Fault recognition method for multi-constellation integrated navigation system

Abstract

The invention discloses a fault recognition method for a multi-constellation integrated navigation system. The method comprises the following steps of: unifying time and space coordinates of the multi-constellation system; determining fault detection usability; determining a fault; recognizing and removing faulty satellites and the like. Faults of various satellites can be monitored and recognized simultaneously, the success rate of recognizing and removing the faulty satellites is greatly improved due to unification of the time and space coordinates of the multi-constellation system and repeated detection and judgment, and the navigation positioning accuracy, positioning performance and reliability of the multi-constellation integrated navigation system are improved; therefore, the navigation service performance is improved.

Description

technical field [0001] The invention relates to a fault identification method of a navigation system, in particular to a fault identification method of a multi-constellation integrated navigation system. Background technique [0002] The GPS system (global satellite navigation system) has been widely used in the world. In the GPS system, the multi-constellation integrated navigation system has high navigation positioning accuracy, good positioning performance and reliability, so that the navigation services it provides It can reach a level that can only be achieved by using the enhancement system. [0003] However, when the error of the multi-constellation integrated navigation system exceeds the allowable limit due to various reasons such as faulty satellites or long-term false locks, it will not be able to perform navigation work. At present, the main reasons for the positioning failure of the satellite navigation system are as follows: [0004] 1) The positioning accura...

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Problems solved by technology

[0004] 1) The positioning accuracy of satellite navigation is affected by the number of satellites and their geometric distribution. The performance of the GPS system will deteriorate in areas where there are not many satellites and the positioning geometric distribution is not good;

[0005] 2) The satellite navigation system is huge and complex, and software and hardware failures of the system will also increase the positioning error of satellite navigation, which will affect the flight safety of the aircraft;

[0006] 3) The owning country of the GPS system has taken some measures to limit the positioning accuracy for its own national security interests. In the case of military conflicts and wars in the future, it is difficult to guarantee that the owning country will not adopt similar measures for military interests;

[0007] 4) Electromagnetic waves in the external environment, changes in the ionosphere, natural interference, man-made interference, especially hostile interference will also affect the reliability of satellite navigation

[0009] The invention patent application with the application number CN 200610165465.8 discloses a GNSS receiver autonomous integrity monitoring method based on multi-satellite fault identification, which has the following steps: a. Carry out availability analysis of autonomous integrity; b. Star fault judgment: compare the detection statistics with the single-star or multi-star detection threshold, if it does not exceed any threshold, it indicates that there is no fault at present, and continue monitoring; if it exceeds the threshold, decide to enter the corresponding fault identification step; c. Multi-satellite fault identification: use the characteristic deviation line method for fault identification when there is a single satellite, and use the hypothesis verification method for fault identification when there are multiple satellites; d. Carry out troubleshooting verification: remove the faulty satellite from the selected satellite combination, and repeat steps a and step b; if no fault is found, it means that step c is correct, and the faulty satellite has been eliminated; if a new fault is found, it means that step c has failed, and the specific situation needs to be analyzed: if it fails during troubleshooting of a single satellite, it may be a multi-satellite fault; if so If the multi-satellite troubleshooting fails, it is considered that the measurement data at the current moment cannot complete the integrity monitoring

The GNSS receiver autonomous integrity monitoring method based on multi-satellite fault identification with the above steps has the serious defect of low success rate of identifying and troubleshooting satellites

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