Method and system for using results of multi-level integrity monitoring

Abstract

This application relates to positioning technology, and discloses a method and system for using multi-level integrity monitoring results. The method includes: obtaining the multi-level integrity monitoring results of a certain satellite or a certain correction number continuously, for any two consecutive levels of integrity monitoring results among them, if the integrity monitoring result of the latter level is "alarm", and the integrity monitoring result of the former 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 reduced weight to participate in the positioning solution. The implementation mode of this application effectively weakens the jump problem of the positioning result, which is beneficial to the application of the positioning result in the field of automatic control.

Description

[0001] This application is a divisional application of the application with the application number 2019111355838, the application date of November 19, 2019, and the invention creation name of "Method and System for Using Multi - level Integrity Monitoring Results". Technical Field

[0002] This application relates to positioning technology, and particularly to the technology for using multi - level integrity monitoring results. Background Art

[0003] The user receiving system of GNSS integrity service broadcasts the monitoring results to determine whether a certain correction or a certain satellite can participate in the positioning solution. If the monitoring result of a certain correction or a certain satellite is determined to be "alert", the user generally cannot use the correction or the satellite to participate in the positioning solution.

[0004] High - precision and high - integrity services generally adopt 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 is currently a situation where the monitoring results at all levels are contradictory. For example, the first - level monitoring result of a certain satellite is "usable", while the second - level monitoring result is "alert". 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 takes effect, and the satellite will not be used during the time when the second - level monitoring result takes effect, resulting in jumps in the positioning result. Moreover, 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 weakens the problem of jumps in the positioning result and is beneficial to the application of the positioning result in the field of automatic control.

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

[0007] Obtain the continuous multi - level integrity monitoring results of a certain satellite or a certain correction, and perform the following operations on any two consecutive levels of integrity monitoring results:

[0008] If the subsequent - level integrity monitoring result is "alert" and the previous - level integrity monitoring result is not "alert", then during the effective time of the subsequent - level integrity monitoring result, use the satellite or the correction with reduced weight to participate in the positioning solution.

[0009] In a preferred example, it further includes:

[0010] If the subsequent - level integrity monitoring result is "not monitored", then calculate the increase in the dilution of precision before and after excluding the satellite or the correction.

[0011] If the increase amount is greater than a preset threshold, within the effective time of the integrity monitoring result of the subsequent level, use the satellite or the correction number after weight reduction to participate in the positioning solution calculation.

[0012] In a preferred example, it further includes:

[0013] If the increase amount is not greater than the preset threshold, within the effective time of the integrity monitoring result of the subsequent level, do not use the satellite or the correction number to participate in the positioning solution calculation.

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

[0015] In a preferred example, the preset threshold is calculated according to the formula 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 integrity monitoring result of the subsequent level, and b is a positive constant.

[0016] In a preferred example, if the integrity monitoring result of the subsequent level is the first-level integrity monitoring result of the satellite or the correction number, the integrity monitoring result of the previous level is agreed as "not monitored".

[0017] In a preferred example, before using the satellite or the correction number after weight reduction to participate in the positioning solution calculation, it further includes:

[0018] Calculate the weight reduction weight of the satellite or the correction number according to the integrity risk value of the previous level and the integrity risk value of the subsequent level.

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

[0020] Calculate the weight reduction weight of the satellite or the correction number according to the formula where w' and w are the weight reduction 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 subsequent level, K P represents the standard normal distribution quantile corresponding to the probability P, and a and n are positive constants.

[0021] In a preferred example, it further includes:

[0022] If the integrity monitoring result of the subsequent level is "usable", use the satellite or the correction number to participate in the positioning solution calculation.

[0023] In a preferred example, it further includes:

[0024] If the integrity monitoring result of the latter stage is "alarm", and the integrity monitoring result of the former stage is also "alarm", then within the effective time of the integrity monitoring result of the latter stage, the satellite or the correction number is not used to participate in the positioning solution.

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

[0026] An acquisition module, configured to acquire the integrity monitoring results of a certain satellite or a certain correction number for multiple consecutive stages;

[0027] A processing module, for any two consecutive integrity monitoring results, if the integrity monitoring result of the latter stage is "alarm", and the integrity monitoring result of the former stage is not "alarm", then within the effective time of the integrity monitoring result of the latter stage, the satellite or the correction number after weight reduction is used to participate in the positioning solution.

