Dynamic baseline positioning domain monitoring method

Abstract

The invention provides a dynamic baseline positioning domain monitoring method based on satellite navigation and inertial navigation. The method comprises the following steps: a) determining a coordinate system and a conversion matrix; b) calculating a coordinate theoretical value of the antenna baseline vector under an earth-centered earth-fixed coordinate system in the movement process of the base station carrier; c) determining the number of antenna baseline vectors to be monitored; d) resolving the measured value of the antenna baseline vector; e) calculating positioning domain errors of the antenna baseline vector change rate in x, y and z directions at the epoch k moment, and normalizing the positioning domain errors to obtain normalized values of the positioning domain errors; f) obtaining a cumulative sum value; and g) comparing the cumulative sum value with an error monitoring threshold, and sending an integrity risk alarm. According to the method, errors generated by vector position measurement of the baseline between the antennas are reduced, the accuracy of protection-level calculation is improved, the integrity risk in the aircraft dynamic-to-dynamic approach landing process is reduced, and the performance improvement of a propulsion dynamic-to-dynamic approach guiding system is facilitated.

Description

technical field [0001] The invention relates to the technical field of satellite navigation and inertial navigation, in particular to a dynamic baseline positioning domain monitoring method based on satellite navigation and inertial navigation. Background technique [0002] Differential positioning technology refers to using two global navigation satellite system (GNSS) receivers to simultaneously observe the same group of satellites and collect satellite navigation data. Different from the absolute position coordinates obtained by single-point positioning, the difference technology obtains the relative position of two receivers. If the position of one receiver is known, the precise position of the other receiver can be calculated. [0003] Ground Based Augmentation Systems (GBAS) is an important part of the satellite navigation system. Its working principle is to improve the accuracy of satellite navigation through differential positioning, and on this basis, an integrity m...

AI Technical Summary

Problems solved by technology

At the same time, the protection level should be as small as possible under the premise of meeting the integrity requirements, otherwise it may affect the availability of the system

[0010] Therefore, in order to solve the technical problem of error in the vector position measurement of the baseline between antennas in the prior art, a dynamic baseline positioning domain monitoring method based on satellite navigation and inertial navigation is needed

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