Method and system for using multi-level integrity monitoring results

Abstract

The present application relates to positioning technology, and discloses a method and system for using multi-level integrity monitoring results. The method includes: obtaining continuous multi-level integrity monitoring results of a certain satellite or a certain correction number, and for any two consecutive levels of integrity monitoring results, if the integrity monitoring result of the latter level is "alarm", and the integrity monitoring result of the previous level is not "alarm", then within the effective time of the integrity monitoring result of the latter level, use the satellite or the correction number with a downgraded weight to participate in the positioning solution. The implementation method of the present application effectively weakens the jump problem of the positioning result, which is conducive to the application of the positioning result in the field of automatic control.

Description

[0001] This application is a divisional application with application number 2019111355838, application date November 19, 2019, and invention name “Method and system for using multi-level integrity monitoring results”. Technical Field

[0002] The present application relates to positioning technology, and in particular to technology for using multi-level integrity monitoring results. Background Art

[0003] Users of the GNSS integrity service receive monitoring results broadcast by the system to determine whether a correction number or a satellite can participate in positioning. If the monitoring result of a correction number or a satellite is determined to be "alarm", the user generally cannot use the correction number or the satellite to participate in positioning.

[0004] High-precision and high-integrity services generally use multi-level integrity monitoring. The algorithms used by each monitoring module are heterogeneous, and the time epochs of the input data are also different. Due to these two differences, there are currently contradictory monitoring results at all levels. For example, the first-level monitoring result of a satellite is "available", while the second-level monitoring result is "warning". In this case, if the user directly determines whether to use it according to the monitoring result, the satellite will be used for positioning solution during the time when the first-level monitoring result is effective, and the satellite will not be used during the time when the second-level monitoring result is effective, resulting in a jump in the positioning result. In addition, most automatic control systems are not suitable for processing jump inputs. Summary of the invention

[0005] The purpose of this application is to provide a method and system for using multi-level integrity monitoring results, which effectively reduces the jump problem of positioning results and is conducive to the application of positioning results in the field of automatic control.

[0006] The present application discloses a method for using multi-level integrity monitoring results, including:

[0007] To obtain multiple levels of continuous integrity monitoring results for a satellite or a correction number, follow these steps for any two levels of continuous integrity monitoring results:

[0008] If the subsequent level integrity monitoring result is "warning" and the previous level integrity monitoring result is not "warning", then within the effective time of the subsequent level integrity monitoring result, the satellite or the correction number with the downgraded weight is used to participate in the positioning solution.

[0009] In a preferred embodiment, it also includes:

[0010] If the latter level integrity monitoring result is "not monitored", then calculating the increase in the precision factor before and after removing the satellite or the correction number;

[0011] If the increase is greater than a preset threshold, the satellite or the correction number with a reduced weight is used to participate in positioning solution within the effective time of the next level integrity monitoring result.

[0012] In a preferred embodiment, it also includes:

[0013] If the increase is not greater than the preset threshold, the satellite or the correction number is not used in positioning solution during the effective time of the next level integrity monitoring result.

[0014] In a preferred example, the preset threshold is determined according to a pre-agreed positioning result jump threshold.

[0015] In a preferred embodiment, the preset threshold is based on the formula Calculated, where T DOP is the preset threshold, the T P is the pre-agreed positioning result jump threshold, σ is the ranging error within the effective time of the latter level integrity monitoring result, and b is a positive constant.

[0016] In a preferred example, if the latter level integrity monitoring result is the first level integrity monitoring result of the satellite or the correction number, the former level integrity monitoring result is agreed to be "not monitored".

[0017] In a preferred example, before using the downgraded satellite or the correction number to participate in positioning solution, the method further includes:

[0018] The downgraded weight of the satellite or the correction number is calculated according to the previous level integrity risk value and the next level integrity risk value.

[0019] In a preferred example, the calculating the downweight of the satellite or the correction number according to the previous level integrity risk value and the next level integrity risk value further includes:

[0020] According to the formula Calculate the reduced weight of the satellite or the correction number, where w′ and w are the reduced weight and the original weight respectively, P k-1 is the integrity risk value of the previous level, P k is the integrity risk value of the next level, K P Represents the quantile of the standard normal distribution corresponding to probability P, where a and n are normal numbers.