[0028] In a preferred example, the processing module is further configured to, if the integrity monitoring result of the latter stage is "not monitored", calculate the increase in the dilution of precision before and after excluding the satellite or the correction number, and if the increase is greater than a preset threshold, then within the effective time of the integrity monitoring result of the latter stage, the satellite or the correction number after weight reduction is used to participate in the positioning solution.

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

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

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

[0032] In a preferred example, the processing module is further configured to, if the integrity monitoring result of the latter stage is the first-stage integrity monitoring result of the satellite or the correction number, then the integrity monitoring result of the former stage is agreed to be "not monitored".

[0033] In a preferred example, the processing module is further configured to calculate a downweighting weight of the satellite or the correction according to the integrity risk value of the previous stage and the integrity risk value of the next stage.

[0034] In a preferred example, the processing module is further configured to calculate according to the formula the downweighting weight of the satellite or the correction, where w' and w are the downweighting weight and the original weight respectively, and P k-1 and P k are the integrity risk values of the previous stage and the next stage respectively, K P represents the standard normal distribution quantile corresponding to the probability P, and a and n are positive constants.

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

[0036] In a preferred example, the processing module is further configured to, if the integrity monitoring result of the next stage is "alarm" and the integrity monitoring result of the previous stage is also "alarm", then within the effective time of the integrity monitoring result of the next stage, do not use the satellite or the correction to participate in the positioning solution.

[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 for implementing 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, and when the computer-executable instructions are executed by a processor, the steps in the method described above are implemented.

[0041] In the embodiments of the present application, compared with the prior art, there are at least the following differences and effects:

[0042] By combining and judging multi-level monitoring results, the problem of jump in the positioning results of the front and back levels caused by the current integrity monitoring result of any satellite or correction being "alarm" and being different from the previous stage monitoring result is solved. Within the effective time of the integrity monitoring result of the next stage, the problem of jump in the positioning results caused by directly excluding the satellite or correction is weakened by reducing the weight of the satellite or correction in the positioning solution, effectively smoothing the positioning results, which is beneficial to the application in the field of automatic control.

[0043] Further, the performance differences between the two-level modules are utilized to determine the method for reducing weights, such that the satellite or the correction number with reduced weights is used in the positioning solution, and the solution result is more reasonable and reliable.

[0044] Further, for the problem of positioning result jump caused by the current monitoring result of "not monitored" for any satellite or correction number, considering that DOP represents the distribution of visible satellites relative to the user, and the smaller the DOP value, the better the satellite distribution. Therefore, the comparison between the DOP increase amount of excluding the satellite or correction number and a preset threshold is adopted. When the DOP increase amount is greater than the preset threshold, within the effective time of the integrity monitoring result at the subsequent level, the satellite or the correction number with reduced weights is used in the positioning solution to solve the problem of positioning result jump caused by the current result of "not monitored", and further effectively weakens the jump of the positioning result.

[0045] Meanwhile, the preset threshold of the DOP increase amount is determined by using the positioning result jump threshold acceptable to the user, such that the comparison result between the DOP increase amount of 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 the present application, which are distributed in various technical solutions. If all possible combinations of technical features (i.e., technical solutions) of the present application are to be listed, the specification will be too long. To avoid this problem, each technical feature disclosed in the above-mentioned invention content of the present application, each technical feature disclosed in the following embodiments and examples, and each technical feature disclosed in the drawings can be freely combined with each other to form various new technical solutions (these technical solutions are all regarded as having been recorded in this specification), unless the combination of such technical features is technically infeasible. For example, in one example, features A + B + C are disclosed, and in another example, features A + B + D + E are disclosed, and features C and D are equivalent technical means that play the same role, and only one of them can be used technically and it is impossible to use both at the same time. Feature E can be combined with feature C technically. Then, the solution of A + B + C + D should not be regarded as having been recorded because it is technically infeasible, while the solution of A + B + C + E should be regarded as having been recorded. Brief Description of the Drawings

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

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

[0049] Wherein,

[0050] 201 - Acquisition Module 202 - Processing Module Detailed Implementation Manner

[0051] In the following description, many technical details are presented for the reader to better understand this application. However, those of ordinary skill in the art can understand that even without these technical details and various changes and modifications based on the following embodiments, the technical solutions claimed in this application can still be implemented.

[0052] Explanation of Some Concepts:

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

[0054] Integrity: The ability of the integrity service to promptly send an alarm to the user when the error exceeds the alarm threshold. Integrity includes three parts: the alarm threshold, the alarm time, and the integrity risk.

