Method and device for monitoring the integrity of medium and high orbit navigation satellites using low orbit satellites

Abstract

The present invention discloses a method and device for monitoring the integrity of medium and high orbit navigation satellites using low orbit satellites. The method uses the first integrity monitoring information generated by the low orbit satellite and the second integrity monitoring information generated by the medium and high orbit satellite itself to realize the integrity monitoring of the medium and high orbit satellites. The present invention can obtain a large amount of high-precision and real-time integrity monitoring data by using a large number of low-orbit satellite GNSS receivers as integrity data monitoring, collection and calculation devices, and transmit the integrity monitoring information to the medium and high orbit satellites by using a short message transceiver system, which greatly saves the data link cost, realizes the transmission of integrity information, and ensures the real-time nature of the monitoring data; the medium and high orbit satellites can receive the integrity monitoring information of multiple low-orbit satellites, combine their own integrity monitoring information, make multi-dimensional judgments, realize integrity judgments, and realize high-precision, real-time, high-reliability, autonomous operation, and low-cost integrity monitoring of medium and high orbit navigation satellites.

Description

Technical Field

[0001] The present invention relates to the field of navigation technology, and in particular to a method and device for monitoring the integrity of medium- and high-orbit navigation satellites using low-orbit satellites. Background Art

[0002] The Global Navigation Satellite System (GNSS) can provide high-precision, speed measurement and timing services for users on the ground, in the air, and in medium and low orbits. It has the characteristics of wide coverage, all-weather and high precision, and plays an important role in military and civilian fields such as precision weapon strikes, mapping, and transportation. With the establishment and use of multiple satellite navigation systems, users, especially those with tasks closely related to life safety, have higher and higher requirements for alarm reliability, alarm time and cost, and navigation satellite integrity monitoring is facing greater challenges.

[0003] Currently, there are three main methods of integrity monitoring, namely, Receiver Autonomous Integrity Monitoring (RAIM), Ground Augmentation Integrity Monitoring (GAIM), and Satellite Autonomous Integrity Monitoring (SAIM).

[0004] RAIM is a method of autonomous integrity monitoring of GNSS receivers. It uses multiple satellites within the field of view of the GNSS receiver to perform consistency checks, thereby eliminating abnormal satellites and improving the integrity of the GNSS receiver. However, this method is only suitable for terminal applications. When a satellite fails, the alarm information cannot be broadcast to other users.

[0005] GAIM ground-based enhanced autonomous integrity monitoring requires the establishment of a large number of monitoring stations in the channel to collect signals broadcast by all satellites within the field of view of the monitoring station, generate measurement values ​​and calculate errors, and use this as a basis to determine whether the navigation signal broadcast by the satellite is within the error range. If it exceeds the threshold, the user in the service area is notified through the ground-to-air data link not to use the signal of the navigation satellite. The warning time is long and the accuracy is low. At the same time, in order to expand the monitoring range and the reliability of monitoring data, it is usually necessary to establish multiple ground stations to form a network and data processing center, which is costly.

[0006] SAIM satellite autonomous integrity monitoring technology was proposed in 2001 to support satellites in monitoring the integrity of their own ranging signals and data. The main contents of its monitoring include: signal power anomaly, pseudo code distortion, carrier phase consistency, satellite clock acceleration anomaly, etc. Its monitoring of satellite signals and clock anomalies is relatively simple, and it relies on the navigation satellite platform, its own clock and power supply system. The alarms it provides are not very reliable and it does not have the ability to operate autonomously.

[0007] There are three existing methods. RAIM can only eliminate abnormal satellite signals at the user end of the GNSS receiver and cannot broadcast alarm information to other users; GAIM requires the establishment of a large number of ground monitoring stations, with a long alarm time and high cost; SAIM relies on the satellite platform, its own clock and power supply system, and can only monitor limited anomalies, and the alarm reliability is not high.

[0008] Therefore, how to establish a navigation satellite integrity monitoring system with high alarm reliability, strong real-time performance, high precision, low cost and autonomous operation is a technical problem that needs to be solved urgently.

