Integrity monitoring method for slowly growing ramp fault of integrated navigation

A technology of integrity monitoring and integrated navigation, applied in the field of satellite navigation, it can solve the problems of redundant observations and the inability of user receivers to perform integrity monitoring, and achieve complete and robust integrity, strong design theoretical value and engineering application value. Effect

Inactive Publication Date: 2018-05-29
PEKING UNIV
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Problems solved by technology

Receiver Autonomous Integrity Monitoring Algorithm (RAIM) is currently recognized as an effective method. However, redundant observations are required during operation. When the number of visible satellites is insufficient or GDOP black holes or RAIM black holes are encountered, the user receiver cannot perform integrity monitoring. monitor

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  • Integrity monitoring method for slowly growing ramp fault of integrated navigation
  • Integrity monitoring method for slowly growing ramp fault of integrated navigation
  • Integrity monitoring method for slowly growing ramp fault of integrated navigation

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Embodiment 2

[0064] figure 2 A graph showing the relationship between the theoretical value of the detection threshold and the false alarm probability and the number of visible satellites in the preferred embodiment of the present invention is shown.

[0065] In the specific embodiment of the present invention, it is assumed that the false alarm probability P FA =1×10 -5 , the probability of missing alarm P MD =0.01, detection threshold T n The theoretical relationship with the number of visible satellites is shown in the table below.

[0066] Table 1 Statistical table of the number of visible satellites and the detection threshold

[0067] number of satellites

4

5

6

7

Detection threshold T n

28.4733

30.8562

33.1071

35.2585

number of satellites

8

9

10

11

Detection threshold T n

37.3316

39.3407

41.2962

43.2060

[0068] Missing alarm probability P MD =0.01, the relationship between the theoretical v...

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Abstract

The invention discloses an integrity monitoring method for a slowly growing ramp fault of integrated navigation. For a noise-level slowly growing ramp fault in a conventional integrated navigation system, the method comprises constructing recursive exponential integrity detection statistics by means of a process measurement matrix of satellite navigation-and-inertial navigation-integrated navigation extended Kalman filtering and a system state covariance matrix, setting a recurrence time interval and comparing the detection statistics with a detection threshold under the premise of meeting therequirement on a false alarm rate and a missed alarm rate in navigation operation, and ultimately fulfilling integrity monitoring and sending alarm information to a user in time. The integrity monitoring method for the slowly growing ramp fault of integrated navigation, proposed by the invention, is applicable to single-satellite navigation systems, multi-constellation navigation systems and integrated navigation systems, can realize the integrity of complete robustness of an integrated navigation receiver under a complex electromagnetic environment, and has high theoretical value in integrated navigation receiver designs and engineering application value.

Description

technical field [0001] The invention belongs to the technical field of satellite navigation, and in particular relates to a method for monitoring the fault integrity of an integrated navigation slow-varying slope. Background technique [0002] Global Navigation Satellite System (GNSS) can provide positioning, navigation and timing services for receivers, and plays an extremely important role in various industries. The global satellite navigation system currently mainly includes GPS of the United States, BDS of China, GALILEO of Europe and GLONASS of Russia. The signal processing end of the navigation receiver extracts the GNSS navigation message and calculates the satellite space position and speed according to the interface control files of each navigation system, and then Realize receiver positioning solution. Inertial navigation system INS is an autonomous dead reckoning navigation system that uses inertial sensors (gyroscopes and accelerometers), reference reference ori...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00G01S19/20
CPCG01C25/005G01S19/20
Inventor 朱柏承孟鑫孟凡琛
Owner PEKING UNIV
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