in the signal power monitoring in step S104, forkTime of daymFirst satellitenThe carrier-to-noise power ratio of each frequency point is smoothed to obtain a signal power monitoring calculation result
Figure SMS_36
：
Figure SMS_37
；
After that, save
Figure SMS_38
Values. />
In a specific scheme in this embodiment, the constellation and frequency points include a constellation and frequency point with a center frequency of 1575.42MHz and a constellation and frequency point with a center frequency of 1176.45 MHz;
the constellation with the center frequency of 1575.42MHz comprises GPS L1C/A, galileo E1 and Beidou B1C, and is expressed as GNSS L1 in the working mode design;
the constellation and frequency point with the center frequency of 1176.45MHz comprises GPS L5, galileo E5a and Beidou B2a, and is expressed as GNSS L5 in the working mode design.
Specifically, the risk event in step S2 includes:
constellation failure event: the abnormal event that a certain constellation cannot be observed normally or can not be resolved by positioning due to the constellation itself fault or other reasons, particularly, more than one constellation provides service in the default normal state, and at least one normal running constellation support system service is still provided after the certain constellation fault exits the service.
Frequency point interference/spoofing events: the frequency band interference of the GNSS observation and GBAS operation is an abnormal event that the frequency band is unavailable due to interference of the frequency band due to a certain reason, and the abnormal event is represented in that the power of an observation signal of a certain frequency point cannot meet the requirement or cannot be observed; the frequency point deception is an abnormal event caused by a deception attack on a certain frequency point.
Ionospheric anomaly event: the method comprises the following steps that ionosphere abnormal events which can influence GNSS observation are caused by sudden ionosphere gradient changes, ionosphere plasma bubbles, ionosphere flickering and other reasons, and are represented by the fact that the ionosphere delay amount in the GNSS observation quantity is obviously increased, so that the ranging accuracy is reduced;
specifically, in step S2, the risk event identification vector is a 4-dimensional vector; each dimension element in the vector corresponds to a monitoring state of a risk event, an element of "0" indicates no corresponding risk event, and "1" indicates the presence of a corresponding risk event.
Classifying risk events according to the monitoring result, and generating a risk event identification vector:
1) When the accuracy monitoring result is that all ephemeris of all constellations are effective and the GDOP is less than or equal to 20, the risk event identification vector is a 0 vector, and no risk event is represented;
2) When the accuracy monitoring result is that any constellation exists and all ephemeris thereof is valid and the GDOP is more than 20, the identification corresponding to the constellation fault event in the risk event identification vector is set to be 1, which indicates that the risk event of the constellation fault exists;
3) When the number of satellites exceeding a set threshold value in the signal power monitoring calculation result of all satellites of the main frequency point exceeds 50% of the number of visible satellites of the frequency point, the identification corresponding to the interference/deception event of the main frequency point in the risk event identification vector is set to be '1', which indicates that the risk event of the interference/deception event of the main frequency point exists;
4) When the number of satellites exceeding a set threshold value in the signal power monitoring calculation result of all satellites of the non-main frequency point exceeds 50% of the number of visible satellites of the frequency point, the identification corresponding to the interference/deception event of the non-main frequency point in the risk event identification vector is set to be '1', which indicates that the risk event of the interference/deception event of the non-main frequency point exists;
5) When the number of the satellites of which the code-carrier divergence monitoring calculation results of all the visible satellites exceed the set threshold exceeds 50% of the number of the satellites of all the visible satellites, the identification corresponding to the ionospheric abnormal event in the risk event identification vector is set to be 1, which indicates that the risk event of the ionospheric abnormal event exists.
