A space-ground integrated global integrity monitoring method

Abstract

The invention relates to satellite navigation technology, and in particular to a space-ground integrated global integrity monitoring method, comprising: acquiring matching low-orbit satellites; determining a matching state according to the number of matching low-orbit satellites of each medium-orbit satellite, and determining a satellite monitoring mode according to the matching state of each medium-orbit satellite; if the medium-orbit satellite is in a first preset matching state, each medium-orbit satellite sends its own monitoring data to a ground monitoring network; if the medium-orbit satellite is in a second preset matching state, determining a monitoring processing mode according to whether there is an abnormal matching satellite among the matching low-orbit satellites of the medium-orbit satellite; determining whether to send a data abnormality warning to a user according to an autonomous integrity monitoring result of each verified matching satellite and a monitoring data judgment result of each verified matching satellite; and determining a monitoring protection level according to a receiver autonomous integrity monitoring algorithm. The invention improves the accuracy of the integrity judgment result for the medium-orbit satellite.

Description

Technical Field

[0001] The present invention relates to satellite navigation technology, and in particular to a space-ground integrated global integrity monitoring method. Background Art

[0002] By conducting integrity monitoring on the satellite navigation system, the stability of the satellite navigation system can be ensured. In the existing integrity monitoring technology of the satellite navigation system, when combining low-orbit satellites to conduct integrity monitoring on medium- and high-orbit satellites, there are often problems with the fault tolerance of the integrity monitoring process and the low accuracy of the integrity judgment results, which leads to low accuracy of the integrity monitoring results.

[0003] Chinese Patent Publication No. CN115248449A discloses a method and device for monitoring the integrity of medium and high orbit navigation satellites using low-orbit satellites. The method includes: using a GNSS receiver carried by a low-orbit satellite to receive signals from medium and high orbit navigation satellites within the field of view, and screening the received signals according to precise orbit information to obtain signal measurement information of the medium and high orbit navigation satellites; performing integrity calculation on the medium and high orbit navigation satellites according to the signal measurement information to obtain first integrity monitoring information; sending the first integrity monitoring information to the medium and high orbit navigation satellite using a short message transmitter; the medium and high orbit navigation satellite determines its own integrity status based on all the first integrity monitoring information received and the second integrity monitoring information generated by itself; it can be seen that the above scheme has the following problems: in the integrity judgment process, the monitoring data of multiple low-orbit satellites cannot be combined to perform integrity judgment on the medium and high orbit satellites, resulting in poor fault tolerance in the integrity monitoring process, and then resulting in low accuracy of the integrity monitoring results. Summary of the invention

[0004] To this end, the present invention provides a space-ground integrated global integrity monitoring method to overcome the problem that the prior art fails to combine the monitoring data of multiple low-orbit satellites in the integrity judgment process to determine the integrity judgment of medium and high-orbit satellites, making the integrity judgment result susceptible to the reliability of the low-orbit satellite itself, resulting in poor fault tolerance in the integrity monitoring process, and further leading to low reliability of the integrity monitoring result.

[0005] To achieve the above object, the present invention provides a space-ground integrated global integrity monitoring method, comprising:

[0006] According to the satellite matching strategy, low-orbit satellite matching is periodically performed for each medium-orbit and high-orbit satellite to obtain a matching low-orbit satellite;

[0007] Determine the matching status according to the number of matching low-orbit satellites of each medium-orbit satellite and determine the satellite monitoring mode according to the matching status of each medium-orbit satellite;

[0008] If the medium and high orbit satellites are in the first preset matching state, each medium and high orbit satellite sends its own monitoring data to the ground monitoring network;

[0009] If the medium- and high-orbit satellite is in the second preset matching state, a monitoring and processing method is determined according to whether there is an abnormal matching satellite among the matching low-orbit satellites of the medium- and high-orbit satellite, and the monitoring and processing method includes determining a verification satellite screening strategy according to the satellite difference state of the matching low-orbit satellite, and reacquiring various monitoring data of the medium- and high-orbit satellite;

[0010] The verification satellite screening strategy includes determining a preset verification number of verification matching satellites according to the satellite performance reference value of each matching low-orbit satellite, and determining a screening method according to the number of similar matching satellites;

[0011] The screening method includes determining a verification matching satellite based on the communication distance between each matching low-orbit satellite and the abnormal matching satellite and a monitoring difference reference value;

[0012] Whether to send a data anomaly warning to the user is determined based on the proportion of abnormal verification satellites.

