An anomaly handling method for multi-solution separation

Abstract

This invention belongs to the field of integrated navigation integrity technology, and particularly relates to an anomaly handling method for multi-solution separation. The method involves determining whether the satellite disconnection time exceeds a specified time; obtaining the sub-filter number corresponding to the disconnected satellite; reconstructing the numbers of the sub-filter groups; reconstructing the numbers of the secondary filter groups; and reducing the number of filter groups by one, thereby reducing false alarms caused by algorithm problems and improving the continuity of the inertial / satellite tightly integrated system.

Description

Technical Field

[0001] This invention belongs to the field of integrated navigation integrity technology, and particularly relates to an anomaly handling method for multi-solution separation. Background Technology

[0002] With the rapid development of navigation technology, performance-based navigation (RNP) is an important development trend in the field of civil aircraft navigation. Due to the poor anti-interference capability of satellites, the susceptibility of signals to terrain interference, and the inability to locate with fewer than four satellites, inertial / satellite integrated navigation is the main navigation method to support RNP operation procedures. The inertial / satellite integrated system should meet the integrity indicators such as availability, fault detection and isolation, false alarm rate, integrity risk, missed alarm rate, and alarm time specified in the minimum operating standard DO-384 set by the Radio Technical Committee on Aeronautics (RTCA).

[0003] Integrity is one of the most critical performance indicators for civil aircraft safety, measuring the confidence level of the entire system in providing accurate information and its ability to provide timely and effective alerts to users. Currently, the integrity monitoring method for inertial / satellite systems mainly utilizes the multiple-dissociation method of Kalman filtering. This method constructs a three-layer filter: a main filter, sub-filters, and secondary filters. The design principle is as follows: there is one main filter containing measurement information from all N satellites; there are N sub-filters, each containing measurement information from N-1 satellites; and there are N*(N-1) secondary filters, each sub-filter having removed the measurement information from one satellite from its sub-filter. The multiple-dissociation main-sub-secondary filter architecture is as follows: Figure 1 As shown.

[0004] When the flight trajectory or satellite operation changes, the problem with this algorithm is that if a satellite is out of contact for a long time, the state and covariance of the main filter and the sub-filter that does not contain information about that satellite will become consistent over time. This will cause two important pieces of information for the system to judge the occurrence of faults: the test statistic and the detection threshold will both approach zero. This will cause the system to issue an alarm when no fault has occurred. This is a false alarm caused by the algorithm problem, which will not meet the integrity index requirements of the inertial / satellite tightly coupled system. Summary of the Invention

[0005] The purpose of this invention is to address the problems in the background art by proposing an anomaly handling method for multi-solution separation, reducing false alarms in the integrated navigation system caused by multi-solution separation algorithms, and improving the continuity of the inertial / satellite tightly integrated system.

[0006] To achieve the above objectives, the present invention employs the following technical solution.

[0007] A method for handling anomalies in multi-solution separation, the method comprising:

[0008] Step 1: Determine if the satellite has been out of contact for longer than the specified time.

[0009] Step 2: Obtain the sub-filter number corresponding to the lost satellite. ;

[0010] Step 3: Reconstruct the numbering of the sub-filter banks;

[0011] Step 4: Reconstruct the numbering of the secondary filter banks;

[0012] Step 5: Decrease the number of filter banks by one.

[0013] The features and further improvements of the technical solution of this invention are as follows:

[0014] (1) Step one is to iterate through the currently acquired satellite numbers and determine whether the satellite has reached the set maximum disconnection time T.

[0015] (2) Step three specifically involves: for all sub-filters at the current time... Reconstructing the numbering Remove the number Sub-filters.

[0016] (3) For all sub-filters at the current time Numbering is reconstructed For sub-filter numbers that are greater than abnormal filter numbers, the numbers need to be prefixed.

[0017] (4) .

[0018] (5) Step four is as follows:

[0019] For all sub-filters at the current time Refactor Remove the existing number All sub-filters Other secondary filters need to be renumbered. .

[0020] (6) Remove items with the number . All sub-filters, specifically: .

[0021] (7) Renumber the other secondary filters, specifically:

[0022] .

[0023] The technical solution of this invention determines whether the satellite's loss of contact time exceeds a specified time; and obtains the sub-filter number corresponding to the lost satellite. Reconstruct the numbering of sub-filter banks; reconstruct the numbering of secondary filter banks; reduce the number of filter banks by one, thereby reducing false alarms caused by algorithm problems and improving the continuity of the inertial / satellite tightly coupled system. Attached Figure Description

[0024] Figure 1 A schematic diagram of the master-sub-secondary filter architecture for multiple solution separation;

[0025] Figure 2 This is a schematic diagram of the anomaly handling method for multi-solution separation according to the present invention;

[0026] Figure 3 This is a schematic diagram of the processing result of an anomaly handling method for multi-solution separation according to an embodiment of the present invention. Figure 1 ;

[0027] Figure 4 This is a schematic diagram of the processing result of an anomaly handling method for multi-solution separation according to an embodiment of the present invention. Figure 2 ;

[0028] Figure 5 This is a schematic diagram of the processing result of an anomaly handling method for multi-solution separation according to an embodiment of the present invention. Figure 3 . Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] The features of various aspects of the embodiments of the present invention will now be described in detail. In the following detailed description, numerous specific details are set forth to provide a thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention can also be practiced without these specific details. The following description of the embodiments is merely intended to provide a better understanding of the invention by illustrating examples. The invention is not limited to any specific setups and methods provided below, but covers all improvements, substitutions, etc., to product structures and methods without departing from the spirit of the invention. In the various drawings and the following description, well-known structures and techniques are not shown to avoid unnecessarily obscuring the invention.