[0055] Integrity Risk: The probability of not sending an alarm for an error exceeding the alarm threshold within the alarm time.

[0056] Alarm Threshold: The threshold for sending an integrity alarm.

[0057] Alarm Time: The maximum allowed time from when the error exceeds the alarm threshold and affects the user until the user receives the alarm message.

[0058] Multi - level Integrity Monitoring: Two or more independent monitoring modules provide integrity monitoring performance superior to that of a single monitoring module through a series or parallel combination. Generally, the monitoring module with shorter time consumption and poorer detection performance is at the first level, followed by the monitoring module with longer time consumption and better detection performance. The integrity monitoring results at 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] To make the objectives, technical solutions, and advantages of this application clearer, the following will further describe the embodiments of this application in detail with reference to the accompanying drawings.

[0061] High-precision and high-integrity services generally adopt multi-level integrity monitoring, that is, two or more independent monitoring modules are combined in series or in parallel to obtain integrity monitoring performance superior to that of a single monitoring module. For example, if the time consumption of monitoring module A, monitoring module B, and monitoring module C increases in sequence, then 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. When the user receives the monitoring results of the three at times TA, TB, and TC respectively, 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] Due to different algorithms of multi-level monitoring modules and possibly different input data, there may be a situation where the monitoring results of each module conflict. Continuing with the above example, if the monitoring results of module A, module B, and module C for a certain satellite are "usable", "alert", and "usable" respectively, and the monitoring results for other satellites are all "usable". According to the monitoring results, the user does not use this satellite to participate in the positioning solution between TB and TC, then the number of satellites between TA and TB and after TC is one more than the number of satellites between TB and TC. In environments such as cities and canyons, the number of satellites that the user can track is small, and the presence or absence of one satellite can cause an obvious jump in the positioning result, which is difficult for automatic control systems such as autonomous driving to handle continuous high-frequency jumping positioning results.

[0063] To solve the above problems, the first embodiment of the present application proposes a method for using multi-level integrity monitoring results, and its process is as Figure 1 shown. The method includes the following steps:

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

[0065] After that, enter step 102. For any two consecutive levels of integrity monitoring results, judge whether the latter-level integrity monitoring result is "alert".

[0066] Specifically, the integrity monitoring results of a certain satellite or a certain correction number obtained in step 101 may include two consecutive levels 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, subsequent steps can be performed on the first level and the second level, and the second and third levels respectively in sequence or simultaneously; when performing subsequent steps on the first level and the second level, the first level represents the previous level and the second level represents the latter level; when performing subsequent steps on the second level and the third level, the second level represents the previous level and the third level represents the latter level.

[0067] If the integrity monitoring result of the next level is "Alarm", go to step 103, and continue to determine whether the integrity monitoring result of the previous level is "Alarm".

[0068] If the integrity monitoring result of the previous level is not "Alarm", go to step 104, and within the effective time of the integrity monitoring result of the next level, use the satellite or the correction number after weight reduction to participate in the positioning solution calculation.

[0069] It should be noted that for the convenience of description, in this embodiment, the integrity monitoring results of a certain satellite or a certain correction number are divided into three state results: "Available", "Alarm", and "Not Monitored". Other descriptions that are the same or similar to it are within the protection scope of this specification. Moreover, the above "the integrity monitoring result of the previous level is not 'Alarm'" can also be understood as: the integrity monitoring result of the previous level can be "Available" or "Not Monitored".

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

[0071] If the integrity monitoring result of the next level is "Alarm" and the integrity monitoring result of the previous level is also "Alarm", go to step 105, and within the effective time of the integrity monitoring result of the next level, do not use the satellite or the correction number to participate in the positioning solution calculation.

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

[0073] If it is determined in step 102 that the integrity monitoring result of the next level is not "Alarm", go to step 106, and determine whether the integrity monitoring result of the next level is "Available"; if the integrity monitoring result of the next level is not "Available" (i.e., "Not Monitored"), go to step 107, and calculate the increase in the dilution of precision factor before and after excluding the satellite or the correction number; then go to step 108, and determine whether the increase is greater than the preset threshold; if the increase is greater than the preset threshold, go to step 104, and within the effective time of the integrity monitoring result of the next level, use the satellite or the correction number after weight reduction to participate in the positioning solution calculation.