[0021] In a preferred embodiment, it also includes:

[0022] If the latter level integrity monitoring result is "available", the satellite or the correction number is used to participate in positioning solution.

[0023] In a preferred embodiment, it also includes:

[0024] If the subsequent level integrity monitoring result is "warning" and the previous level integrity monitoring result is also "warning", the satellite or the correction number will not be used in positioning solution during the effective time of the subsequent level integrity monitoring result.

[0025] The present application also discloses a system for using multi-level integrity monitoring results, including:

[0026] The acquisition module is used to obtain the continuous multi-level integrity monitoring results of a certain satellite or a certain correction number;

[0027] A processing module is used for, for any two consecutive levels of integrity monitoring results, if the integrity monitoring result of the latter level is "alarm" and the integrity monitoring result of the previous level is not "alarm", then within the effective time of the integrity monitoring result of the latter level, using the satellite or the correction number with a downgraded weight to participate in positioning solution.

[0028] In a preferred example, the processing module is also used to calculate the increase in the precision factor before and after excluding the satellite or the correction number if the result of the subsequent level integrity monitoring is "not monitored", and if the increase is greater than a preset threshold, use the satellite or the correction number with a downgraded weight to participate in the positioning solution within the effective time of the subsequent level integrity monitoring result.

[0029] In a preferred example, the processing module is also used to not use the satellite or the correction number to participate in positioning solution within the effective time of the next level integrity monitoring result if the increase is not greater than the preset threshold.

[0030] In a preferred example, the processing module is further used to determine the preset threshold value according to a pre-agreed positioning result jump threshold value.

[0031] In a preferred embodiment, the processing module is further configured to: Calculate the preset threshold, where T DOP is the preset threshold, the T P is the pre-agreed positioning result jump threshold, σ is the ranging error within the effective time of the latter level integrity monitoring result, and b is a positive constant.

[0032] In a preferred example, the processing module is further configured to agree that the previous level integrity monitoring result is “not monitored” if the latter level integrity monitoring result is the first level integrity monitoring result of the satellite or the correction number.

[0033] In a preferred example, the processing module is further used to calculate the de-weighting weight of the satellite or the correction number according to the previous level integrity risk value and the next level integrity risk value.

[0034] In a preferred embodiment, the processing module is further configured to: Calculate the reduced weight of the satellite or the correction number, where w′ and w are the reduced weight and the original weight respectively, P k-1 and P k are the integrity risk value of the previous level and the integrity risk value of the next level, respectively, K P Represents the quantile of the standard normal distribution corresponding to probability P, where a and n are normal numbers.

[0035] In a preferred example, the processing module is further configured to use the satellite or the correction number to participate in positioning solution if the subsequent integrity monitoring result is "available".

[0036] In a preferred example, the processing module is also used to not use the satellite or the correction number to participate in positioning solution during the effective time of the latter level integrity monitoring result if the latter level integrity monitoring result is "alarm" and the previous level integrity monitoring result is also "alarm".

[0037] The present application also discloses a system for using multi-level integrity monitoring results, including:

[0038] a memory for storing computer executable instructions; and,

[0039] A processor is used to implement the steps in the method described above when executing the computer executable instructions.

[0040] The present application also discloses a computer-readable storage medium in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, the steps in the method described above are implemented.

[0041] The embodiments of the present application include at least the following differences and effects compared with the prior art:

[0042] Through the combined judgment of multi-level monitoring results, the problem of positioning result jumps between the previous and next levels caused by the current integrity monitoring result of any satellite or correction number being "alarm" and different from the previous level monitoring result is solved. During the effective time of the latter level integrity monitoring result, the positioning result jump problem caused by directly eliminating the satellite or correction number is weakened by reducing the weight of the satellite or correction number in the positioning solution, which effectively smoothes the positioning result and is beneficial to the application in the field of automatic control.

[0043] Furthermore, the performance difference between the two-level modules is used to determine a method for reducing the weight, so that the satellite or the correction number with reduced weight is used to participate in the positioning solution, and the solution result is more reasonable and reliable.

