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A GNSS Integrity Monitoring Method for Urban Complex Environment

A technology for integrity monitoring and complex environments, applied to measuring devices, radio wave measuring systems, instruments, etc., can solve problems such as missed detection by RAIM algorithm, increase in false detection rate, and multi-path errors in satellite pseudo-range observations

Active Publication Date: 2021-07-27
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in an urban environment, buildings reflecting satellite signals will cause serious multipath errors to satellite pseudo-range observations. At this time, the noise contained in the observation data is non-Gaussian noise, which leads to the RAIM algorithm under the assumption of Gaussian white noise. Missed detection and false detection rate increase

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  • A GNSS Integrity Monitoring Method for Urban Complex Environment
  • A GNSS Integrity Monitoring Method for Urban Complex Environment
  • A GNSS Integrity Monitoring Method for Urban Complex Environment

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Embodiment Construction

[0051] like figure 1 As shown, the present invention provides a GNSS integrity monitoring method for urban complex environments, including:

[0052] Step 1: Perform GNSS pseudorange observation. In urban environments, carriers (such as drones, automatic driving vehicles) use GNSS receivers to observe the pseudorange observation data of the current observation class (Ciyuan K): the number of stars Confuciusal solid coordinates Corresponding original pseudorange observation And satellite signal signal to noise ratio

[0053] Step 2: Remove satellites with satellite signal signal-to-noise ratio below the threshold. The threshold of the satellite signal signal to noise ratio determined according to historical observation experience is SNR thre (Determined according to observation experience, can generally be set to 6.0), traversing the previously obtained satellite signal signal-to-noise ratio If Keep satellite Related observations, otherwise delete satellite Related observati...

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Abstract

The invention provides a method for GNSS integrity monitoring in a complex urban environment, comprising: step 1, performing GNSS pseudo-range observation; step 2, removing satellites whose signal-to-noise ratio is lower than a threshold; step 3, judging the remaining visible Whether the number of satellites is greater than 4, then do different processing; Step 4, calculate the candidate positioning points of each four-star subset based on the least squares model; Step 5, calculate the northeast sky coordinates of the candidate positioning points relative to the reference positioning point; Step 6 , to detect fault candidate location points based on the degree of abnormality; step 7, to seek the optimal location solution based on the weight of the degree of abnormality; step 8, to output the final location result. The method provided by the invention is aimed at detecting and eliminating GNSS system faults caused by buildings blocking or reflecting satellite signals in complex urban environments, and improving the integrity of GNSS when applied in complex urban environments.

Description

Technical field [0001] The present invention relates to a method for monitoring the GNSS integrity monitoring in an urban complex environment. Background technique [0002] GNSS has global coverage, achieving an absolute positioning, error does not have advantages such as time, and is widely used in national defense, communications, transportation and other fields. In GNSS applications, people will define the fatability of GNSS when filling, identifying and excluding failures in time when fails, and continues to provide users with the ability to locate navigation services. The study of the integrity of GNSS earliest happened in the aviation area, and there is currently a mature monitoring algorithm. However, in recent years, it has developed a rapidly developing the application area of ​​the responsible related application, and the integrity of GNSS in the urban complex environment has put forward higher requirements. In the complex environment of the city, the GNSS signal is lik...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S19/20G01S19/23G01S19/42
CPCG01S19/20G01S19/23G01S19/42
Inventor 孙蕊陈含智程琦胡德正毛继智
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS