Autonomous integrity detection method, system and equipment for satellite navigation receiver and medium

Abstract

The invention relates to the technical field of satellite navigation terminal application, and discloses an autonomous integrity detection method, system and equipment for a satellite navigation receiver and a medium, which take epochs as execution units and realize multi-level and multi-dimensional consistency verification through cooperation of Doppler fault detection and an improved RAIM algorithm. According to the method, consistency comparison is creatively carried out on the positioning domain resolving result and the signal domain Doppler observed quantity, Doppler information processing is introduced on the basis of traditional RAIM, the accuracy and speed of fault satellite recognition and observed value isolation are remarkably improved, and the omission ratio and the false detection rate are effectively reduced. In a multi-path environment such as a complex city, multiple fault satellites can be detected and eliminated at the same time, the assumption limitation of single fault is overcome, indirect signal interference is restrained, positioning output is more stable, result fluctuation and step are reduced, and the integrity of a system and the continuity and reliability of positioning service are improved.

Description

Technical Field

[0001] This invention relates to the field of satellite navigation terminal application technology, and in particular to a method, system, device and medium for detecting the autonomous integrity of a satellite navigation receiver. Background Technology

[0002] In the field of satellite navigation terminal applications, with the rapid promotion and application of autonomous driving and unmanned equipment, the monitoring of the autonomous integrity of positioning results is receiving increasing attention. Currently, in the analysis of satellite navigation autonomous integrity, the traditional receiver autonomous integrity monitoring (RAIM) algorithm is usually based on consistency checks. It uses redundant observation information in navigation calculations (i.e., the number of satellites exceeds the minimum number required for calculation) to construct a test statistic, and compares it with a preset threshold to achieve fault detection; then, faults are gradually eliminated through the maximum residual method or hypothesis testing method. However, this traditional method has the following main drawbacks: First, it is usually based on the "single fault" assumption, but in complex multipath environments such as cities, there are often multiple non-direct multipath signals interfering with the data, making it difficult for the algorithm to reliably handle situations where multiple satellite observations fail simultaneously; Second, since the least squares residual method is used for fault detection and identification, its coefficient matrix has ill-conditioned problems, which can easily lead to missed or incorrect faults; In addition, existing methods are mostly limited to the positioning domain for calculation and fault diagnosis, failing to fully utilize the strict correlation between signal Doppler changes and receiver positioning solutions in the observation domain, resulting in a complex autonomous integrity calculation process and difficulty in effectively eliminating multiple faults simultaneously. Summary of the Invention

[0003] This invention provides a method, system, device, and medium for detecting the autonomous integrity of a satellite navigation receiver, in order to overcome the shortcomings of the prior art.

[0004] This invention provides a method for detecting the autonomous integrity of a satellite navigation receiver, with one epoch as the execution unit, comprising:

[0005] Acquire observation data and navigation message data from the satellite navigation receiver under test;

[0006] Based on the observation data and navigation message data of the satellite navigation receiver under test, Doppler fault detection is performed on the satellite navigation receiver under test, and the Doppler fault detection results of the satellite navigation receiver under test are obtained.

[0007] Based on the Doppler fault detection results of the satellite navigation receiver under test, a secondary fault detection is performed on the satellite navigation receiver under test using an improved RAIM algorithm to obtain the autonomous integrity detection results of the satellite navigation receiver under test.

[0008] According to the present invention, a method for detecting the autonomous integrity of a satellite navigation receiver includes performing Doppler fault detection on the satellite navigation receiver under test based on the observed data and navigation message data, and obtaining the Doppler fault detection result of the satellite navigation receiver under test, comprising:

[0009] Based on the observation data and navigation message data of the satellite navigation receiver under test, the raw Doppler observation value D and the velocity vector-based Doppler observation value of the satellite navigation receiver under test are obtained.

[0010] Based on the raw Doppler observation D from the satellite navigation receiver under test and the Doppler observation based on the velocity vector... Obtain the standardized Doppler fault detection statistics of the satellite navigation receiver under test.

[0011] The standardized Doppler fault detection statistics of the satellite navigation receiver under test The Doppler fault detection result of the satellite navigation receiver under test is obtained by comparing it with the detection threshold.

[0012] According to the autonomous integrity detection method for a satellite navigation receiver provided by the present invention, the expression for the original Doppler observation value D of the satellite navigation receiver under test is as follows:

[0013]

[0014] In the formula, the subscripts s, j, r and f of each variable represent the satellite navigation system type (BeiDou or GPS, etc.), satellite PRN number, receiver number and observation frequency, respectively; This represents the rate of change of * over time; The phase center r of the receiver's GNSS antenna is indicated. r phase center r of satellite antenna s,j The geometric distance between them; and δ s,j These represent receiver clock bias and satellite clock bias, respectively. This represents the tropospheric delay along the signal propagation path; This represents the ionospheric delay of the observation at the first frequency point. The conversion factor representing the ionospheric delay at different frequencies; and This indicates the pseudorange hardware delay at the receiver and satellite ends; and This indicates the hardware delay of the carrier phase at the receiver and satellite ends; This represents the noise and fault errors in the Doppler observations. For simplicity, the above equation neglects errors such as the phase center offset (PCO) and variation (PCV) of the satellite and receiver antennas, relativistic effects, solid tides, ocean load tides, polar tides, Earth rotation corrections, and phase entanglement, as these can all be corrected using existing models.

[0015] The present invention provides a method for detecting the autonomous integrity of a satellite navigation receiver, based on Doppler observations of velocity vectors. The expression is:

[0016]

[0017] In the formula, c represents the speed of light; This indicates the carrier frequency of the s satellite navigation system at frequency point 1; v s,j and r s,j Represents the satellite's velocity / position vector; and This represents the receiver's velocity / position vector, where v s,j r s,j and Obtained through broadcast ephemeris and This is based on the receiver speed and position predicted from historical information.

[0018] According to the present invention, a method for detecting the autonomous integrity of a satellite navigation receiver is provided, which includes a standardized Doppler fault detection statistic for the satellite navigation receiver under test. The expression is:

[0019]

[0020] According to the present invention, a method for detecting the autonomous integrity of a satellite navigation receiver is provided, under the fault-free assumption H0. Following a normal distribution, the false alarm rate P fa The detection threshold T can be determined by evenly distributing the data across all visible satellites in the current epoch and using the probability density function of a standard normal distribution. d The expression is as follows:

[0021]

[0022] According to the present invention, a method for detecting the autonomous integrity of a satellite navigation receiver is provided, wherein the normalized Doppler fault detection statistics of the satellite navigation receiver under test are used. The Doppler fault detection results of the satellite navigation receiver under test are obtained by comparing with the detection threshold, including:

[0023] When the standardized Doppler fault detection statistic of the satellite navigation receiver under test Greater than the detection threshold T d At that time, the satellite navigation receiver under test is determined to be in a suspicious state;

[0024] When the standardized Doppler fault detection statistic of the satellite navigation receiver under test Less than or equal to the detection threshold T d At that time, the satellite navigation receiver under test is determined to be in normal condition.

[0025] According to the present invention, a method for detecting the autonomous integrity of a satellite navigation receiver includes a secondary fault detection process based on the Doppler fault detection results of the satellite navigation receiver under test, using an improved RAIM algorithm to obtain the autonomous integrity detection results of the satellite navigation receiver under test. The method comprises:

[0026] Construct the pseudorange observation equations for the satellite navigation receiver under test;

[0027] Based on the Doppler fault detection results of the satellite navigation receiver under test, a weight matrix W of the satellite navigation receiver under test is constructed.

[0028] Based on the pseudorange observation equation and weight matrix W of the satellite navigation receiver under test, the state estimation and obstacle removal of the satellite navigation receiver under test are performed using the improved weighted least squares method, and the autonomous integrity test results of the satellite navigation receiver under test are obtained.

[0029] According to the present invention, a method for detecting the autonomous integrity of a satellite navigation receiver is provided, wherein the pseudorange observation equation of the satellite navigation receiver under test is:

[0030] z = Gx + ε

[0031] In the formula, z represents the pseudorange residual vector; G represents the geometric matrix; x represents the state correction quantity to be obtained (position, clock error, etc.); ε represents noise and fault error.

[0032] According to the present invention, a method for detecting the autonomous integrity of a satellite navigation receiver includes constructing a weight matrix W of the satellite navigation receiver under test based on the Doppler fault detection results of the receiver under test, comprising:

[0033] Based on the Doppler fault detection results of the satellite navigation receiver under test, when the satellite navigation receiver under test is determined to be in a suspicious state, it is assigned a low weight or excluded; when the satellite navigation receiver under test is determined to be in a normal state, it is assigned a high weight, thus constructing the weight matrix W of the satellite navigation receiver under test.

[0034] According to the autonomous integrity detection method for satellite navigation receivers provided by this invention, the expression of the improved weighted least squares method is as follows:

[0035]

[0036] The present invention also provides a satellite navigation receiver autonomous integrity detection system, comprising:

[0037] The data acquisition module is used to acquire observation data and navigation message data from the satellite navigation receiver under test.

[0038] The Doppler fault detection module is used to: perform Doppler fault detection on the satellite navigation receiver under test based on the observation data and navigation message data of the satellite navigation receiver under test, and obtain the Doppler fault detection result of the satellite navigation receiver under test;

[0039] The improved RAIM fault detection module is used to: perform secondary fault detection on the satellite navigation receiver under test based on the Doppler fault detection results of the satellite navigation receiver under test using the improved RAIM algorithm, and obtain the autonomous integrity detection results of the satellite navigation receiver under test.

[0040] The present invention also provides an electronic device, including a processor and a memory storing a computer program, wherein the processor executes the computer program to implement any of the above-described methods for autonomous integrity detection of satellite navigation receivers.

[0041] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the above-described methods for detecting the autonomous integrity of a satellite navigation receiver.

[0042] The present invention also provides a computer program product, the computer program product comprising a computer program that can be stored on a non-transitory computer-readable storage medium, and when the computer program is executed by a processor, the computer is able to execute any of the above-described satellite navigation receiver autonomous integrity detection methods.

[0043] This invention provides a method, system, device, and medium for autonomous integrity detection of satellite navigation receivers. It takes one epoch as the execution unit, introduces Doppler fault detection, and coordinates with an improved RAIM algorithm to achieve multi-level and multi-dimensional consistency verification, significantly improving the accuracy and reliability of fault detection.

[0044] The present invention has at least the following beneficial effects:

[0045] This invention proposes an autonomous integrity monitoring method for satellite navigation receivers using Doppler self-coincidence detection. It innovatively compares the consistency of satellite positioning domain solution results with signal domain Doppler observations, effectively combining existing equipment observation information with the traditional RAIM algorithm. By introducing the analysis and processing of Doppler measurements on the basis of traditional fault detection, it significantly improves the accuracy and speed of fault satellite identification and observation isolation, reduces the false detection rate and the missed detection rate, thereby greatly reducing the probability of erroneous positioning results and improving the overall integrity performance of the system.

[0046] The method of this invention performs excellently in scenarios with significant multipath effects, such as complex urban environments. It can simultaneously detect and quickly eliminate multiple faulty satellites, overcoming the limitations of the "single fault" assumption of traditional methods. By effectively suppressing interference from non-direct signals, this invention makes the positioning output more stable, reduces result fluctuations and positioning step phenomena, and further ensures the continuity and reliability of positioning services. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0048] Figure 1 This is one of the flowcharts illustrating a method for detecting the autonomous integrity of a satellite navigation receiver provided by the present invention.

[0049] Figure 2 This is the second flowchart illustrating a method for detecting the autonomous integrity of a satellite navigation receiver provided by the present invention.

[0050] Figure 3 This is a schematic diagram of the structure of a satellite navigation receiver autonomous integrity detection system provided by the present invention.

[0051] Figure 4 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, embodiments of this invention, and should not be construed as limiting the invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention. In the description of this invention, it should be understood that the terminology used is for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0053] Figures 1-2 This is a flowchart illustrating a method for detecting the autonomous integrity of a satellite navigation receiver provided by the present invention. The executing entity of this method can be any applicable terminal-side device or network-side device, such as a satellite navigation receiver autonomous integrity detection device.

[0054] This invention provides a method for detecting the autonomous integrity of a satellite navigation receiver, which can improve the autonomous integrity level of satellite navigation terminal products and provide more reliable positioning services for mobile carriers such as vehicles, ships, and aircraft in complex working environments.

[0055] See Figure 1 and Figure 2 The present invention provides a method for detecting the autonomous integrity of a satellite navigation receiver, which may include:

[0056] S110. Acquire the observation data and navigation message data of the satellite navigation receiver under test.