[0031] It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other, and the various embodiments can be referenced and cited from each other.

[0032] The technical solution of the present invention will now be described in detail with reference to the accompanying drawings.

[0033] Example 1:

[0034] This invention provides an anomaly handling method for multi-solution separation, such as... Figure 2 As shown, the method includes:

[0035] Step 1: Determine whether the satellite has been out of contact for longer than the specified time.

[0036] Iterate through the currently acquired satellite numbers, determine if they exist in the historical state, and determine if a satellite has reached the set maximum disconnection time T=1000s.

[0037] Step 2: Obtain the sub-filter number corresponding to the lost satellite. .

[0038] Step 3: Sub-filter bank reconstruction.

[0039] For all sub-filters at the current time Refactor Remove the number. The sub-filters need to be renumbered. For sub-filter numbers that are greater than abnormal filter numbers, the numbers need to be prefixed.

[0040] .

[0041] Step 4: Secondary filter bank reconstruction.

[0042] For all sub-filters at the current time Refactor Remove items with the specified number. All sub-filters Other secondary filters need to be renumbered. ;

[0043]

[0044] .

[0045] Step 5: Number of filter banks after reconstruction - 1.

[0046] .

[0047] like Figure 3 The diagram shown is a schematic of the master-sub-secondary filter architecture after anomaly handling using the technical solution of this invention in this embodiment.

[0048] Step Six: Repeat steps one through five until the flight path reaches a total duration of L=2 hours.

[0049] Example 2:

[0050] This invention provides an anomaly handling method for multi-solution separation, such as... Figure 2 As shown, the method includes:

[0051] Step 1: Determine whether the satellite has been out of contact for longer than the specified time.

[0052] Iterate through the currently acquired satellite numbers, check if they exist in the historical status, and determine if a satellite has reached the set maximum disconnection time T=1000s.

[0053] Step 2: Obtain the sub-filter number corresponding to the lost satellite. .

[0054] Step 3: Sub-filter bank reconstruction.

[0055] For all sub-filters at the current time Refactor Due to the removal of the number The last sub-filter is arranged so that the order of the other sub-filters does not need to be changed.

[0056] .

[0057] Step 4: Secondary filter bank reconstruction.

[0058] For all sub-filters at the current time Refactor Remove items with the specified number. All sub-filters Other secondary filters need to be renumbered. .

[0059]

[0060] .

[0061] Step 5: Number of filter banks after reconstruction - 1.

[0062]

[0063] like Figure 4 The diagram shown is a schematic of the master-sub-secondary filter architecture after anomaly handling using the technical solution of the present invention.

[0064] Step Six: Repeat steps one through five until the flight path reaches a total duration of L=2 hours.

[0065] Example 3:

[0066] This invention provides an anomaly handling method for multi-solution separation, such as... Figure 2 As shown, the method includes:

[0067] Step 1: Determine whether the satellite has been out of contact for longer than the specified time.

[0068] Iterate through the currently acquired satellite numbers, check if they exist in the historical status, and determine if a satellite has reached the set maximum disconnection time T=1000s.

[0069] Step 2: Obtain the sub-filter number corresponding to the lost satellite. .

[0070] Step 3: Sub-filter bank reconstruction.

[0071] For all sub-filters at the current time Refactor Due to the removal of the number To arrange the first sub-filter, the sequential numbers of all other sub-filters must be shifted forward.

[0072] .

[0073] Step 4: Secondary filter bank reconstruction.

[0074] For all sub-filters at the current time Refactor Remove items with the specified number. All sub-filters Other secondary filters need to be renumbered. .

[0075]

[0076] .

[0077] Step 5: Decrease the number of filter banks by 1 after reconstruction.

[0078] .

[0079] like Figure 5 The diagram shown is a schematic of the master-sub-secondary filter architecture after anomaly handling using the technical solution of this invention in this embodiment.

[0080] Step Six: Repeat steps one through five until the flight path reaches a total duration of L=2 hours.

[0081] The technical solution of this invention determines whether the satellite's loss of contact time exceeds a specified time; and obtains the sub-filter number corresponding to the lost satellite. Reconstruct the numbering of sub-filter banks; reconstruct the numbering of secondary filter banks; reduce the number of filter banks by one, thereby reducing false alarms caused by algorithm problems and improving the continuity of the inertial / satellite tightly coupled system.

[0082] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should be covered within the protection scope of the present invention.

Claims

1. A method for handling anomalies involving multiple solutions separation, characterized in that, The method includes: Step 1: Determine if the satellite has been out of contact for longer than the specified time. Step 2: Obtain the sub-filter number corresponding to the lost satellite. ; Step 3: Reconstruct the numbering of the sub-filter banks; Step 3 specifically involves: For all sub-filters at the current time Numbering is reconstructed Remove the number Sub-filters; For all sub-filters at the current time Numbering is reconstructed For sub-filter numbers that are greater than abnormal filter numbers, the numbers need to be prefixed. Step 4: Reconstruct the numbering of the secondary filter bank; Step 4 specifically involves: For all sub-filters at the current time Refactor Remove the existing number All sub-filters Other secondary filters need to be renumbered. ; Remove the existing number All sub-filters, specifically: The other secondary filters are renumbered as follows: Step 5: Decrease the number of filter banks by one.

2. The anomaly handling method for multi-solution separation according to claim 1, characterized in that, Step one specifically involves iterating through the currently acquired satellite numbers and determining whether the satellite has reached the set maximum disconnection time T.

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