Specifically, in step S3, according to the position and the number of "1" in the current risk event identification vector, a corresponding working mode update is made for the current working mode of the GBAS system ground reference station.
The GBAS operation modes in this embodiment include:
GAST-C: providing positioning service by using GNSS L1 signals and adopting single-frequency observables from at least one constellation of GPS L1C/A, galileo E1 and Beidou B1C, and supporting I-class operation;
GAST-D: using GNSS L1 signals, providing positioning service by adopting single-frequency observables from at least one constellation of GPS L1C/A, galileo E1 and Beidou B1C, and supporting I/II/III type operation;
GAST-F: and providing positioning service by using at least one observed quantity from three constellation/frequency point combinations of GPS L1C/A and L5, galileo E1 and E5a and Beidou B1C and B2a by using GNSS L1/L5 double-frequency multi-constellation signals, wherein the GNSS L1 is a main signal, and supporting I/II/III operation.
Before the current working mode of the GBAS system ground reference station and the current risk event identification vector are combined to update the working mode, the current working mode of the GBAS system ground reference station is a dual-frequency mode GAST-F, CAT-I/II/III is supported, or a main frequency point signal GAST-D is used, CAT-I/II/III is supported;
specifically, when the first dimension of the risk event identification vector is a constellation fault event identification; the second dimension is the primary frequency point interference/deception event identification; the third dimension is a non-primary frequency point interference/deception event identifier; the fourth dimension is the ionosphere abnormal event identification;
and, the GBAS system ground reference station currently works in the dual-frequency mode GAST-F, when supporting CAT-I/II/III,
the working mode updating by combining the risk event identification vector comprises the following specific updating modes:
1) When the risk event identification vector is [0,0 ]: when [1, 0], [1,0, 1], [0, 1], after the working mode is updated, a dual-frequency mode GAST-F is still used to support CAT-I/II/III;
2) When the risk event identification vector is [0,1, 0], [0,1,0,1], [1, 0], [1,0, 1], the working mode is updated as follows: the non-main frequency point signal only supports CAT-I;
3) When the risk event identification vector is [0,1, 0], [1,0,1,0], the working mode is updated as follows: the main frequency point signal GAST-D supports CAT-I/II/III;
4) When the risk event identification vector is [0, 1], [1,0, 1], the working mode is updated as follows: the main frequency point signal GAST-C supports CAT-I;
5) When the risk event identification vector is [0,1,0 ]: [1, 0], [0,1 ]: [1, 1], the working mode is updated as follows: services are not available.
Specifically, the current working mode of the GBAS system ground reference station is the main frequency point signal GAST-D, and CAT-I/II/III is supported;
the working mode updating by combining the risk event identification vector comprises the following specific updating modes:
1) When the risk event identification vector is [0, 0], [0,1, 0], [1, 0], [1,0,1,0], and after the working mode is updated, the main frequency point signal GAST-D is still used to support CAT-I/II/III;
2) When the risk event identification vector is [1,0, 1], [1,0, 1], [0, 1], the working mode is updated as follows: the main frequency point signal GAST-C supports CAT-I;
3) When the risk event identification vector is [0,1, 0], [0,1, 0], [0,1,0,1], [0, 1]
[1, 0], [1,0 ]: [1,0, 1], [1, 1], the working mode is updated as follows: services are not available.
Optionally, the primary frequency point signal is GNSS L1; the center frequency point 1575.42MHz; the non-main frequency point signal is GNSS L5; the center frequency point is 1176.45MHz.
And, the risk event identification vector only contains 1 risk event or 2 combinations of risk events as a more common case.
And broadcasting the updated working mode to an onboard receiver of the GBAS system for precision approach landing service.
In summary, according to the GBAS operation adaptive switching method based on risk event monitoring in the embodiment of the present invention, based on a conventional GBAS monitoring means, the influence of different risk events on GBAS access services is solved, so that adaptive switching of GBAS operation modes under different risk events is realized, normal use of GBAS access services is ensured, and service reliability is improved.
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention.