[0057] Observational data and navigation message data are used for the autonomous integrity testing of the satellite navigation receiver under test. They can be acquired by the satellite navigation receiver. The observational data may include, for example, pseudorange, carrier phase, Doppler shift, signal-to-noise ratio, etc., while the navigation message data may include, for example, ephemeris, almanac, satellite clock error correction parameters, ionospheric delay model parameters, satellite health status, etc.

[0058] S120. Based on the observation data and navigation message data of the satellite navigation receiver under test, perform Doppler fault detection on the satellite navigation receiver under test and obtain the Doppler fault detection result of the satellite navigation receiver under test.

[0059] In one embodiment, S120 may include:

[0060] S1201. Based on the observation data and navigation message data of the satellite navigation receiver under test, obtain the raw Doppler observation value D and the velocity vector-based Doppler observation value of the satellite navigation receiver under test.

[0061] The expression for the raw Doppler observation D of the satellite navigation receiver under test is as follows:

[0062]

[0063] In the formula, the subscripts s, j, r and f of each variable represent the satellite navigation system type (BeiDou or GPS, etc.), satellite PRN number, receiver number and observation frequency, respectively; This represents the rate of change of * over time; The phase center r of the receiver's GNSS antenna is indicated. r phase center r of satellite antenna s,j The geometric distance between them; and δ s,j These represent receiver clock bias and satellite clock bias, respectively. This represents the tropospheric delay along the signal propagation path; This represents the ionospheric delay of the observation at the first frequency point. The conversion factor representing the ionospheric delay at different frequencies; and This indicates the pseudorange hardware delay at the receiver and satellite ends; and This indicates the hardware delay of the carrier phase at the receiver and satellite ends; This represents the noise and fault errors in the Doppler observations. For simplicity, the above equation neglects errors such as the phase center offset (PCO) and variation (PCV) of the satellite and receiver antennas, relativistic effects, solid tides, ocean load tides, polar tides, Earth rotation corrections, and phase entanglement, as these can all be corrected using existing models.

[0064] Doppler observations based on velocity vectors The expression is:

[0065]

[0066] In the formula, c represents the speed of light; This indicates the carrier frequency of the s satellite navigation system at frequency point 1; v s,j and r s,j Represents the satellite's velocity / position vector; and This represents the receiver's velocity / position vector, where v s,j r s,j and Obtained through broadcast ephemeris and This is based on the receiver speed and position predicted from historical information.

[0067] S1202, Based on the raw Doppler observation value D of the satellite navigation receiver under test and the Doppler observation value based on the velocity vector... Obtain the standardized Doppler fault detection statistics of the satellite navigation receiver under test.

[0068] Specifically, the original Doppler observation value D is subtracted from the Doppler observation value based on the velocity vector. We can obtain:

[0069]

[0070] Compared to the error caused by satellite malfunction, and The prediction error is very small, therefore It can be ignored. Furthermore... and The changes are small and negligible over a short period of time. Therefore, the formula can be further simplified to:

[0071]

[0072] Where β represents the bias term common to all satellites (e.g., To eliminate this common bias and construct an unbiased statistic, the median of dD across all satellites is used as an estimate of β.

[0073]

[0074] Ultimately, a standardized Doppler fault detection statistic can be constructed for the satellite navigation receiver under test. The expression is:

[0075]

[0076] Under the fault-free assumption H0 Following a normal distribution, the false alarm rate P fa The detection threshold T can be determined by evenly distributing the data across all visible satellites in the current epoch and using the probability density function of a standard normal distribution. d The expression is as follows:

[0077]

[0078] S1203. Standardized Doppler fault detection statistics of the satellite navigation receiver under test. The Doppler fault detection result of the satellite navigation receiver under test is obtained by comparing it with the detection threshold.

[0079] Specifically, when the standardized Doppler fault detection statistics of the satellite navigation receiver under test... Greater than the detection threshold Td When the satellite navigation receiver under test is in a suspicious state, the standardized Doppler fault detection statistic of the satellite navigation receiver under test is determined. Less than or equal to the detection threshold T d At that time, the satellite navigation receiver under test is determined to be in normal condition.

[0080] S130. Based on the Doppler fault detection results of the satellite navigation receiver under test, the improved RAIM algorithm is used to perform secondary fault detection on the satellite navigation receiver under test, and the autonomous integrity detection results of the satellite navigation receiver under test are obtained.

[0081] Integrating Doppler detection results into the receiver autonomous integrity monitoring (RAIM) algorithm can significantly enhance its ability to identify and eliminate faults in pseudorange observations.