[0009] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0010] The main purpose of the present invention is to provide a method and device for monitoring the integrity of medium and high orbit navigation satellites using low orbit satellites, aiming to solve the technical problems of low alarm reliability, long time and high cost in the current navigation satellite integrity monitoring system.

[0011] To achieve the above object, the present invention provides a method for monitoring the integrity of medium and high orbit navigation satellites using low orbit satellites, the method comprising the following steps:

[0012] Obtain precise orbit information of low-orbit satellites;

[0013] Utilize GNSS receivers carried by several low-orbit satellites to receive signals from medium- and high-orbit navigation satellites within the field of view, and screen the received signals based on precise orbit information to obtain signal measurement information from several medium- and high-orbit navigation satellites;

[0014] Performing integrity calculation on the medium and high orbit navigation satellite according to the signal measurement information to obtain first integrity monitoring information;

[0015] Sending the first integrity monitoring information to a medium-orbit navigation satellite using a short message transmitter;

[0016] The medium- and high-orbit navigation satellite determines its own integrity status based on all received first integrity monitoring information and second integrity monitoring information generated by itself;

[0017] The integrity status is broadcast to users.

[0018] Optionally, the step of obtaining precise orbit information of the low-orbit satellite is specifically as follows: the low-orbit satellite uses an onboard GNSS receiver to receive navigation information to achieve precise orbit determination, so as to obtain its own precise orbit information.

[0019] Optionally, the step of using GNSS receivers carried by several low-orbit satellites to receive signals from medium- and high-orbit navigation satellites within the field of view, and performing signal screening on the received signals according to precise orbit information specifically includes:

[0020] The low-orbit satellite uses the GNSS receiver on board to receive the signals of the medium-orbit and high-orbit navigation satellites within the field of view, and determines the position information of the corresponding medium-orbit and high-orbit navigation satellites based on the signals;

[0021] According to the position information of the medium and high orbit navigation satellite and the precise orbit information of the low orbit satellite, the elevation angle values ​​of the medium and high orbit navigation satellite and the low orbit satellite are determined, and the signals corresponding to the elevation angle values ​​that do not meet the screening conditions are eliminated.

[0022] In the present invention, GNSS receivers carried by several low-orbit satellites are used for integrity monitoring to generate a large amount of high-precision real-time monitoring data; the integrity monitoring information is transmitted through the existing short message system, which greatly saves link costs.

[0023] Optionally, the screening condition is that the elevation angle value is greater than 10°.

[0024] Optionally, the integrity calculation includes signal power calculation, clock error calculation, positioning accuracy calculation and signal quality calculation, and obtaining the first integrity monitoring information includes judging whether the medium and high orbit navigation satellite is a faulty satellite based on the results of the signal power calculation, clock error calculation, positioning accuracy calculation and signal quality calculation.

[0025] Optionally, when the first integrity monitoring information is sent to the medium and high orbit navigation satellite, if the medium and high orbit navigation satellite is a faulty satellite, the first integrity monitoring information is sent to the medium and high orbit navigation satellite with the highest priority.

[0026] Optionally, the step of determining the integrity status of the medium-high orbit navigation satellite based on all received first integrity monitoring information and the second integrity monitoring information generated by itself specifically includes:

[0027] If all the first integrity monitoring information received by the medium- and high-orbit navigation satellite meets the fault determination condition and the second integrity monitoring information generated by the medium- and high-orbit navigation satellite itself indicates that a fault exists, then the integrity status of the satellite itself is determined to be that a fault exists;

[0028] The fault judgment condition is that more than a preset number of low-orbit satellites have sent the first integrity monitoring information of the fault to the medium- and high-orbit navigation satellites.

[0029] In the present invention, the integrity judgment combines the monitoring results of multiple low-orbit satellites and the integrity monitoring results of the satellite itself.