[0013] Furthermore, low-orbit satellite matching is periodically performed for each medium-orbit and high-orbit satellite according to a satellite matching strategy, wherein the satellite matching strategy includes:

[0014] For a single medium-orbit satellite, obtain the orbital height difference value and period similarity between the medium-orbit satellite and each low-orbit satellite;

[0015] The matching coefficient of each low-orbit satellite is determined according to the orbital height difference value and period similarity between each low-orbit satellite and the medium-orbit and high-orbit satellites;

[0016] A low-orbit satellite whose matching coefficient is greater than a preset matching coefficient is recorded as a matching low-orbit satellite.

[0017] Furthermore, the matching status of each medium and high orbit satellite is determined according to the number of matching low orbit satellites of each medium and high orbit satellite, and the matching status includes:

[0018] A first preset matching state in which the number of matching low-orbit satellites is less than or equal to the preset number of matching low-orbit satellites;

[0019] A second preset matching state in which the number of matching low-orbit satellites is greater than a preset number of matching low-orbit satellites.

[0020] Furthermore, the satellite monitoring mode is determined according to the matching status of each medium and high orbit satellite, including:

[0021] If the medium-orbit satellite is in the first preset matching state, the medium-orbit satellite sends its own monitoring data to the ground monitoring network;

[0022] If the medium-orbit satellite is in the second preset matching state, a monitoring and processing method is determined according to whether there is an abnormal matching satellite among the matching low-orbit satellites of the medium-orbit satellite;

[0023] The abnormal matching satellite is determined based on the monitoring data of various categories of the corresponding medium and high orbit satellites obtained by the matching low orbit satellite, and a matching low orbit satellite whose monitoring data of any category is not within the preset threshold range of the monitoring data of the corresponding category is recorded as an abnormal matching satellite.

[0024] Furthermore, the preset threshold range is set according to the reference records of the corresponding medium and high orbit satellites, and different categories of monitoring data have corresponding preset threshold ranges. The average value of the minimum value of each category of monitoring data in the reference record is recorded as the minimum value of the preset threshold range of the corresponding category of monitoring data, and the average value of the maximum value of each category of monitoring data in the reference record is recorded as the maximum value of the preset threshold range of the corresponding category of monitoring data;

[0025] The reference record is determined based on the data monitoring record of the same medium-orbit satellite and the difference value of the matching coefficient of each matching low-orbit satellite in the current monitoring period.

[0026] Furthermore, the monitoring and processing method includes:

[0027] For a single medium-high orbit satellite, if there is an abnormal matching satellite among the matching low-orbit satellites of the medium-high orbit satellite, the matching low-orbit satellites of the medium-high orbit satellite are screened, and the verification satellite screening strategy is determined according to the satellite difference status of the matching low-orbit satellites;

[0028] The verification satellite screening strategy includes determining a screening method according to the number of similar matching satellites, and determining a preset verification number of verification matching satellites according to satellite performance reference values ​​of each matching low-orbit satellite;

[0029] For a single medium-orbit satellite, if there is no abnormal matching satellite among the matching low-orbit satellites of the medium-orbit satellite, re-acquire various monitoring data of the medium-orbit satellite;

[0030] The satellite difference state is determined according to the monitoring difference reference value of the matching low-orbit satellite, and the satellite difference state includes a first type of satellite difference state whose monitoring difference reference value is greater than a preset difference reference value, and a second type of satellite difference state whose monitoring difference reference value is less than or equal to the preset difference reference value.

[0031] Furthermore, for a single medium-orbit satellite, if the matching low-orbit satellite of the medium-orbit satellite is in a satellite difference state, a screening method is determined according to the number of similar matching satellites, and the screening method includes:

[0032] If the number of similar matching satellites is less than the preset number of similar matching satellites, a preset number of verification matching satellites is determined according to the communication distance between each matching low-orbit satellite and the abnormal matching satellite;

[0033] If the number of similar matching satellites is greater than or equal to the preset number of similar matching satellites, a preset number of verified matching satellites is determined according to the monitoring difference values ​​of each matching low-orbit satellite.

[0034] Furthermore, for a single medium-orbit satellite, if the matching low-orbit satellite of the medium-orbit satellite is in a second-category satellite difference state, a preset number of verification matching satellites are determined according to the satellite performance reference values ​​of each matching low-orbit satellite;

[0035] The satellite performance reference value is determined according to the communication effect coefficient and the processing effect coefficient of each matching low-orbit satellite.