[0074] Generally speaking, because the preset jump thresholds of the positioning results allowed in different user scenarios are different, there is no general 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 preset jump threshold of the positioning result, where the preset jump threshold of the positioning result is determined based on the jump size of the positioning result that the user can accept.

[0075] There are various specific implementation methods for determining the preset threshold according to the preset jump threshold of the positioning result. In one embodiment, the preset threshold can be calculated according to the formula where TDOP is the preset threshold, and this T P is the pre-agreed jump threshold of the positioning result, and σ is the current ranging error. In another embodiment, it is also possible to make reasonable changes based on the above formula and, for example, add a constant coefficient, that is, the preset threshold can be calculated according to the formula where b is a positive constant. In other embodiments, other reasonable changes can also be made to achieve the purpose of calculating the preset threshold.

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

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

[0078] There are various specific implementation methods for step A. Since the performances of the two-level modules of different integrity monitoring systems are different, and the weight reduction ratio should reflect the performance differences of the two-level modules, there is no general constant for the weight reduction ratio. In one embodiment, step A is further implemented as: according to the formula the downweighting weight of the satellite or the correction is calculated, where w′ and w are the downweighting weight and the original weight respectively, and P k-1 is the integrity risk value of the previous level, and P k is the integrity risk value of the next level, and K P represents the standard normal distribution quantile corresponding to the probability P. In another embodiment, in the above embodiment, the formula uses the square as the coefficient for reducing the weight, and higher powers such as the cube can also be selected as an alternative. For example, step A can be further implemented as: according to the formula the downweighting weight of the satellite or the correction is calculated, where n is a positive constant. In yet another embodiment, step A can be further implemented as: according to the formula the downweighting weight of the satellite or the correction is calculated, where a is a positive constant. It should be noted that all methods of changing to achieve the weight reduction coefficient are within the protection scope of this specification.

[0079] Optionally, if the next-level integrity monitoring result is the first-level integrity monitoring result of the satellite or the correction, and its previous-level integrity monitoring result actually does not 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 includes the following steps:

[0081] If the increase is not greater than the preset threshold, go to step 105, and within the effective time of the integrity monitoring result of the subsequent level, do not use the satellite or the correction number to participate in the positioning solution.

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

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

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

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

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

[0087] The processing module 202 is used to, for any two consecutive levels of integrity monitoring results, if the integrity monitoring result of the subsequent 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 subsequent level, use the satellite or the correction number with reduced weight to participate in the positioning solution.

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

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

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

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

[0092] Optionally, considering that the jump variable 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 period of time, the processing module 202 is further configured to determine the preset threshold according to a preset jump threshold of the positioning result.

[0093] There are various specific implementation manners for the processing module 202 to determine the preset threshold according to a preset jump threshold of the positioning result. In one embodiment, the processing module 202 is further configured to calculate the preset threshold according to the formula where T DOP is the preset threshold, the T P is the preset jump threshold of the positioning result, and σ is the ranging error within the effective time of the integrity monitoring result of the subsequent stage. In another embodiment, reasonable variations can also be made on the basis of the above formula For example, adding a constant coefficient, that is, the processing module 202 is further configured to calculate the preset threshold according to the formula where b is a positive constant. In other embodiments, other reasonable variations can also be made to achieve the purpose of calculating the preset threshold.

[0094] Optionally, the processing module 202 is further configured to calculate a downgrading weight of the satellite or the correction number according to the integrity risk value of the previous stage and the integrity risk value of the subsequent stage.

[0095] Specifically, there are various specific methods for the processing module to calculate the downgrading weight of the satellite or the correction number according to the integrity risk value of the previous stage and the integrity risk value of the subsequent stage. In one embodiment, the processing module may calculate the downgrading weight of the satellite or the correction number according to the formula where w' and w are the downgrading weight and the original weight respectively, P k-1 is the integrity risk value of the previous stage, P k is the integrity risk value of the subsequent stage, and K P represents the standard normal distribution quantile corresponding to the probability P. In another embodiment, the formula in the above embodiment uses the square as the coefficient for reducing the weight. In this embodiment, higher powers such as the cube can also be selected as an alternative. For example, the processing module may also calculate the downgrading weight of the satellite or the correction number according to the formula where n is a positive constant. In yet another embodiment, the processing module may also calculate the downgrading weight of the satellite or the correction number according to the formula Calculate the downweighted weight of the satellite or the correction, where a is a positive constant. It should be noted that all methods that achieve a reduction in the weight coefficient based on the change of are within the protection scope of this specification.