[0082] In one embodiment, S130 may include:

[0083] S1301. Construct the pseudorange observation equation for the satellite navigation receiver under test, wherein the pseudorange observation equation for the satellite navigation receiver under test is:

[0084] z = Gx + ε

[0085] In the formula, z represents the pseudorange residual vector; G represents the geometric matrix; x represents the state correction quantity to be obtained (position, clock error, etc.); ε represents noise and fault error.

[0086] S1302. Based on the Doppler fault detection results of the satellite navigation receiver under test, construct the weight matrix W of the satellite navigation receiver under test. Specifically, when the satellite navigation receiver under test is determined to be in a suspicious state, assign a low weight to the satellite navigation receiver under test or exclude it. When the satellite navigation receiver under test is determined to be in a normal state, assign a high weight to the satellite navigation receiver under test, and thus construct the weight matrix W of the satellite navigation receiver under test.

[0087] The weight matrix W is dynamically constructed based on the Doppler detection results. Traditional RAIM often uses a fixed weight strategy (such as based on elevation angle). In this embodiment, however, satellites marked as "Doppler normal" are assigned high weights (trust); satellites marked as "Doppler suspicious" are assigned very low weights or excluded (distrust). The specific weight values ​​can be set according to the actual situation. This approach suppresses the influence of potential fault sources in advance before adjustment calculation.

[0088] S1303. Based on the pseudorange observation equation and weight matrix W of the satellite navigation receiver under test, the state estimation and obstacle removal of the satellite navigation receiver under test are performed using the improved weighted least squares method to obtain the autonomous integrity detection result of the satellite navigation receiver under test. The expression of the improved weighted least squares method is as follows:

[0089]

[0090] The basic principle of state estimation and fault diagnosis is as follows: First, a judgment is made based on the normalized pseudorange residuals: the larger the residual, the more likely the corresponding observation may be faulty. By setting appropriate thresholds (such as 3, 4, 5, etc.), faulty satellites or observations can be identified. Unlike traditional methods, this method introduces "Doppler label information" when constructing the weight matrix to optimize the effect of residual processing.

[0091] It can also calculate posterior residuals and test statistics (such as the sum of squares, SSE). Since Doppler detection has already identified and downweighted most faulty satellites, the improved RAIM algorithm is more likely to pass the global test, and the positioning results are more reliable. If faults are still detected, they can be prioritized for elimination in the "Doppler suspicious" satellite subset, thereby improving search efficiency and fault elimination success rate.

[0092] This embodiment proposes a signal observation method that incorporates Doppler frequency shift. Based on the PVT calculated in the previous epoch of the satellite navigation receiver, the Doppler frequency offset can be calculated through the spatial geometric relationship between vector V and the satellite. Comparison and The consistency of the data allows for faster and more accurate identification of pseudorange measurements from multiple abnormal satellites, enabling more reliable autonomous integrity analysis.

[0093] This invention provides an autonomous integrity detection method for satellite navigation receivers. This method considers the consistency between satellite positioning domain results and Doppler observations in the signal domain for monitoring the autonomous integrity of BeiDou satellite navigation receivers. It can combine existing observations in the signal domain with the traditional RAIM algorithm, adding Doppler measurement analysis and processing to the traditional RAIM algorithm to identify faulty satellites and isolate faulty observations more quickly and accurately, effectively reducing the missed detection rate and false detection rate, lowering the probability of positioning errors, and improving the integrity of positioning services.

[0094] The present invention provides a method for detecting the autonomous integrity of a satellite navigation receiver. In the specific implementation process, it can add monitoring of whether the satellite signal-to-noise ratio, pseudorange and other observations change continuously. However, its applicability and accuracy will not be as good as Doppler frequency shift detection.

[0095] The autonomous integrity detection system for satellite navigation receivers provided by this invention will be described below. The autonomous integrity detection system for satellite navigation receivers described below can be referred to in correspondence with the autonomous integrity detection method for satellite navigation receivers described above.

[0096] See Figure 3The present invention provides a satellite navigation receiver autonomous integrity detection system, which may include:

[0097] The data acquisition module is used to acquire observation data and navigation message data from the satellite navigation receiver under test.