[0030] In addition, in order to achieve the above-mentioned purpose, the present invention also provides a device for monitoring the integrity of medium- and high-orbit navigation satellites using low-orbit satellites, the device comprising:

[0031] Acquisition module, used to obtain precise orbit information of low-orbit satellites;

[0032] A screening module is used to use GNSS receivers carried by several low-orbit satellites to receive signals from medium- and high-orbit navigation satellites within the field of view, and to screen the received signals according to precise orbit information to obtain signal measurement information of several medium- and high-orbit navigation satellites;

[0033] A calculation module, configured to perform integrity calculation on the medium-orbit and high-orbit navigation satellites according to the signal measurement information to obtain first integrity monitoring information;

[0034] A transmitting module, used for sending the first integrity monitoring information to a medium-orbit navigation satellite using a short message transmitter;

[0035] A determination module, used for the medium and high orbit navigation satellite to determine its own integrity status based on all the received first integrity monitoring information and the second integrity monitoring information generated by itself;

[0036] A broadcast module is used to broadcast the integrity status to users.

[0037] The embodiment of the present invention proposes a method and device for monitoring the integrity of medium and high orbit navigation satellites using low orbit satellites. The method includes using GNSS receivers of a large number of low orbit satellites to obtain high-precision measurement information of a large number of medium and high orbit satellites and precise orbit information of low orbit satellites; using low orbit satellites to receive signals from medium and high orbit navigation satellites within the field of view, and screening the received signals according to the precise orbit information to obtain monitorable medium and high orbit navigation satellites; performing integrity calculations based on the monitored navigation satellites to obtain first integrity monitoring information; sending the first integrity monitoring information to the medium and high orbit navigation satellites via a short message transmitter; the monitored medium and high orbit navigation satellites use a short message receiver to receive all the first integrity monitoring information; the monitored medium and high orbit satellites use the first integrity monitoring information of multiple low orbit satellites and the second integrity monitoring information generated by themselves to determine their own integrity status; and broadcasting the integrity status to users in real time. The present invention uses a large number of low-orbit satellite GNSS receivers as integrity data monitoring, collection and calculation devices to obtain a large amount of high-precision, real-time integrity monitoring data to achieve integrity monitoring of medium and high-orbit navigation satellites; uses a short message transceiver system to transmit integrity monitoring information to medium and high-orbit satellites, greatly saving data link costs, achieving integrity information transmission, and ensuring the real-time nature of monitoring data; uses medium and high-orbit satellites to receive integrity monitoring information from multiple low-orbit satellites, combines their own integrity monitoring information, and makes multi-dimensional judgments to achieve integrity judgments. Ultimately, a high-precision, real-time, highly reliable, autonomous, and low-cost integrity monitoring system can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 The flowchart of the method for monitoring the integrity of medium and high orbit navigation satellites using low orbit satellites is shown;

[0039] Figure 2 This is a schematic diagram of the simulation of the visibility of a single low-orbit satellite to Beidou satellites within ten days;

[0040] Figure 3 To develop an integrity monitoring system architecture for medium and high orbit navigation satellites using low orbit satellites;

[0041] Figure 4 This is a structural block diagram of a device for monitoring the integrity of medium and high orbit navigation satellites using low orbit satellites.

[0042] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0043] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0044] The Global Navigation Satellite System (GNSS) can provide high-precision, speed measurement and timing services for users on the ground, in the air, and in medium and low orbits. It has the characteristics of wide coverage, all-weather and high precision, and plays an important role in military and civilian fields such as precision weapon strikes, mapping, and transportation. With the establishment and use of multiple satellite navigation systems, users, especially those with tasks closely related to life safety, have higher and higher requirements for alarm reliability, time and accuracy, and navigation satellite integrity monitoring is facing greater challenges.

[0045] Currently, there are three main methods of integrity monitoring, namely, Receiver Autonomous Integrity Monitoring (RAIM), Ground Augmentation Integrity Monitoring (GAIM), and Satellite Autonomous Integrity Monitoring (SAIM).