[0096] Optionally, the processing module 202 is further configured to, if the integrity monitoring result of the subsequent stage is the integrity monitoring result of the satellite or the correction, then the integrity monitoring result of the previous stage is agreed to be "not monitored".

[0097] The first implementation manner is a method implementation manner corresponding to this implementation manner. The technical details in the first implementation manner can be applied to this implementation manner, and the technical details in this 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 the various modules shown in the implementation manner of the above multi-level integrity monitoring result usage system can be understood with reference to the relevant descriptions of the above multi-level integrity monitoring result usage method. The functions of the various modules shown in the implementation manner of the above multi-level integrity monitoring result usage system can be implemented by a program (executable instruction) running on a processor, or can also be implemented by specific logic circuits. If the above multi-level integrity monitoring result usage system of the embodiments of the present application is implemented in the form of software function modules and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the embodiments of the present application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in the various embodiments of the present application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read Only Memory), magnetic disks, or optical discs that can store program codes. In this way, the embodiments of the present application are not limited to any specific combination of hardware and software.

[0099] Accordingly, an embodiment of the present application further provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the method embodiments of the present application. The computer-readable storage medium includes permanent and non-permanent, removable and non-removable media and can be implemented by any method or technology for information storage. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of the computer storage medium 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 technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette tapes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible by a computing device. As defined herein, computer-readable storage media do not include transitory media such as modulated data signals and carrier waves.

[0100] In addition, an embodiment of the present application further provides a system for using the results of multi-level integrity monitoring, including a memory for storing computer-executable instructions, and a processor; the processor is configured to implement the steps in the above method embodiments when executing the computer-executable instructions in the memory. Among them, the processor can be a central processing unit (Central Processing Unit, abbreviated as "CPU"), or other general-purpose processors, digital signal processors (Digital Signal Processor, abbreviated as "DSP"), application specific integrated circuits (Application Specific Integrated Circuit, abbreviated as "ASIC"), etc. The aforementioned memory can be a read-only memory (read-only memory, abbreviated as "ROM"), random access memory (random access memory, abbreviated as "RAM"), flash memory (Flash), hard disk or solid state drive, etc. The steps of the methods disclosed in the embodiments of the present invention can be directly implemented by a hardware processor, or implemented 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 actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising one" does not exclude the presence of additional identical elements in the process, method, article or device comprising said element. In the application documents of this patent, if it is mentioned that an act is performed according to a certain element, it means that the act is performed at least according to that element, including two cases: the act is performed only according to that element, and the act is performed according to that element and other elements. Expressions such as multiple, many times, various, etc. include 2, 2 times, 2 kinds, as well as more than 2, more than 2 times, more than 2 kinds.

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

Claims

1. A method for using multi-level integrity monitoring results, characterized in that, Including: Obtain the continuous multi-level integrity monitoring results of a certain satellite or a certain correction, and operate on any two consecutive levels of integrity monitoring results as follows: If the integrity monitoring result of the latter level is "alarm", and the integrity monitoring result of the former level is not "alarm", then within the effective time of the integrity monitoring result of the latter level, use the satellite or the correction after weight reduction to participate in the positioning solution. Among them, the integrity monitoring result of the former level not being "alarm" means that the integrity monitoring result of the former level is "usable" or "not monitored"; if the integrity monitoring result of the latter level is "usable", then use the satellite or the correction to participate in the positioning solution; if the integrity monitoring result of the latter level is "alarm", and the integrity monitoring result of the former level is also "alarm", then within the effective time of the integrity monitoring result of the latter level, do not use the satellite or the correction to participate in the positioning solution; If the integrity monitoring result of the latter level is the first-level integrity monitoring result of the satellite or the correction, then the integrity monitoring result of the former level is conventionally "not monitored".

2. The method for using the multi-level integrity monitoring results according to claim 1, characterized in that, Also including: If the integrity monitoring result of the latter level is "not monitored", then calculate the increase in the dilution of precision before and after excluding the satellite or the correction. If the increase is greater than the preset threshold, then within the effective time of the integrity monitoring result of the latter level, use the satellite or the correction after weight reduction to participate in the positioning solution. If the increase is not greater than the preset threshold, then within the effective time of the integrity monitoring result of the latter level, do not use the satellite or the correction to participate in the positioning solution.