[0036] Furthermore, autonomous integrity monitoring is performed on each verification matching satellite of any medium and high orbit satellite, and a determination is made whether to send a data abnormality warning to the user based on the proportion of abnormal verification satellites;

[0037] If the proportion of abnormal verification satellites is greater than or equal to 50%, the medium-orbit satellite is judged to be abnormal, and a data abnormality warning is sent to the user;

[0038] If the proportion of abnormal verification satellites is less than 50%, it is determined that there is no abnormality in the medium and high orbit satellites, and there is no need to send data abnormality warnings to users.

[0039] Further, the abnormal verification satellite is a reference verification matching satellite for which any category of monitoring data is not within a preset threshold range of the corresponding category of monitoring data;

[0040] The reference verification matching satellites are verification matching satellites whose autonomous integrity monitoring results are all normal.

[0041] Compared with the prior art, the beneficial effect of the present invention lies in that the technical scheme of the present invention performs integrity judgment based on the autonomous integrity monitoring results of each abnormal matching satellite and the monitoring data judgment results of each verification matching satellite, thereby improving the fault tolerance of the integrity judgment process and avoiding the influence of the reliability of the low-orbit satellite itself on the integrity judgment results. The present invention improves the accuracy of the integrity judgment results of medium and high-orbit satellites.

[0042] Furthermore, the present invention determines the matching coefficient of each low-orbit satellite based on the orbital height difference value, period similarity and relative speed difference value between each low-orbit satellite and the medium- and high-orbit satellites, and determines the matching low-orbit satellite based on the matching coefficient of each low-orbit satellite, thereby reducing the impact of relative motion on the process of low-orbit satellites obtaining medium- and high-orbit satellite monitoring data. The present invention improves the accuracy of the monitoring data obtained by low-orbit satellites, and further improves the reliability of the integrity judgment results of medium- and high-orbit satellites.

[0043] Furthermore, the present invention determines the verification satellite screening strategy according to the satellite difference status of the matching low-orbit satellites of each medium-orbit and high-orbit satellite, so that the screening process of the verification matching satellites is more in line with the actual working scenario, and the accuracy of the screening results of the verification matching satellites is improved, thereby improving the accuracy of the integrity judgment of the verification matching satellites to assist the abnormal matching satellites. The present invention improves the accuracy of the obtained integrity judgment results.

[0044] Furthermore, the present invention determines a screening method according to the number of similar matching satellites when the satellite difference state is in a first-category satellite difference state to ensure that the selection of verified matching satellites is more in line with the actual working scenario; and when the satellite difference state is in a second-category satellite difference state, a preset number of verified matching satellites is determined according to the satellite performance reference values ​​of each matching low-orbit satellite of each medium-orbit and high-orbit satellite, so as to obtain verified matching satellites with better communication effect and task processing effect, and reduce the influence of the selected verified matching satellites on the integrity judgment result. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 Schematic diagram of the space-ground integrated global integrity monitoring method of the present invention;

[0046] Figure 2 This is a flow chart of determining a satellite monitoring method according to the matching status of each medium-orbit and high-orbit satellite in the present invention;

[0047] Figure 3 A flow chart of the present invention for determining a verification satellite screening strategy according to a satellite difference state matching a low-orbit satellite;

[0048] Figure 4 The present invention is a flow chart of determining a screening method according to the number of similar matching satellites. DETAILED DESCRIPTION

[0049] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; 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.

[0050] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0051] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0052] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0053] See also Figures 1 to 4 As shown, the present invention provides a space-ground integrated global integrity monitoring method, comprising:

[0054] According to the satellite matching strategy, low-orbit satellite matching is periodically performed for each medium-orbit and high-orbit satellite to obtain a matching low-orbit satellite;

[0055] Determine the matching status according to the number of matching low-orbit satellites of each medium-orbit satellite and determine the satellite monitoring mode according to the matching status of each medium-orbit satellite;

[0056] If the medium and high orbit satellites are in the first preset matching state, each medium and high orbit satellite sends its own monitoring data to the ground monitoring network;

[0057] If the medium- and high-orbit satellite is in the second preset matching state, a monitoring and processing method is determined according to whether there is an abnormal matching satellite among the matching low-orbit satellites of the medium- and high-orbit satellite, and the monitoring and processing method includes determining a verification satellite screening strategy according to the satellite difference state of the matching low-orbit satellite, and reacquiring various monitoring data of the medium- and high-orbit satellite;

[0058] The verification satellite screening strategy includes determining a preset verification number of verification matching satellites according to the satellite performance reference value of each matching low-orbit satellite, and determining a screening method according to the number of similar matching satellites;

[0059] The screening method includes determining a verification matching satellite based on the communication distance between each matching low-orbit satellite and the abnormal matching satellite and a monitoring difference reference value;

[0060] Whether to send a data anomaly warning to the user is determined based on the proportion of abnormal verification satellites.