[0098] The Doppler fault detection module is used to: perform Doppler fault detection on the satellite navigation receiver under test based on the observation data and navigation message data of the satellite navigation receiver under test, and obtain the Doppler fault detection result of the satellite navigation receiver under test;

[0099] The improved RAIM fault detection module is used to: perform secondary fault detection on the satellite navigation receiver under test based on the Doppler fault detection results of the satellite navigation receiver under test using the improved RAIM algorithm, and obtain the autonomous integrity detection results of the satellite navigation receiver under test.

[0100] Figure 4 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 4 As shown, the electronic device may include a processor 810, a communications interface 820, a memory 830, and a communication bus 840, wherein the processor 810, the communications interface 820, and the memory 830 communicate with each other via the communication bus 840. The processor 810 can call logical instructions in the memory 830 to execute the following steps:

[0101] The methods, which are executed in units of one epoch, include:

[0102] Acquire observation data and navigation message data from the satellite navigation receiver under test;

[0103] Based on the observation data and navigation message data of the satellite navigation receiver under test, Doppler fault detection is performed on the satellite navigation receiver under test, and the Doppler fault detection results of the satellite navigation receiver under test are obtained.

[0104] Based on the Doppler fault detection results of the satellite navigation receiver under test, a secondary fault detection is performed on the satellite navigation receiver under test using an improved RAIM algorithm to obtain the autonomous integrity detection results of the satellite navigation receiver under test.

[0105] Furthermore, the logical instructions in the aforementioned memory 830 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0106] On the other hand, the present invention also provides a computer program product, the computer program product comprising a computer program, the computer program being able to be stored on a non-transitory computer-readable storage medium, and the computer program being executed by a processor, enabling the computer to perform the following steps:

[0107] The methods, which are executed in units of one epoch, include:

[0108] Acquire observation data and navigation message data from the satellite navigation receiver under test;

[0109] Based on the observation data and navigation message data of the satellite navigation receiver under test, Doppler fault detection is performed on the satellite navigation receiver under test, and the Doppler fault detection results of the satellite navigation receiver under test are obtained.

[0110] Based on the Doppler fault detection results of the satellite navigation receiver under test, a secondary fault detection is performed on the satellite navigation receiver under test using an improved RAIM algorithm to obtain the autonomous integrity detection results of the satellite navigation receiver under test.

[0111] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0112] The methods, which are executed in units of one epoch, include:

[0113] Acquire observation data and navigation message data from the satellite navigation receiver under test;

[0114] Based on the observation data and navigation message data of the satellite navigation receiver under test, Doppler fault detection is performed on the satellite navigation receiver under test, and the Doppler fault detection results of the satellite navigation receiver under test are obtained.

[0115] Based on the Doppler fault detection results of the satellite navigation receiver under test, a secondary fault detection is performed on the satellite navigation receiver under test using an improved RAIM algorithm to obtain the autonomous integrity detection results of the satellite navigation receiver under test.

[0116] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0117] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0118] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for detecting the autonomous integrity of a satellite navigation receiver, characterized in that, The methods, which are executed in units of one epoch, include: Acquire observation data and navigation message data from the satellite navigation receiver under test; Based on the observation data and navigation message data of the satellite navigation receiver under test, Doppler fault detection is performed on the satellite navigation receiver under test, and the Doppler fault detection results of the satellite navigation receiver under test are obtained. Based on the Doppler fault detection results of the satellite navigation receiver under test, a secondary fault detection is performed on the satellite navigation receiver under test using an improved RAIM algorithm to obtain the autonomous integrity detection results of the satellite navigation receiver under test.

2. The method for detecting the autonomous integrity of a satellite navigation receiver according to claim 1, characterized in that, The process of performing Doppler fault detection on the satellite navigation receiver under test based on the observed data and navigation message data, and obtaining the Doppler fault detection result of the satellite navigation receiver under test, includes: Based on the observation data and navigation message data of the satellite navigation receiver under test, the raw Doppler observation value D and the velocity vector-based Doppler observation value of the satellite navigation receiver under test are obtained. Based on the raw Doppler observation D from the satellite navigation receiver under test and the Doppler observation based on the velocity vector... Obtain the standardized Doppler fault detection statistics of the satellite navigation receiver under test. The standardized Doppler fault detection statistics of the satellite navigation receiver under test The Doppler fault detection result of the satellite navigation receiver under test is obtained by comparing it with the detection threshold.