[0046] RAIM is a method of autonomous integrity monitoring of GNSS receivers. It uses multiple satellites within the field of view of the GNSS receiver to perform consistency checks, thereby eliminating abnormal satellites and improving the integrity of the GNSS receiver. However, this method is only suitable for terminal applications. When a satellite fails, the alarm information cannot be broadcast to other users.

[0047] GAIM ground-based enhanced autonomous integrity monitoring requires the establishment of a large number of monitoring stations in the channel to collect signals broadcast by all satellites within the field of view of the monitoring station, generate measurement values ​​and calculate errors, and use this as a basis to determine whether the navigation signal broadcast by the satellite is within the error range. If it exceeds the threshold, the user in the service area is notified through the ground-to-air data link not to use the signal of the navigation satellite. The warning time is long and the accuracy is low. At the same time, in order to expand the monitoring range and the reliability of monitoring data, it is usually necessary to establish multiple ground stations to form a network and data processing center, which is costly.

[0048] SAIM satellite autonomous integrity monitoring technology was proposed in 2001 to support satellites in monitoring the integrity of their own ranging signals and data. The main contents of its monitoring include: signal power anomaly, pseudo code distortion, carrier phase consistency, satellite clock acceleration anomaly, etc. Its monitoring of satellite signals and clock anomalies is relatively simple, and it relies on the navigation satellite platform, its own clock and power supply system. The alarms it provides are not very reliable and it does not have the ability to operate autonomously.

[0049] There are three existing methods. RAIM can only eliminate abnormal satellite signals at the user end of the GNSS receiver and cannot broadcast alarm information to other users; GAIM requires the establishment of a large number of ground monitoring stations, with a long alarm time and high cost; SAIM relies on the satellite platform, its own clock and power supply system, and can only monitor limited anomalies, and the alarm reliability is not high.

[0050] Therefore, how to establish a navigation satellite integrity monitoring system with high alarm reliability, strong real-time performance, high precision, low cost and autonomous operation is a technical problem that needs to be solved urgently.

[0051] In order to solve this problem, various embodiments of the method for monitoring the integrity of medium and high orbit navigation satellites using low-orbit satellites of the present invention are proposed. The method for monitoring the integrity of medium and high orbit navigation satellites using low-orbit satellites provided by the present invention can obtain a large amount of high-precision, real-time integrity monitoring data by using a large number of low-orbit satellite GNSS receivers as integrity data monitoring, collection and calculation devices, so as to realize the integrity monitoring of medium and high orbit navigation satellites; the integrity monitoring information is transmitted to medium and high orbit satellites by using a short message transceiver system, which greatly saves the data link cost, realizes the transmission of integrity information, and ensures the real-time nature of the monitoring data; medium and high orbit satellites can receive the integrity monitoring information of multiple low-orbit satellites, and combine their own integrity monitoring information to make multi-dimensional judgments to realize integrity judgments. Finally, a high-precision, real-time, highly reliable, autonomous and low-cost integrity monitoring system can be realized.

[0052] The embodiment of the present invention provides a method for monitoring the integrity of a medium-orbit navigation satellite using a low-orbit satellite. Figure 1 , Figure 1 The present invention is a flow chart of a method for monitoring the integrity of medium and high orbit navigation satellites using low orbit satellites.

[0053] In this embodiment, the method for monitoring the integrity of medium and high orbit navigation satellites using low orbit satellites includes the following steps:

[0054] Step S100, obtaining precise orbit information of low-orbit satellites.

[0055] Specifically, when obtaining the precise orbit information of a low-orbit satellite, the low-orbit satellite can use the GNSS receiver on board to receive navigation information to achieve precise orbit determination, so as to obtain its own precise orbit information.

[0056] Step S200, using GNSS receivers carried by several low-orbit satellites to receive signals from medium- and high-orbit navigation satellites within the field of view, and filtering the received signals according to precise orbit information to obtain signal measurement information of several medium- and high-orbit navigation satellites.