[0061] Among them, low-orbit satellites are satellites with an orbital altitude greater than 200 kilometers and less than or equal to 2000 kilometers, and medium- and high-orbit satellites are satellites with an orbital altitude greater than 2000 kilometers and less than or equal to 35786 kilometers. Low-orbit satellites carry satellite navigation receivers to conduct space-based monitoring of the navigation signals of medium- and high-orbit satellites. The categories of monitoring data obtained include but are not limited to signal strength, satellite orbit parameters and signal power.

[0062] Specifically, low-orbit satellite matching is periodically performed for each medium-orbit and high-orbit satellite according to a satellite matching strategy, and the satellite matching strategy includes:

[0063] For a single medium-orbit satellite, obtain the orbital height difference value and period similarity between the medium-orbit satellite and each low-orbit satellite;

[0064] The matching coefficient of each low-orbit satellite is determined according to the orbital height difference value and period similarity between each low-orbit satellite and the medium-orbit and high-orbit satellites;

[0065] A low-orbit satellite whose matching coefficient is greater than a preset matching coefficient is recorded as a matching low-orbit satellite.

[0066] Among them, the present invention applies a cyclic satellite matching period, and the duration of the satellite matching period can be determined by the user. The higher the accuracy requirement of the integrity monitoring result of the user, the shorter the duration of the satellite matching period. A satellite matching period is provided, and the satellite matching period is 1h. At the end of each satellite matching period, low-orbit satellite matching is performed for each medium-orbit and high-orbit satellite.

[0067] For a single low-orbit satellite, the matching coefficient between it and any medium-orbit or high-orbit satellite , H is the difference in orbital height between the low-orbit satellite and the corresponding medium-orbit satellite, the difference in orbital height is the absolute value of the difference in orbital heights of the two satellites, T is the period similarity between the low-orbit satellite and the corresponding medium-orbit satellite, period similarity = preset period / (operation period of medium-orbit satellite - operation period of low-orbit satellite), and They are respectively the influencing parameters of the orbital height difference value and the period similarity on the matching coefficient of each low-orbit satellite, and the setting of the influencing parameters of the orbital height difference value and the period similarity on the matching coefficient of each low-orbit satellite. The user can set them according to actual needs and historical records. The greater the influence of the orbital height difference value on the acquisition of monitoring data, the greater the influencing parameter corresponding to the orbital height difference value. The greater the influence of the period similarity on the acquisition of monitoring data, the greater the influencing parameter corresponding to the period similarity. A value of the influencing parameter corresponding to the orbital height difference value is provided, and the value of the influencing parameter corresponding to the orbital height difference value is 0.6. A value of the influencing parameter corresponding to the period similarity is provided, and the value of the influencing parameter corresponding to the period similarity is 0.4. The value of the preset matching coefficient can be set by the user according to actual needs and historical records. The higher the user's accuracy requirement for the integrity monitoring result, the greater the value of the preset matching coefficient. A method for setting the value of the preset matching coefficient is provided, and the average value of the matching coefficients of each matching low-orbit satellite in the historical record that meets the user's accuracy requirement for the integrity monitoring result is recorded as the preset matching coefficient.

[0068] Specifically, the matching status of each medium and high orbit satellite is determined according to the number of matching low orbit satellites of each medium and high orbit satellite, and the matching status includes:

[0069] A first preset matching state in which the number of matching low-orbit satellites is less than or equal to the preset number of matching low-orbit satellites;

[0070] A second preset matching state in which the number of matching low-orbit satellites is greater than a preset number of matching low-orbit satellites.

[0071] Among them, the value of the preset matching number of low-orbit satellites can be set by the user according to actual needs and historical records. The higher the user's requirements for the accuracy of the integrity monitoring results, the larger the value of the preset matching number of low-orbit satellites. A value of the preset matching number of low-orbit satellites is provided, and the value of the preset matching number of low-orbit satellites is 4.