Claims (10)

1. The GBAS working mode self-adaptive switching method based on risk event monitoring is characterized by comprising the following steps of:
the GBAS system ground reference station preprocesses the received signals and stores monitoring results including data quality monitoring, precision factor monitoring, code-carrier divergence monitoring and signal power monitoring;
classifying risk events including constellation fault events, primary frequency point signal interference/deception events, non-primary frequency point signal interference/deception events and ionospheric abnormal events according to the monitoring results to generate risk event identification vectors;
the current working mode of the GBAS system ground reference station and the current risk event identification vector are combined to update the working mode;
and broadcasting the updated working mode to an onboard receiver of the GBAS system.
2. The GBAS operation mode adaptive switching method based on risk event monitoring according to claim 1, wherein,
the pretreatment process comprises the steps of,
performing data quality monitoring based on the received ephemeris information and almanac information in each visible star navigation message, and judging whether the ephemeris information is valid or not; storing the data quality monitoring result of the visible star with the ephemeris information effective;
based on the ephemeris information in each constellation after data quality monitoring, the ephemeris information in each constellation is effectively visible, the accuracy factor is monitored by independently calculating the accuracy factor DOP value of each constellation, and the accuracy factor monitoring result is stored;
for each frequency point of each visible star with valid ephemeris information, code-carrier divergence monitoring is carried out based on code pseudo-range observables and carrier phase observables, and code-carrier divergence monitoring results are stored;
and for each frequency point of each visible star with effective ephemeris information, carrying out signal power monitoring based on the carrier-to-noise power ratio of each frequency point of the visible star, and storing a signal power monitoring result.
3. The GBAS operation mode adaptive switching method based on risk event monitoring according to claim 2, wherein,
in the data quality monitoring based on the received ephemeris information and almanac information in each visible star navigation message, when any one of the first condition and the second condition is met, the ephemeris information is judged to be valid; wherein,
the first condition is: the distance is satisfied
Figure QLYQS_1
The first distance threshold is not more than;
Figure QLYQS_2
to calculate the satellite position at the current moment from the most recent ephemeris:
Figure QLYQS_3
to calculate the satellite position at the current moment from the latest almanac:
the second condition is: the distance is satisfied
Figure QLYQS_4
A second distance threshold is less than or equal to;
Figure QLYQS_5
to calculate the satellite position at the current moment from the old ephemeris:
Figure QLYQS_6
to calculate the satellite position at the current moment from the new ephemeris.
4. The GBAS operation mode adaptive switching method based on risk event monitoring according to claim 2, wherein,
in code-carrier diversity monitoring, a pair ofkTime of daymFirst satellitenThe code-carrier divergence of each frequency point is subjected to moving average to obtain a signal power monitoring calculation result
Figure QLYQS_7
：/>
Figure QLYQS_8
；
wherein ,
Figure QLYQS_9
；
Figure QLYQS_10
；
Figure QLYQS_11
and />
Figure QLYQS_12
Respectively iskTime of daymFirst satellitenCode pseudo-range observables and carrier phase observables of the frequency points;Kfor smoothing time constant, +.>
Figure QLYQS_13
The initial value is +.>
Figure QLYQS_14
。
5. The GBAS operation mode adaptive switching method based on risk event monitoring according to claim 2, wherein,
in signal power monitoring, forkTime of daymFirst satellitenThe carrier-to-noise power ratio of each frequency point is smoothed to obtain a signal power monitoring calculation result
Figure QLYQS_15
：
Figure QLYQS_16
；
After that, save
Figure QLYQS_17
A value;
Figure QLYQS_18
is thatkTime of daymFirst satellitenThe carrier-to-noise power ratio of each frequency point;
Figure QLYQS_19
is thatk-Time 1mFirst satellitenCarrier-to-noise power ratio for each frequency bin.
6. The GBAS operation mode adaptive switching method based on risk event monitoring according to any one of claims 1 to 5, wherein,
the risk event identification vector is a 4-dimensional vector; each dimension element in the vector corresponds to a monitoring state of a risk event, an element of "0" indicates no corresponding risk event, and "1" indicates the presence of a corresponding risk event.
7. The GBAS operation mode adaptive switching method based on risk event monitoring according to claim 6, wherein,
classifying risk events according to the monitoring result, and generating a risk event identification vector:
when the accuracy monitoring result is that all ephemeris of all constellations are effective and the GDOP is less than or equal to 20, the risk event identification vector is a 0 vector, and no risk event is represented;