[0057] Specifically, when screening the received signals, the signals of medium and high orbit navigation satellites within the field of view can be received by the GNSS receiver carried by the low-orbit satellite, and the position information of the corresponding medium and high orbit navigation satellites can be determined based on the signals; according to the position information of the medium and high orbit navigation satellites and the precise orbit information of the low-orbit satellites, the elevation angle values ​​of the medium and high orbit navigation satellites and the low-orbit satellites can be determined, and the signals corresponding to the elevation angle values ​​that do not meet the screening conditions can be eliminated.

[0058] In a preferred embodiment, the screening condition is that the elevation angle value is greater than 10°.

[0059] Step S300: Perform integrity calculation on the medium and high orbit navigation satellites according to the signal measurement information to obtain first integrity monitoring information.

[0060] Specifically, during integrity calculation, the integrity calculation of medium and high orbit navigation satellites can be performed through signal power calculation, clock error calculation, positioning accuracy calculation and signal quality calculation to obtain the first integrity monitoring information.

[0061] On this basis, obtaining the first integrity monitoring information is specifically to determine whether the medium and high orbit navigation satellite is a faulty satellite based on the results of the signal power calculation, clock error calculation, positioning accuracy calculation and signal quality calculation.

[0062] Step S400: sending the first integrity monitoring information to a medium-orbit and high-orbit navigation satellite using a short message transmitter.

[0063] Specifically, when the first integrity monitoring information is sent to the medium and high orbit navigation satellite, if the medium and high orbit navigation satellite is a faulty satellite, the first integrity monitoring information is sent to the medium and high orbit navigation satellite with the highest priority.

[0064] Step S500: The medium- and high-orbit navigation satellite determines its own integrity status based on all received first integrity monitoring information and second integrity monitoring information generated by itself.

[0065] Specifically, the medium-high orbit navigation satellite determines its own integrity status through the following judgment process based on all the first integrity monitoring information received and the second integrity monitoring information generated by itself:

[0066] If all the first integrity monitoring information received by the medium- and high-orbit navigation satellite meets the fault determination condition and the second integrity monitoring information generated by the medium- and high-orbit navigation satellite itself indicates that a fault exists, then the integrity status of the satellite itself is determined to be that a fault exists;

[0067] The fault judgment condition is that more than a preset number of low-orbit satellites have sent the first integrity monitoring information of the fault to the medium- and high-orbit navigation satellites.

[0068] Step S600: broadcast the integrity status to users.

[0069] Specifically, the medium and high orbit Beidou navigation satellite directly writes the integrity judgment result into the telegram and immediately broadcasts the telegram to the user in the next second.

[0070] In this embodiment, a method for monitoring the integrity of medium and high orbit navigation satellites using low orbit satellites is proposed. By using a large number of low orbit satellite GNSS receivers as integrity data monitoring, collection and calculation devices, a large amount of high-precision, real-time integrity monitoring data can be obtained to realize the integrity monitoring of medium and high orbit navigation satellites; by using a short message transmitter carried on the low orbit satellite, the first integrity monitoring information is sent to the medium and high orbit satellites, which greatly saves the data link cost and ensures the real-time nature of the monitoring data; by using the characteristics of medium and high orbit satellites that can receive the first integrity monitoring information of multiple low orbit satellites, combined with their own second integrity monitoring information, multi-dimensional judgment is performed, thereby improving the reliability of integrity alarms.

[0071] For ease of understanding, this embodiment proposes a specific example of using low-orbit satellites to monitor the integrity of medium- and high-orbit navigation satellites, as follows:

[0072] In the first aspect of this embodiment, a method for obtaining raw observation data using low-orbit satellites is proposed. At present, domestic commercial aerospace is booming, and multiple commercial low-orbit satellite constellations have emerged. By using the GNSS receivers provided by low-orbit satellites, costs can be saved while establishing a global data monitoring system. Low-orbit satellites are not affected by the ground environment and have good visibility to medium and high-orbit satellites, such as Figure 2 As shown, a large amount of monitoring data can be obtained; low-orbit satellites move faster than medium- and high-orbit satellites, and the positioning accuracy can quickly converge to the centimeter level. The present invention utilizes the characteristics of a large number of low-orbit satellites, good visibility to medium- and high-orbit satellites, high positioning accuracy, and fast convergence time to continuously obtain a large amount of high-precision, real-time monitoring data.