[0044] Furthermore, for the positioning result jump problem caused by the current monitoring result of any satellite or correction number being "not monitored", considering that DOP represents the distribution of visible satellites relative to users, and the smaller the DOP value, the better the satellite distribution, the DOP increase after excluding the satellite or correction number is compared with the preset threshold, and when the DOP increase is greater than the preset threshold, the satellite or correction number with a downgraded weight is used to participate in the positioning solution within the effective time of the next-level integrity monitoring result, so as to solve the positioning result jump problem caused by the current result being "not monitored", and further effectively weaken the positioning result jump.

[0045] At the same time, the preset threshold of the DOP increase is determined by using the positioning result jump threshold acceptable to the user, so that the comparison result between the DOP increase after excluding the satellite or correction number and the preset threshold is more accurate and reliable.

[0046] A large number of technical features are recorded in the specification of this application, which are distributed in various technical solutions. If all possible combinations of technical features of this application (i.e., technical solutions) are to be listed, the specification will be too long. In order to avoid this problem, the various technical features disclosed in the above-mentioned invention content of this application, the various technical features disclosed in the various embodiments and examples below, and the various technical features disclosed in the accompanying drawings can be freely combined with each other to form various new technical solutions (these technical solutions are all deemed to have been recorded in this specification), unless the combination of such technical features is technically infeasible. For example, in one example, feature A+B+C is disclosed, and in another example, feature A+B+D+E is disclosed, and features C and D are equivalent technical means that play the same role. Technically, only one can be used, and it is impossible to use them at the same time. Feature E can be combined with feature C technically. Then, the solution of A+B+C+D should not be deemed to have been recorded because it is technically infeasible, and the solution of A+B+C+E should be deemed to have been recorded. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a flowchart of a method for using multi-level integrity monitoring results according to the first embodiment of the present application;

[0048] Figure 2 It is a schematic diagram of the structure of a system for using multi-level integrity monitoring results according to the second embodiment of the present application.

[0049] in,

[0050] 201- Acquisition module 202- Processing module DETAILED DESCRIPTION

[0051] In the following description, many technical details are provided to help readers better understand the present application. However, those skilled in the art can understand that the technical solution claimed in the present application can be implemented even without these technical details and various changes and modifications based on the following embodiments.

[0052] Description of some concepts:

[0053] Global Navigation Satellite System (GNSS): This system determines the user's location through ranging signals and broadcast messages broadcast by satellites. GNSSs that have been put into use include the United States' GPS, Russia's GLONASS, Europe's Galileo system, and China's BeiDou satellite navigation system.

[0054] Integrity: When the error exceeds the alarm threshold, the integrity service can send an alarm to the user in a timely manner. Integrity includes three parts: alarm threshold, alarm time and integrity risk.

[0055] Integrity risk: The probability of not issuing an alarm within the alarm time for an error that exceeds the alarm threshold.

[0056] Alarm threshold: The threshold for issuing integrity alarms.

[0057] Alarm time: The maximum time allowed from the time the error exceeds the alarm threshold and affects the user to the time the user receives the alarm information.

[0058] Multi-level integrity monitoring: Two or more independent monitoring modules are combined in series or parallel to provide better integrity monitoring performance than a single monitoring module. Generally, the monitoring modules with shorter time consumption and poorer detection performance are located in the first level, followed by the monitoring modules with longer time consumption and better detection performance. The integrity monitoring results of each level are generally broadcast at different times.

[0059] Dilution of Precision (DOP): Characterizes the distribution of visible satellites relative to the user. Generally speaking, the smaller the DOP value, the better the satellite distribution.

[0060] In order to make the objectives, technical solutions and advantages of the present application more clear, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0061] High-precision and high-integrity services generally use multi-level integrity monitoring, that is, two or more independent monitoring modules are combined in series or in parallel to obtain integrity monitoring performance that is better than that of a single monitoring module. For example, the time consumption of monitoring module A, monitoring module B, and monitoring module C increases in sequence, so monitoring module A, monitoring module B, and monitoring module C can be combined in series in sequence, and the integrity service broadcasts the monitoring results of the three in sequence in time. The user receives the monitoring results of the three at TA, TB, and TC respectively, and the monitoring results of module A are used between TA and TB, the monitoring results of module B are used between TB and TC, and the monitoring results of module C are used after TC.