when the accuracy monitoring result is that any constellation exists and all ephemeris thereof is valid and the GDOP is more than 20, the identification corresponding to the constellation fault event in the risk event identification vector is set to be 1, which indicates that the risk event of the constellation fault exists;
when the number of satellites exceeding a set threshold value in the signal power monitoring calculation result of all satellites of the main frequency point exceeds 50% of the number of visible satellites of the frequency point, the identification corresponding to the interference/deception event of the main frequency point in the risk event identification vector is set to be '1', which indicates that the risk event of the interference/deception event of the main frequency point exists;
when the number of satellites exceeding a set threshold value in the signal power monitoring calculation result of all satellites of the non-main frequency point exceeds 50% of the number of visible satellites of the frequency point, the identification corresponding to the interference/deception event of the non-main frequency point in the risk event identification vector is set to be '1', which indicates that the risk event of the interference/deception event of the non-main frequency point exists;
when the number of the satellites of which the code-carrier divergence monitoring calculation results of all the visible satellites exceed the set threshold exceeds 50% of the number of the satellites of all the visible satellites, the identification corresponding to the ionospheric abnormal event in the risk event identification vector is set to be 1, which indicates that the risk event of the ionospheric abnormal event exists.
8. The GBAS operation mode adaptive switching method based on risk event monitoring according to claim 7, wherein,
and according to the positions and the number of '1' in the current risk event identification vector, corresponding working mode updating is carried out on the current working mode of the GBAS system ground reference station.
9. The GBAS operation mode adaptive switching method based on risk event monitoring according to claim 8, wherein,
when the first dimension of the risk event identification vector is a constellation fault event identification; the second dimension is the primary frequency point interference/deception event identification; the third dimension is a non-primary frequency point interference/deception event identifier; the fourth dimension is the ionosphere abnormal event identification;
and, the GBAS system ground reference station currently works in the dual-frequency mode GAST-F, when supporting CAT-I/II/III,
the working mode updating by combining the risk event identification vector comprises the following specific updating modes:
1) When the risk event identification vector is [0,0 ]: when [1, 0], [1,0, 1], [0, 1], after the working mode is updated, a dual-frequency mode GAST-F is still used to support CAT-I/II/III;
2) When the risk event identification vector is [0,1, 0], [0,1,0,1], [1, 0], [1,0, 1], the working mode is updated as follows: the non-main frequency point signal only supports CAT-I;
3) When the risk event identification vector is [0,1, 0], [1,0,1,0], the working mode is updated as follows: the main frequency point signal GAST-D supports CAT-I/II/III;
4) When the risk event identification vector is [0, 1], [1,0, 1], the working mode is updated as follows: the main frequency point signal GAST-C supports CAT-I;
5) When the risk event identification vector is [0,1,0 ]: [1, 0], [0,1 ]: [1, 1], the working mode is updated as follows: services are not available.
10. The GBAS operation mode adaptive switching method based on risk event monitoring according to claim 9, wherein,
when the first dimension of the risk event identification vector is a constellation fault event identification; the second dimension is the primary frequency point interference/deception event identification; the third dimension is a non-primary frequency point interference/deception event identifier; the fourth dimension is the ionosphere abnormal event identification;
when the current working mode of the GBAS system ground reference station is the main frequency point signal GAST-D and CAT-I/II/III is supported,
the working mode updating by combining the risk event identification vector comprises the following specific updating modes:
1) When the risk event identification vector is [0, 0], [0,1, 0], [1, 0], [1,0,1,0], and after the working mode is updated, the main frequency point signal GAST-D is still used to support CAT-I/II/III;
2) When the risk event identification vector is [1,0, 1], [1,0, 1], [0, 1], the working mode is updated as follows: the main frequency point signal GAST-C supports CAT-I;
3) When the risk event identification vector is [0,1, 0], [0,1, 0], [0,1,0,1], [0, 1]
[1, 0], [1,0 ]: [1,0, 1], [1, 1], the working mode is updated as follows: services are not available.
CN202310361424.XA 2023-04-07 2023-04-07 GBAS working mode self-adaptive switching method based on risk event monitoring Active CN116094578B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310361424.XA CN116094578B (en) 2023-04-07 2023-04-07 GBAS working mode self-adaptive switching method based on risk event monitoring