[0073] The second aspect of this embodiment proposes a method for broadcasting integrity data using a short message transmitter. A short message transmitter is carried on a low-orbit satellite to encode and compress the integrity calculation result data, and the integrity monitoring data is broadcast to medium and high-orbit satellites through the short message transmitter. The present invention uses low-orbit satellites to perform integrity calculations on monitoring data in real time, and broadcasts the calculation results to medium and high-orbit satellites in real time through short message transmitters, thereby ensuring the real-time nature of the integrity data and greatly shortening the alarm time.

[0074] The third aspect of this embodiment proposes a method for integrating multiple low-orbit satellites and medium- and high-orbit satellites to make integrity identification judgments. The medium- and high-orbit satellites use their own short message receivers to receive the integrity monitoring results of the satellite broadcast by multiple low-orbit satellites. The medium- and high-orbit satellites perform comprehensive data processing on the received integrity monitoring results of the satellite, integrate the medium- and high-orbit integrity data to make a judgment, and broadcast the judgment result to the user via a telegram. The present invention uses the integrity monitoring results of multiple low-orbit satellites and integrates the satellite's own integrity data to make a judgment, thereby improving the reliability of the alarm information; the alarm information can be filled in the telegram in real time and broadcast to the user, shortening the alarm time.

[0075] In this embodiment, if Figure 3 As shown, a method for monitoring the integrity of medium and high orbit navigation satellites using low orbit satellites is proposed. The method uses the GNSS receiver of the low orbit satellite to monitor the integrity of the medium and high orbit navigation satellites, and transmits the integrity monitoring results to the medium and high orbit navigation satellites in real time by carrying a short message transmitter on the low orbit satellite. The short message receiver carried on the medium and high orbit navigation satellite can receive the integrity monitoring data of multiple low orbit satellites, make multi-dimensional comprehensive judgments on the integrity monitoring data of multiple satellites, and broadcast the alarm information in real time in the message.

[0076] The following takes the integrity monitoring of medium and high orbit Beidou satellites by low orbit satellites as an example to illustrate the specific implementation method of using low orbit satellites to monitor the integrity of medium and high orbit satellites.

[0077] Step 1: The low-orbit satellite uses its own GNSS receiver to receive signals from medium- and high-orbit satellites, generating a large amount of high-precision observation data, and achieves precise orbit determination through calculation to obtain precise orbit information of the low-orbit satellite;

[0078] Step 2: The low-orbit satellite uses its own GNSS receiver to receive all Beidou navigation satellite signals within the field of view, screens the received Beidou navigation satellite signals, and removes satellites with elevation angles below 10° (which can be set according to actual conditions);

[0079] Step 3: The low-orbit satellite performs integrity calculations on the screened satellites. The calculations include: signal power, clock error, positioning accuracy, signal quality and other information. The low-orbit satellite makes a judgment on the integrity results. If it is judged to be a faulty satellite, the priority of the message broadcast is set to the highest. If it is judged to be a normal satellite, the monitoring results are broadcast in a fixed order.

[0080] Step 4: Compress and encode the integrity monitoring results, and broadcast the information in real time to the designated medium and high orbit Beidou navigation satellites through the short message transmitter;

[0081] Step 5: The medium- and high-orbit Beidou navigation satellites receive the integrity monitoring results broadcast by the low-orbit satellites in real time through short message receivers;

[0082] Step 6: The medium- and high-orbit Beidou navigation satellites make multi-dimensional judgments on the integrity monitoring results of multiple low-orbit satellites. If the integrity monitoring results of at least three (configurable) low-orbit satellites all show that the satellite is faulty, and the integrity monitoring results of the satellite are consistent, then it is determined that the satellite is faulty;

[0083] Step 7: The medium and high orbit Beidou navigation satellite directly writes the integrity judgment result into the message and broadcasts the message to the user immediately in the next second.

