Slowly changing slope fault integrity monitoring method

Abstract

The invention discloses a slowly changing slope fault integrity monitoring method. The method performs down-conversion, filter amplification, automatic gain control, acquisition tracking and sub-frame synchronization processing of a GNSS signal, and simultaneously realizes the real-time updating of the INS attitude, speed and position information based on the INS gyroscope and the accelerometer measurement value. Through the GNSS / INS integrated navigation system to measure the error matrix, the observation matrix, the priori estimation state matrix, the priori estimation covariance matrix and the noise matrix and by means of combined navigation Kalman filter for multi-step extrapolation measurement, the construction of extrapolation test statistic and the comparison with the theoretical detection threshold, it is possible to effectively monitor and identify the fault integrity of the slowly changing slope and avoid the "transmission" error of the fault. The test statistic constructed by this method can identify slowly changing faults efficiently and effectively monitor the slow error source such as thermal noise of integrated navigation receivers.

Description

technical field [0001] The invention relates to satellite navigation integrity monitoring technology, which belongs to the field of satellite navigation technology, and in particular to a method for monitoring the integrity of slow-varying slope faults. Background technique [0002] Global Navigation Satellite System (GNSS) can provide receivers with all-weather navigation, positioning and timing services, and plays an extremely important role in military and civilian fields. The inertial navigation system (Inertial Navigation System, INS) is an autonomous navigation system that does not depend on external information and does not radiate energy to the outside (such as radio navigation). Its working environment includes not only the air, the ground, but also underwater. The basic working principle of inertial navigation is based on Newton's laws of mechanics. By measuring the acceleration of the carrier in the inertial reference system, integrating it with time, and transfo...

AI Technical Summary

Problems solved by technology

[0007] In the above-mentioned comparative document 1, the multi-solution separation method is adopted, that is, the traditional MSS algorithm carries out faulty satellite detection and isolation, but the MSS algorithm has better detection and identification performance for step faults, but for the slow-varying slope fault proposed by the present invention, the detection The effect is poor; the comparison document 2 adopts integrated navigation filter information and navigation system information fusion for integrity monitoring, and also has poor detection effect on slow-changing slope faults, and can only be better for sudden changes in pseudo-range measurement values, that is, step faults. The detection of the slow-changing slope in the integrated navigation system cannot be detected in time

Images