[0062] Since the algorithms of the multi-level monitoring modules are different and the input data may also be different, the monitoring results of each module may be contradictory. Continuing with the above example, if the monitoring results of module A, module B, and module C for a certain satellite are "available", "warning", and "available", respectively, and the monitoring results for other satellites are all "available". Based on the monitoring results, the user does not use the satellite to participate in the positioning solution between TB-TC, then the number of satellites between TA-TB and after TC is one more than the number of satellites between TB-TC. In environments such as cities and canyons, users can track fewer satellites, and the presence or absence of one satellite can cause a significant jump in the positioning results. It is difficult for automatic control systems such as autonomous driving to handle positioning results with continuous high-frequency jumps.

[0063] In order to solve the above problems, the first embodiment of the present application proposes a method for using multi-level integrity monitoring results, the process of which is as follows: Figure 1 As shown, the method comprises the following steps:

[0064] In step 101, continuous multi-level integrity monitoring results of a certain satellite or a certain correction number are obtained.

[0065] Afterwards, the process proceeds to step 102, and for any two consecutive levels of integrity monitoring results, it is determined whether the integrity monitoring result of the latter level is "warning".

[0066] Specifically, the integrity monitoring result of a certain satellite or a certain correction number obtained in step 101 may include two or more consecutive levels. For example, but not limited to, a certain satellite has a first-level integrity monitoring result, a second-level integrity monitoring result, and a third-level integrity monitoring result, then the first level and the second level, the second level and the third level can be operated in sequence or simultaneously; when the first level and the second level are operated in the subsequent steps, the first level represents the previous level and the second level represents the next level; when the second level and the third level are operated in the subsequent steps, the second level represents the previous level and the third level represents the next level.

[0067] If the integrity monitoring result of the next level is "warning", the process proceeds to step 103 to continue determining whether the integrity monitoring result of the previous level is "warning".

[0068] If the integrity monitoring result of the previous level is not "warning", the process proceeds to step 104, and within the effective time of the integrity monitoring result of the next level, the satellite or the correction number with the downgraded weight is used to participate in the positioning solution.

[0069] It should be noted that, for the convenience of description, this embodiment divides the integrity monitoring result of a certain satellite or a certain correction number into three status results: "available", "warning", and "not monitored". Other identical or similar descriptions are within the protection scope of this specification. In addition, the above "the previous level integrity monitoring result is not 'warning'" can also be understood as: the previous level integrity monitoring result can be "available" or "not monitored".

[0070] Optionally, the method further comprises the following steps:

[0071] If the subsequent level integrity monitoring result is "warning" and the previous level integrity monitoring result is also "warning", then enter step 105, and during the effective time of the subsequent level integrity monitoring result, the satellite or the correction number is not used in the positioning solution.

[0072] Optionally, the method further comprises the following steps:

[0073] If it is determined in step 102 that the subsequent level integrity monitoring result is not "alarm", then enter step 106 to determine whether the subsequent level integrity monitoring result is "available"; if the subsequent level integrity monitoring result is not "available" (that is, "not monitored"), then enter step 107 to calculate the increase in the precision factor before and after the satellite or the correction number is removed; then enter step 108 to determine whether the increase is greater than a preset threshold; if the increase is greater than the preset threshold, enter step 104, and use the satellite or the correction number with a downgraded weight to participate in the positioning solution within the effective time of the subsequent level integrity monitoring result.

[0074] Generally speaking, because different user scenarios allow different pre-agreed positioning result jump thresholds, there is no universal constant for the preset threshold of the DOP increase. Optionally, assuming that the ranging error remains unchanged in a short period of time, the preset threshold can be determined according to the pre-agreed positioning result jump threshold, wherein the pre-agreed positioning result jump threshold is determined based on the positioning result jump size that the user can accept.

[0075] There are many specific implementations for determining the preset threshold value according to the pre-agreed positioning result jump threshold value. In one embodiment, the preset threshold value can be determined according to the formula Calculated, where TDOP is the preset threshold, the T P is the pre-agreed positioning result jump threshold, and σ is the current ranging error. In another embodiment, the above formula can also be Based on this, reasonable changes can be made, such as adding a constant coefficient, that is, the preset threshold can be calculated according to the formula Calculated, where b is a positive constant. In other embodiments, other reasonable changes may be made to achieve the purpose of calculating the preset threshold.