[0072] Specifically, the satellite monitoring method is determined according to the matching status of each medium and high orbit satellite, including:

[0073] If the medium-orbit satellite is in the first preset matching state, the medium-orbit satellite sends its own monitoring data to the ground monitoring network;

[0074] If the medium-orbit satellite is in the second preset matching state, a monitoring and processing method is determined according to whether there is an abnormal matching satellite among the matching low-orbit satellites of the medium-orbit satellite;

[0075] The abnormal matching satellite is determined based on the monitoring data of various categories of the corresponding medium and high orbit satellites obtained by the matching low orbit satellite, and a matching low orbit satellite whose monitoring data of any category is not within the preset threshold range of the monitoring data of the corresponding category is recorded as an abnormal matching satellite.

[0076] Among them, for any category of monitoring data, if the value of the monitoring data is greater than the minimum value of the corresponding preset threshold range and less than or equal to the maximum value of the corresponding preset threshold range, then the monitoring data of this category is determined to be within the preset threshold range of the corresponding category of monitoring data; if the value of the monitoring data is less than or equal to the minimum value of the corresponding preset threshold range or greater than the maximum value of the corresponding preset threshold range, then the monitoring data of this category is determined to be not within the preset threshold range of the corresponding category of monitoring data.

[0077] Specifically, the preset threshold range is set according to the reference records of the corresponding medium and high orbit satellites, and different categories of monitoring data have corresponding preset threshold ranges. The average value of the minimum value of each category of monitoring data in the reference record is recorded as the minimum value of the preset threshold range of the corresponding category of monitoring data, and the average value of the maximum value of each category of monitoring data in the reference record is recorded as the maximum value of the preset threshold range of the corresponding category of monitoring data;

[0078] The reference record is determined based on the data monitoring record of the same medium-orbit satellite and the difference value of the matching coefficient of each matching low-orbit satellite in the current monitoring period.

[0079] Among them, the present invention applies a cyclic monitoring period, and the duration of the monitoring period can be determined by the user. The higher the accuracy requirement of the integrity monitoring result, the shorter the duration of the monitoring period. A monitoring period is provided, and the monitoring period is 10 minutes. At the end of each monitoring period, the monitoring data of each medium and high orbit satellite is monitored according to the matched low orbit satellite;

[0080] For a single medium and high orbit satellite, its data monitoring record includes the matching low orbit satellites of different monitoring periods of the medium and high orbit satellite in the historical records, the matching coefficients corresponding to each matching low orbit satellite in different monitoring periods, and the monitoring data obtained for the medium and high orbit satellites at each time. The matching coefficient difference between each matching low orbit satellite in the data monitoring record and each matching low orbit satellite in the current monitoring period is monitored. The matching coefficient difference value is the absolute value of the matching coefficient difference between the two matching low orbit satellites. The monitoring data of the matching low orbit satellite in the data monitoring record whose matching coefficient difference value is less than the preset coefficient difference value is recorded as a reference record. The user can set the value of the preset coefficient difference value according to actual needs and historical records. The higher the user's requirement for the accuracy of the integrity monitoring result, the smaller the value of the preset coefficient difference value. A preset coefficient difference value is provided, and the value of the preset coefficient difference value is 10% of the preset matching coefficient.

[0081] Specifically, the monitoring and processing method includes:

[0082] For a single medium-high orbit satellite, if there is an abnormal matching satellite among the matching low-orbit satellites of the medium-high orbit satellite, the matching low-orbit satellites of the medium-high orbit satellite are screened, and the verification satellite screening strategy is determined according to the satellite difference status of the matching low-orbit satellites;

[0083] The verification satellite screening strategy includes determining a screening method according to the number of similar matching satellites, and determining a preset verification number of verification matching satellites according to satellite performance reference values ​​of each matching low-orbit satellite;

[0084] For a single medium-orbit satellite, if there is no abnormal matching satellite among the matching low-orbit satellites of the medium-orbit satellite, re-acquire various monitoring data of the medium-orbit satellite;

[0085] The satellite difference state is determined according to the monitoring difference reference value of the matching low-orbit satellite, and the satellite difference state includes a first type of satellite difference state whose monitoring difference reference value is greater than a preset difference reference value, and a second type of satellite difference state whose monitoring difference reference value is less than or equal to the preset difference reference value.