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310361424.XA CN116094578B (en) 2023-04-07 2023-04-07 GBAS working mode self-adaptive switching method based on risk event monitoring

Publications (2)

Publication Number Publication Date
CN116094578A true CN116094578A (en) 2023-05-09
CN116094578B CN116094578B (en) 2023-06-09

Family

ID=86208644

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310361424.XA Active CN116094578B (en) 2023-04-07 2023-04-07 GBAS working mode self-adaptive switching method based on risk event monitoring

Country Status (1)

Country Link
CN (1) CN116094578B (en)

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106980130A (en) * 2017-03-03 2017-07-25 哈尔滨工程大学 A kind of SINS/GNSS deep combinations adaptive navigation method
CN109100748A (en) * 2018-08-14 2018-12-28 西安空间无线电技术研究所 A kind of navigation integrity monitoring system and method based on low rail constellation
CN110133689A (en) * 2019-05-24 2019-08-16 中国科学院国家授时中心 Adaptive user autonomous integrity monitoring method
CN110213829A (en) * 2019-05-23 2019-09-06 浙江大学 A kind of dedicated ad hoc network anti-interference method based on frequency point replacement
CN111025347A (en) * 2019-12-18 2020-04-17 中国电子科技集团公司第二十研究所 Multi-mode receiver foundation enhancement technical device and processing method
CN111505669A (en) * 2020-05-06 2020-08-07 苏州象天春雨科技有限公司 GNSS deception detection method and system using double antennas
CN111656223A (en) * 2018-02-09 2020-09-11 索尼半导体解决方案公司 Satellite positioning signal receiving device
CN113238257A (en) * 2021-07-12 2021-08-10 航天科工通信技术研究院有限责任公司 GNSS deception jamming detection method based on single-receiver carrier phase difference
CN113917495A (en) * 2021-12-14 2022-01-11 天津七一二通信广播股份有限公司 Beidou GBAS-based multi-frequency-point multi-constellation high-reliability autonomous monitoring method and equipment
CN114047526A (en) * 2022-01-12 2022-02-15 天津七一二通信广播股份有限公司 Ionized layer anomaly monitoring method and device based on dual-frequency dual-constellation GBAS
CN115792966A (en) * 2022-09-23 2023-03-14 电子科技大学 Satellite navigation deception jamming detection method based on array antenna and INS fusion processing