[0076] Optionally, before step 104, the following step A is also included:

[0077] In step A, the down-weighting weight of the satellite or the correction number is calculated according to the previous level integrity risk value and the next level integrity risk value.

[0078] There are many specific implementations of step A. Because the performance of the two-level modules of different integrity monitoring systems is different, the weight reduction ratio should reflect the performance difference of the two-level modules, so there is no universal constant for the weight reduction ratio. In one embodiment, step A is further implemented as follows: According to the formula Calculate the reduced weight of the satellite or the correction number, where w′ and w are the reduced weight and the original weight respectively, P k-1 is the integrity risk value of the previous level, P k is the integrity risk value of the next level, K P represents the standard normal distribution quantile corresponding to probability P. In another embodiment, the formula in the above embodiment is The square is used as the coefficient for reducing the weight, and the cube or other high power can also be used as an alternative. For example, step A can be further implemented as follows: According to the formula Calculate the down-weight of the satellite or the correction number, where n is a positive number. In another embodiment, step A can be further implemented as follows: Calculate the down-weight of the satellite or the correction number, where a is a positive number. Any changes to reduce the weight coefficient are within the protection scope of this specification.

[0079] Optionally, if the latter level integrity monitoring result is the first level integrity monitoring result of the satellite or the correction number, and its previous level integrity monitoring result does not actually exist, then the previous level integrity monitoring result of the first level integrity monitoring result is agreed to be "not monitored".

[0080] Optionally, the method further comprises the following steps:

[0081] If the increase is not greater than the preset threshold, the process proceeds to step 105, where the satellite or the correction number is not used in positioning solution during the effective time of the next level integrity monitoring result.

[0082] Optionally, the method further comprises the following steps:

[0083] If it is determined in step 106 that the subsequent level integrity monitoring result is "available", then proceed to step 109, and use the satellite or the correction number to participate in positioning solution within the effective time of the subsequent level integrity monitoring result.

[0084] It should be noted that: in this implementation, the specific solution method in step 104 of "using the downgraded satellite or the correction number to participate in positioning solution" and step 109 of "using the satellite or the correction number to participate in positioning solution" may refer to processing according to the method provided by the server or terminal. The processing method is generally given in the form of a service user manual, and the present invention has no constraints on the specific solution method.

[0085] The second embodiment of the present application proposes a system for using multi-level integrity monitoring results, the structure of which is as follows: Figure 2 As shown, the system for using the multi-level integrity monitoring results includes an acquisition module and a processing module.

[0086] Specifically, the acquisition module 201 is used to obtain continuous multi-level integrity monitoring results of a certain satellite or a certain correction number.

[0087] The processing module 202 is used to use the satellite or the correction number with a downgraded weight to participate in positioning solution within the effective time of any two consecutive levels of integrity monitoring results, if the integrity monitoring result of the latter level is "alarm" and the integrity monitoring result of the previous level is not "alarm".

[0088] Optionally, the processing module 202 is also used to not use the satellite or the correction number in positioning solution during the effective time of the latter level integrity monitoring result if the latter level integrity monitoring result is "alarm" and the previous level integrity monitoring result is also "alarm".

[0089] Optionally, the processing module 202 is further configured to use the satellite or the correction number to participate in positioning solution if the subsequent integrity monitoring result is "available".

[0090] Optionally, the processing module 202 is also used to calculate the increase in the precision factor before and after excluding the satellite or the correction number if the result of the subsequent level integrity monitoring is "not monitored", and if the increase is greater than a preset threshold, use the satellite or the correction number with a downgraded weight to participate in the positioning solution within the effective time of the subsequent level integrity monitoring result.

[0091] Optionally, the processing module 202 is further configured to not use the satellite or the correction number to participate in positioning solution within the effective time of the next level integrity monitoring result if the increase is not greater than the preset threshold.

[0092] Optionally, considering that the jump amount of the positioning result can generally be estimated by the product of DOP and ranging error, assuming that the ranging error remains unchanged in a short time, the processing module 202 is also used to determine the preset threshold according to a pre-agreed positioning result jump threshold.