3. The method for detecting the autonomous integrity of a satellite navigation receiver according to claim 2, characterized in that, The expression for the raw Doppler observation D of the satellite navigation receiver under test is: In the formula, the subscripts s, j, r and f of each variable represent the satellite navigation system type, satellite PRN number, receiver number and observation frequency, respectively; This represents the rate of change of * over time; The phase center r of the receiver's GNSS antenna is indicated. r phase center r of satellite antenna s,j The geometric distance between them; and δ s,j These represent receiver clock bias and satellite clock bias, respectively. This represents the tropospheric delay along the signal propagation path; This represents the ionospheric delay of the observation at the first frequency point. The conversion factor representing the ionospheric delay at different frequencies; and This indicates the pseudorange hardware delay at the receiver and satellite ends; and This indicates the hardware delay of the carrier phase at the receiver and satellite ends; This represents the noise and fault error in Doppler observations.

4. The method for detecting the autonomous integrity of a satellite navigation receiver according to claim 3, characterized in that, Doppler observations based on velocity vectors The expression is: In the formula, c represents the speed of light; This indicates the carrier frequency of the s satellite navigation system at frequency point 1; v s,j and r s,j Represents the satellite's velocity / position vector; and This represents the receiver's velocity / position vector.

5. The method for detecting the autonomous integrity of a satellite navigation receiver according to claim 4, characterized in that, Standardized Doppler fault detection statistics for the satellite navigation receiver under test The expression is:

6. The method for detecting the autonomous integrity of a satellite navigation receiver according to claim 5, characterized in that, The standardized Doppler fault detection statistics of the satellite navigation receiver under test are described. The Doppler fault detection results of the satellite navigation receiver under test are obtained by comparing with the detection threshold, including: When the standardized Doppler fault detection statistic of the satellite navigation receiver under test Greater than the detection threshold T d At that time, the satellite navigation receiver under test is determined to be in a suspicious state; When the standardized Doppler fault detection statistic of the satellite navigation receiver under test Less than or equal to the detection threshold T d At that time, the satellite navigation receiver under test is determined to be in normal condition.

7. The method for detecting the autonomous integrity of a satellite navigation receiver according to claim 6, characterized in that, The Doppler fault detection results based on the satellite navigation receiver under test are used to perform secondary fault detection on the satellite navigation receiver under test using an improved RAIM algorithm, resulting in the autonomous integrity detection results of the satellite navigation receiver under test, including: Construct the pseudorange observation equations for the satellite navigation receiver under test; Based on the Doppler fault detection results of the satellite navigation receiver under test, a weight matrix W of the satellite navigation receiver under test is constructed. Based on the pseudorange observation equation and weight matrix W of the satellite navigation receiver under test, the state estimation and obstacle removal of the satellite navigation receiver under test are performed using the improved weighted least squares method, and the autonomous integrity detection result of the satellite navigation receiver under test is obtained. The pseudorange observation equation for the satellite navigation receiver under test is as follows: z = Gx + ε In the formula, z represents the pseudorange residual vector; G represents the geometric matrix; x represents the state correction to be obtained; ε represents noise and fault error; The construction of the weight matrix W of the satellite navigation receiver under test based on the Doppler fault detection results of the receiver under test includes: Based on the Doppler fault detection results of the satellite navigation receiver under test, when the satellite navigation receiver under test is determined to be in a suspicious state, a low weight is assigned to the satellite navigation receiver under test or it is excluded; when the satellite navigation receiver under test is determined to be in a normal state, a high weight is assigned to the satellite navigation receiver under test, and the weight matrix W of the satellite navigation receiver under test is constructed. The expression for the improved weighted least squares method is as follows:

8. A satellite navigation receiver autonomous integrity detection system, characterized in that, include: The data acquisition module is used to acquire observation data and navigation message data from the satellite navigation receiver under test. The Doppler fault detection module is used to: perform Doppler fault detection on the satellite navigation receiver under test based on the observation data and navigation message data of the satellite navigation receiver under test, and obtain the Doppler fault detection result of the satellite navigation receiver under test; The improved RAIM fault detection module is used to: perform secondary fault detection on the satellite navigation receiver under test based on the Doppler fault detection results of the satellite navigation receiver under test using the improved RAIM algorithm, and obtain the autonomous integrity detection results of the satellite navigation receiver under test.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the autonomous integrity detection method for satellite navigation receivers as described in any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the autonomous integrity detection method for satellite navigation receivers as described in any one of claims 1 to 7.

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