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106980130A (en) * 2017-03-03 2017-07-25 哈尔滨工程大学 A kind of SINS/GNSS deep combinations adaptive navigation method
CN111656223A (en) * 2018-02-09 2020-09-11 索尼半导体解决方案公司 Satellite positioning signal receiving device
CN109100748A (en) * 2018-08-14 2018-12-28 西安空间无线电技术研究所 A kind of navigation integrity monitoring system and method based on low rail constellation
CN110213829A (en) * 2019-05-23 2019-09-06 浙江大学 A kind of dedicated ad hoc network anti-interference method based on frequency point replacement
CN110133689A (en) * 2019-05-24 2019-08-16 中国科学院国家授时中心 Adaptive user autonomous integrity monitoring method
CN111025347A (en) * 2019-12-18 2020-04-17 中国电子科技集团公司第二十研究所 Multi-mode receiver foundation enhancement technical device and processing method
CN111505669A (en) * 2020-05-06 2020-08-07 苏州象天春雨科技有限公司 GNSS deception detection method and system using double antennas
CN113238257A (en) * 2021-07-12 2021-08-10 航天科工通信技术研究院有限责任公司 GNSS deception jamming detection method based on single-receiver carrier phase difference
CN113917495A (en) * 2021-12-14 2022-01-11 天津七一二通信广播股份有限公司 Beidou GBAS-based multi-frequency-point multi-constellation high-reliability autonomous monitoring method and equipment
CN114047526A (en) * 2022-01-12 2022-02-15 天津七一二通信广播股份有限公司 Ionized layer anomaly monitoring method and device based on dual-frequency dual-constellation GBAS
CN115792966A (en) * 2022-09-23 2023-03-14 电子科技大学 Satellite navigation deception jamming detection method based on array antenna and INS fusion processing

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
李作虎: "卫星导航***性能监测及评估方法研究", 中国博士学位论文全文数据库基础科学辑 *
胡杰等: "基于GPS的地基增强***机载端完好性算法研究", 大地测量与地球动力学 *

Also Published As

Publication number Publication date
CN116094578B (en) 2023-06-09

Similar Documents

Publication Publication Date Title
US11709280B2 (en) Correction information integrity monitoring in navigation satellite system positioning methods, systems, and devices
EP2706378B1 (en) Systems and methods for solution separation for ground-augmented multi-constellation terminal area navigation and precision approach guidance
US6798377B1 (en) Adaptive threshold logic implementation for RAIM fault detection and exclusion function
Wabbena et al. PPP-RTK: precise point positioning using state-space representation in RTK networks
JP6625237B2 (en) Positioning reinforcement device, positioning reinforcement system and positioning reinforcement method
US6847893B1 (en) Horizontal/vertical exclusion level determination scheme for RAIM fault detection and exclusion implementation
US7511660B2 (en) Device for generation of integrity messages signaling nominal, degraded or inactive surveillance stations of satellite navigation systems
CN111983641B (en) Method for generating Beidou satellite-based augmentation system integrity parameters in real time
RU2478221C2 (en) Improved sbas receiver
Kiliszek et al. Performance of the precise point positioning method along with the development of GPS, GLONASS and Galileo systems
US11226416B1 (en) System and method to reduce PPP filter convergence time using LEO frequency band signals
US10295674B2 (en) System and method for determining protection level
CA2822228A1 (en) Method of monitoring the integrity of radio-navigation stations in a satellite based augmentation system
US10345448B2 (en) Using space based augmentation system (SBAS) ephemeris sigma information to reduce ground based augmentation systems (GBAS) ephemeris decorrelation parameter
US10156639B2 (en) Combined use of different satellite navigation systems
CN114280633B (en) Non-differential non-combination precise single-point positioning integrity monitoring method
Weinbach et al. Integrity of the trimble® CenterPoint RTX correction service
Eissfeller et al. Real-time kinematic in the light of GPS modernization and Galileo
CN116094578B (en) GBAS working mode self-adaptive switching method based on risk event monitoring
Tiberius et al. 0.99999999 confidence ambiguity resolution with GPS and Galileo
US11525924B2 (en) Method for providing authenticated correction information, plurality of reference stations and a redundant central computation unit, GNS system and software product and/or network for providing a correction information message in a GNS system or other means
Felux et al. Ionospheric monitoring in a dual frequency GBAS
US8085191B2 (en) Position determination based on corroborated signal processing of PRN codes
Blomenhofer et al. Performance Analysis of GNSS Global and Regional Integrity Concepts
EP4099061A1 (en) Method for generating and providing a precise positioning solution of a mobile receiver in a gnss system by a central computation unit and a software product and its dissemination

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
GR01 Patent grant
GR01 Patent grant