[0093] There are many specific implementations of the processing module 202 determining the preset threshold according to the pre-agreed positioning result jump threshold. In one embodiment, the processing module 202 is also used to determine the preset threshold according to the formula Calculate the preset threshold, where T DOP is the preset threshold, the T P is the pre-agreed positioning result jump threshold, and σ is the ranging error within the effective time of the next level integrity monitoring result. In another embodiment, the above formula can also be Based on the formula, a reasonable change is made, such as adding a constant coefficient, that is, the processing module 202 is also used to The preset threshold is calculated, where b is a positive constant. In other embodiments, other reasonable changes may be made to achieve the purpose of calculating the preset threshold.

[0094] Optionally, the processing module 202 is further configured to calculate a de-weighting weight of the satellite or the correction number according to the previous level integrity risk value and the next level integrity risk value.

[0095] Specifically, there are multiple specific methods for the processing module to calculate the down-weighting weight of the satellite or the correction number according to the previous level integrity risk value and the next level integrity risk value. In one embodiment, the processing module can calculate the down-weighting weight of the satellite or the correction number according to the formula Calculate the reduced weight of the satellite or the correction number, where w′ and w are the reduced weight and the original weight respectively, P k-1 is the integrity risk value of the previous level, P k is the integrity risk value of the next level, K P represents the standard normal distribution quantile corresponding to the probability P. In another embodiment, the formula obtained in the above embodiment is The square is used as the coefficient for reducing the weight. In this embodiment, the cube or other high-order power can also be used as an alternative. For example, the processing module can also use the formula Calculate the down-weight of the satellite or the correction number, where n is a positive constant. In another embodiment, the processing module can also use the formula Calculate the down-weight of the satellite or the correction number, where a is a positive number. Any changes to reduce the weight coefficient are within the protection scope of this specification.

[0096] Optionally, the processing module 202 is further configured to agree that the previous level integrity monitoring result is “not monitored” if the latter level integrity monitoring result is the first level integrity monitoring result of the satellite or the correction number.

[0097] The first implementation manner is a method implementation manner corresponding to the present implementation manner. The technical details in the first implementation manner can be applied to the present implementation manner, and the technical details in the present implementation manner can also be applied to the first implementation manner.

[0098] It should be noted that those skilled in the art should understand that the implementation functions of each module shown in the implementation of the above-mentioned multi-level integrity monitoring result use system can be understood by referring to the relevant description of the method for using the above-mentioned multi-level integrity monitoring result. The functions of each module shown in the implementation of the above-mentioned multi-level integrity monitoring result use system can be implemented by a program (executable instruction) running on a processor, or by a specific logic circuit. If the above-mentioned multi-level integrity monitoring result use system of the embodiment of the present application is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a U disk, a mobile hard disk, a read-only memory (ROM, Read Only Memory), a disk or an optical disk. In this way, the embodiment of the present application is not limited to any specific combination of hardware and software.

[0099] Accordingly, the present application also provides a computer-readable storage medium in which computer executable instructions are stored, and when the computer executable instructions are executed by the processor, the various method embodiments of the present application are implemented. Computer-readable storage media include permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be a computer-readable instruction, a data structure, a module of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable storage media do not include temporary computer-readable media (transitory media), such as modulated data signals and carriers.

[0100] In addition, the embodiment of the present application also provides a system for using multi-level integrity monitoring results, which includes a memory for storing computer executable instructions, and a processor; the processor is used to implement the steps in the above-mentioned method implementation methods when executing the computer executable instructions in the memory. Among them, the processor can be a central processing unit (Central Processing Unit, referred to as "CPU"), or other general-purpose processors, digital signal processors (Digital Signal Processor, referred to as "DSP"), Application Specific Integrated Circuit (Application Specific Integrated Circuit, referred to as "ASIC"), etc. The aforementioned memory can be a read-only memory (read-only memory, referred to as "ROM"), a random access memory (random access memory, referred to as "RAM"), a flash memory (Flash), a hard disk or a solid-state hard disk, etc. The steps of the method disclosed in each embodiment of the present invention can be directly embodied as being executed by a hardware processor, or executed by a combination of hardware and software modules in the processor.