[0084] By using the integrity monitoring method provided by the present invention, the time of integrity alarm can be shortened, and near real-time alarms can be given for fault events; the accuracy of alarms can be improved, and the alarm accuracy can reach the centimeter level; the reliability of alarms can be improved, and the alarm reliability can be improved by an order of magnitude through multi-satellite data fusion processing; the existing short message system can be used, which greatly saves costs; autonomous on-orbit integrity monitoring, fault diagnosis and processing can be achieved without ground intervention. By using the integrity monitoring method provided by the present invention, a high-precision, real-time, highly reliable, autonomously operated, and low-cost integrity monitoring system can be realized.

[0085] It should be noted that the present embodiment is a method for monitoring the integrity of medium and high orbit navigation satellites using low orbit satellites. The method uses a large number of low orbit satellite GNSS receivers as integrity data monitoring, collection and calculation devices, and can obtain a large amount of high-precision, real-time integrity monitoring data; the method uses a short message transmitter to broadcast the integrity monitoring results to medium and high orbits, which greatly saves data link costs and ensures the real-time nature of the monitoring data; the method uses the characteristics of medium and high orbit satellites that can receive integrity monitoring results from multiple low orbit satellites, integrates their own integrity data for comprehensive decision-making, and improves the reliability of integrity monitoring.

[0086] By utilizing the integrity monitoring method provided by the present invention, the time of integrity alarm can be shortened, and a near real-time alarm can be issued for fault events; the accuracy of the alarm can be improved, and the alarm accuracy can reach the centimeter level; the reliability of the alarm can be improved, and the alarm reliability can be improved by orders of magnitude through multi-satellite data fusion processing; the existing short message system can be utilized, which greatly saves costs; on-orbit integrity monitoring, fault diagnosis and processing can be independently realized without ground intervention, thereby realizing a high-precision, real-time, highly reliable, autonomously operated, and low-cost integrity monitoring system.

[0087] Reference Figure 4 , Figure 4 The present invention is a structural block diagram of an embodiment of a device for monitoring the integrity of medium- and high-orbit navigation satellites using low-orbit satellites.

[0088] like Figure 4 As shown, the device for monitoring the integrity of medium and high orbit navigation satellites using low orbit satellites proposed in an embodiment of the present invention includes:

[0089] An acquisition module 10 is used to acquire precise orbit information of low-orbit satellites;

[0090] The screening module 20 is used to use the GNSS receivers carried by several low-orbit satellites to receive the signals of the medium- and high-orbit navigation satellites within the field of view, and screen the received signals according to the precise orbit information to obtain the signal measurement information of several medium- and high-orbit navigation satellites;

[0091] A calculation module 30 is used to perform integrity calculation on the medium and high orbit navigation satellite according to the signal measurement information to obtain first integrity monitoring information;

[0092] A transmitting module 40, configured to send the first integrity monitoring information to a medium-orbit navigation satellite using a short message transmitter;

[0093] A determination module 50 is used for the medium- and high-orbit navigation satellite to determine its own integrity status based on all received first integrity monitoring information and second integrity monitoring information generated by itself;

[0094] The broadcast module 60 is used to broadcast the integrity status to users.

[0095] Other embodiments or specific implementations of the device for monitoring the integrity of medium and high orbit navigation satellites using low orbit satellites of the present invention can refer to the above-mentioned method embodiments and will not be described in detail here.

Claims

1. A method for monitoring the integrity of medium and high orbit navigation satellites using low orbit satellites, characterized in that: The method comprises the following steps: Obtain precise orbit information of low-orbit satellites; Utilize GNSS receivers carried by several low-orbit satellites to receive signals from medium- and high-orbit navigation satellites within the field of view, and screen the received signals based on precise orbit information to obtain signal measurement information from several medium- and high-orbit navigation satellites; Performing integrity calculation on the medium and high orbit navigation satellite according to the signal measurement information to obtain first integrity monitoring information; Sending the first integrity monitoring information to a medium-orbit navigation satellite using a short message transmitter; The medium- and high-orbit navigation satellite determines its own integrity status based on all received first integrity monitoring information and second integrity monitoring information generated by itself; The integrity status is broadcast to users.