3. The method for using the multi-level integrity monitoring results according to claim 2, characterized in that, The preset threshold is determined according to the preset positioning result jump threshold.

4. The method for using the multi-level integrity monitoring results according to claim 3, characterized in that, The preset threshold is calculated according to the formula where T DOP is the preset threshold, the T P is a pre-agreed jump threshold for positioning results, σ is the ranging error within the effective time of the integrity monitoring result of the subsequent stage, and b is a positive constant.

5. The method for using the multi-level integrity monitoring results according to any one of claims 1-4, characterized in that, Before using the satellite or the correction after weight reduction to participate in the positioning solution, it further includes: Calculate the weight reduction weight of the satellite or the correction according to the integrity risk value of the former level and the integrity risk value of the latter level.

6. The method for using the multi-level integrity monitoring result according to claim 5, characterized in that The calculation of the weight reduction weight of the satellite or the correction according to the integrity risk value of the former level and the integrity risk value of the latter level further includes: According to the formula calculate the downweighted weight of the satellite or the correction, where w ′ and w are the downweighted 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, and a and n are positive constants.

7. The method for using the multi-level integrity monitoring results according to claim 1, characterized in that, Also including: If the integrity monitoring result of the latter level is "usable", then use the satellite or the correction to participate in the positioning solution.

8. A system for using the results of multi-level integrity monitoring, characterized in that, Including: An acquisition module, configured to obtain the continuous multi-level integrity monitoring results of a certain satellite or a certain correction, and operate on any two consecutive levels of integrity monitoring results as follows: A processing module, configured to, if the integrity monitoring result of the subsequent level is "alarm" and the integrity monitoring result of the previous level is not "alarm", use the satellite or the correction number after weight reduction to participate in the positioning solution within the effective time of the integrity monitoring result of the subsequent level, where the integrity monitoring result of the previous level not being "alarm" means that the integrity monitoring result of the previous level is "available" or "not monitored"; if the integrity monitoring result of the subsequent level is "available", use the satellite or the correction number to participate in the positioning solution; if the integrity monitoring result of the subsequent level is "alarm" and the integrity monitoring result of the previous level is also "alarm", do not use the satellite or the correction number to participate in the positioning solution within the effective time of the integrity monitoring result of the subsequent level; and if the integrity monitoring result of the subsequent level is the first-level integrity monitoring result of the satellite or the correction number, the integrity monitoring result of the previous level is agreed to be "not monitored".

9. The system for using the multi-level integrity monitoring results according to claim 8, characterized in that, The processing module is further configured to, if the integrity monitoring result of the subsequent level is "not monitored", calculate the increase in the dilution of precision before and after excluding the satellite or the correction number; if the increase is greater than a preset threshold, use the satellite or the correction number after weight reduction to participate in the positioning solution within the effective time of the integrity monitoring result of the subsequent level; if the increase is not greater than the preset threshold, do not use the satellite or the correction number to participate in the positioning solution within the effective time of the integrity monitoring result of the subsequent level.

10. The system for using the multi-level integrity monitoring results according to claim 9, wherein, The preset threshold is determined according to a pre-agreed jump threshold of the positioning result.

11. The system for using the multi-level integrity monitoring results as claimed in claim 10, wherein The preset threshold is calculated according to the formula where T DOP is the preset threshold, the T P is a pre-agreed jump threshold for positioning results, σ is the ranging error within the effective time of the integrity monitoring result of the subsequent stage, and b is a positive constant.

12. The system for using the multi-level integrity monitoring results according to any one of claims 8-11, characterized in that, The processing module is further configured to calculate the weight reduction weight of the satellite or the correction number according to the integrity risk value of the previous level and the integrity risk value of the subsequent level.

13. The system for using the multi-level integrity monitoring results according to claim 12, characterized in that, The processing module is further configured to calculate the downweighting weights of the satellite or the corrections according to the formula where w ′ and w are the downweighting 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, and a and n are positive constants.

14. The system for using the multi-level integrity monitoring results according to claim 8, wherein, The processing module is further configured to, if the integrity monitoring result of the subsequent level is "available", use the satellite or the correction number to participate in the positioning solution.

15. A system for using the results of multi-level integrity monitoring, characterized in that, Comprising: A memory, configured to store computer-executable instructions; And, A processor, configured to implement the steps in the method according to any one of claims 1 to 7 when executing the computer-executable instructions.

16. 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 the processor, the steps in the method according to any one of claims 1 to 7 are implemented.

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