[0101] It should be noted that in the application documents of this patent, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including one" do not exclude the existence of other identical elements in the process, method, article or device including the elements. In the application documents of this patent, if it is mentioned that an action is performed according to an element, it means that the action is performed at least according to the element, which includes two situations: performing the action only according to the element, and performing the action according to the element and other elements. Expressions such as multiple, multiple, and multiple include 2, 2 times, 2 kinds, and more than 2, more than 2 times, and more than 2 kinds.

[0102] All documents mentioned in this application are considered to be included in the disclosure of this application as a whole, so that they can be used as a basis for modification when necessary. In addition, it should be understood that the above is only a preferred embodiment of this specification and is not intended to limit the scope of protection of this specification. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments of this specification should be included in the scope of protection of one or more embodiments of this specification.

Claims

1. A method for using multi-level integrity monitoring results, characterized in that: include: To obtain multiple levels of continuous integrity monitoring results for a satellite or a correction number, follow these steps for any two levels of continuous integrity monitoring results: If the subsequent level integrity monitoring result is "warning" and the previous level integrity monitoring result is not "warning", then within the effective time of the subsequent level integrity monitoring result, the downgraded weight of the satellite or the correction number is calculated according to the previous level integrity risk value and the subsequent level integrity risk value, and the satellite or the correction number after the downgrade is used to participate in the positioning solution.

2. The method for using the multi-level integrity monitoring results according to claim 1, characterized in that: The calculating the down-weighting weight of the satellite or the correction number according to the previous level integrity risk value and the next level integrity risk value further comprises: According to the formula Calculate the reduced weight of the satellite or the correction number, where w′ and w are the reduced weight and the original weight respectively, P k-1 is the integrity risk value of the previous level, P k is the integrity risk value of the next level, K P Represents the quantile of the standard normal distribution corresponding to probability P, where a and n are normal numbers.

3. The method for using the multi-level integrity monitoring results according to claim 1, characterized in that: Also includes: If the latter level integrity monitoring result is "available", the satellite or the correction number is used to participate in positioning solution.

4. The method for using the multi-level integrity monitoring results according to claim 1, characterized in that: Also includes: If the subsequent level integrity monitoring result is "warning" and the previous level integrity monitoring result is also "warning", the satellite or the correction number will not be used in positioning solution during the effective time of the subsequent level integrity monitoring result.

5. A system for using multi-level integrity monitoring results, characterized in that: include: The acquisition module is used to obtain the continuous multi-level integrity monitoring results of a certain satellite or a certain correction number. For any two consecutive levels of integrity monitoring results, follow the following steps: A processing module is used to calculate the downgraded weight of the satellite or the correction number according to the previous level integrity risk value and the next level integrity risk value within the effective time of the next level integrity monitoring result if the next level integrity monitoring result is "warning" and the previous level integrity monitoring result is not "warning", and use the satellite or the correction number after the downgrade to participate in the positioning solution.

6. The system for using multi-level integrity monitoring results as claimed in claim 5, characterized in that: The processing module is also used to Calculate the reduced weight of the satellite or the correction number, where w′ and w are the reduced weight and the original weight respectively, P k-1 is the integrity risk value of the previous level, P k is the integrity risk value of the next level, K P Represents the quantile of the standard normal distribution corresponding to probability P, where a and n are normal numbers.

7. The system for using multi-level integrity monitoring results as claimed in claim 5, characterized in that: The processing module is also used to use the satellite or the correction number to participate in positioning solution if the latter level integrity monitoring result is "available".

8. The system for using multi-level integrity monitoring results as claimed in claim 5, characterized in that: The processing module is also used for not using the satellite or the correction number to participate in positioning solution within the effective time of the latter level integrity monitoring result if the latter level integrity monitoring result is "warning" and the former level integrity monitoring result is also "warning".

9. A system for using multi-level integrity monitoring results, characterized in that: include: A memory for storing computer executable instructions; as well as, A processor, configured to implement the steps in the method according to any one of claims 1 to 4 when executing the computer executable instructions.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, the steps in the method according to any one of claims 1 to 4 are implemented.

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