2. The method for monitoring the integrity of medium and high orbit navigation satellites using low orbit satellites as claimed in claim 1, characterized in that: The step of obtaining the precise orbit information of the low-orbit satellite is specifically as follows: the low-orbit satellite uses the onboard GNSS receiver to receive navigation information to achieve precise orbit determination, so as to obtain its own precise orbit information.

3. The method for monitoring the integrity of medium and high orbit navigation satellites using low orbit satellites as claimed in claim 1, characterized in that: The step of using GNSS receivers carried by several low-orbit satellites to receive signals from medium- and high-orbit navigation satellites within the field of view, and performing signal screening on the received signals according to precise orbit information, specifically includes: The low-orbit satellite uses the GNSS receiver on board to receive the signals of the medium-orbit and high-orbit navigation satellites within the field of view, and determines the position information of the corresponding medium-orbit and high-orbit navigation satellites based on the signals; According to the position information of the medium and high orbit navigation satellite and the precise orbit information of the low orbit satellite, the elevation angle values ​​of the medium and high orbit navigation satellite and the low orbit satellite are determined, and the signals corresponding to the elevation angle values ​​that do not meet the screening conditions are eliminated.

4. The method for monitoring the integrity of medium and high orbit navigation satellites using low orbit satellites as claimed in claim 3, characterized in that: The screening condition is that the elevation angle value is greater than 10°.

5. The method for monitoring the integrity of medium and high orbit navigation satellites using low orbit satellites as claimed in claim 1, characterized in that: The integrity calculation includes signal power calculation, clock difference calculation, positioning accuracy calculation and signal quality calculation, and obtaining the first integrity monitoring information includes judging whether the medium and high orbit navigation satellite is a faulty satellite based on the results of the signal power calculation, clock difference calculation, positioning accuracy calculation and signal quality calculation.

6. The method for monitoring the integrity of medium and high orbit navigation satellites using low orbit satellites as claimed in claim 5, characterized in that: When sending the first integrity monitoring information to the medium and high orbit navigation satellite, if the medium and high orbit navigation satellite is a faulty satellite, the first integrity monitoring information is sent to the medium and high orbit navigation satellite with the highest priority.

7. The method for monitoring the integrity of medium and high orbit navigation satellites using low orbit satellites as claimed in claim 1, characterized in that: The step of the medium-high orbit navigation satellite determining its own integrity status based on all received first integrity monitoring information and second integrity monitoring information generated by itself specifically includes: If all the first integrity monitoring information received by the medium- and high-orbit navigation satellite meets the fault determination condition and the second integrity monitoring information generated by the medium- and high-orbit navigation satellite itself indicates that a fault exists, then the integrity status of the satellite itself is determined to be that a fault exists; The fault judgment condition is that more than a preset number of low-orbit satellites have sent the first integrity monitoring information of the fault to the medium- and high-orbit navigation satellites.

8. A device for monitoring the integrity of medium and high orbit navigation satellites using low orbit satellites, characterized in that: The device comprises: Acquisition module, used to obtain precise orbit information of low-orbit satellites; A screening module is used to use GNSS receivers carried by several low-orbit satellites to receive signals from medium- and high-orbit navigation satellites within the field of view, and to screen the received signals according to precise orbit information to obtain signal measurement information of several medium- and high-orbit navigation satellites; A calculation module, configured to perform integrity calculation on the medium- and high-orbit navigation satellite according to the signal measurement information to obtain first integrity monitoring information; A transmitting module, used for sending the first integrity monitoring information to a medium-orbit navigation satellite using a short message transmitter; A determination module, used for the medium and high orbit navigation satellite to determine its own integrity status based on all the received first integrity monitoring information and the second integrity monitoring information generated by itself; A broadcast module is used to broadcast the integrity status to users.

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