[0086] Among them, for a single medium-orbit satellite, the monitoring difference reference value , is the monitoring difference value of the i-th matching low-orbit satellite of the medium-high-orbit satellite, is the average value of the monitoring difference values ​​of each matching low-orbit satellite of the medium-high orbit satellite, n is the number of matching low-orbit satellites in the preset screening range, and for a single matching low-orbit satellite, the monitoring difference value , For the The data difference value of each category of monitoring data is the absolute value of the difference between the value of each category of monitoring data and the average value of the corresponding category of monitoring data of each matching low-orbit satellite of the corresponding medium- and high-orbit satellite. The influence coefficient corresponding to the data difference value of each category of monitoring data, the user can set the monitoring data category and the influence coefficient corresponding to the data difference value for calculating the monitoring difference value according to actual needs, which is easy to understand for those skilled in the art and will not be elaborated here;

[0087] The value of the preset difference reference value can be set by the user according to actual needs and historical records. The higher the user's requirement for the accuracy of the integrity monitoring results, the smaller the value of the preset difference reference value. A method for setting the preset difference reference value is provided, and the average value of the monitoring difference reference values ​​of the medium and high orbit satellites with abnormal matching satellites in the historical records that meet the accuracy requirements of the integrity monitoring results is recorded as the preset difference reference value.

[0088] Specifically, for a single medium-orbit satellite, if the matching low-orbit satellite of the medium-orbit satellite is in a class of satellite difference state, the screening method is determined according to the number of similar matching satellites, and the screening method includes:

[0089] If the number of similar matching satellites is less than the preset number of similar matching satellites, a preset number of verification matching satellites is determined according to the communication distance between each matching low-orbit satellite and the abnormal matching satellite;

[0090] If the number of similar matching satellites is greater than or equal to the preset number of similar matching satellites, a preset number of verified matching satellites is determined according to the monitoring difference values ​​of each matching low-orbit satellite.

[0091] Wherein, the similar matching satellite is a matching low-orbit satellite whose monitoring difference value is less than a preset monitoring difference value. The user can set the preset monitoring difference value according to actual needs and historical records. The higher the user's accuracy requirements for the integrity monitoring result, the larger the value of the preset monitoring difference value. A method for setting the preset monitoring difference value is provided, and the historical records of medium and high-orbit satellites in which each matching low-orbit satellite is in a class of satellite difference states are recorded as reference records, and the average value of the monitoring difference values ​​of each matching low-orbit satellite in the reference records that meet the accuracy requirements for the integrity monitoring result is recorded as a preset difference reference value;

[0092] The value of the preset number of similar matching satellites can be set by the user according to actual needs and historical records. The higher the accuracy of the integrity monitoring results required by the user, the larger the value of the preset number of similar matching satellites. A value of the preset number of similar matching satellites is provided, and the value of the preset number of similar matching satellites is 3;

[0093] The communication distance is the distance that the signal needs to propagate when each matching low-orbit satellite communicates with the abnormal matching satellite. The matching low-orbit satellite with a smaller communication distance is set as the verification matching satellite; the matching low-orbit satellite with a smaller monitoring difference value is set as the verification matching satellite. The user can set the value of the preset verification number according to actual needs. The higher the user's requirement for the accuracy of the integrity monitoring result, the larger the value of the preset verification number. A value of the preset verification number is provided, and the value of the preset verification number is 3.

[0094] Specifically, for a single medium-orbit satellite, if the matching low-orbit satellite of the medium-orbit satellite is in a Class II satellite difference state, a preset number of verification matching satellites are determined according to the satellite performance reference values ​​of each matching low-orbit satellite;

[0095] The satellite performance reference value is determined according to the communication effect coefficient and the processing effect coefficient of each matching low-orbit satellite.

[0096] Among them, the satellite performance reference value , C is the communication effect coefficient of each matching low-orbit satellite, the communication effect coefficient C=ln(transmission rate of each matching low-orbit satellite / bit error rate of the corresponding matching low-orbit satellite), the transmission rate refers to the amount of data that each matching low-orbit satellite can transmit per unit time, the bit error rate is the ratio of the amount of data received and sent that is inconsistent with the data sent per unit time to the amount of data sent, D is the processing effect coefficient of each matching low-orbit satellite, the processing effect coefficient=ln(data processing rate of each matching low-orbit satellite / processor occupancy rate of the corresponding matching low-orbit satellite), the data processing rate refers to the amount of data processed per unit time by the low-orbit satellite after receiving the monitoring data, the processing process includes but is not limited to decompression, decryption, filtering and analysis, the processor occupancy rate refers to the proportion of time spent by the processor of each low-orbit matching satellite in performing calculation and processing tasks, and They are weight coefficients corresponding to the communication effect coefficient and the processing effect coefficient respectively. The user can set the weight coefficients corresponding to the communication effect coefficient and the processing effect coefficient according to actual needs. The more the user values ​​the communication effect of the satellite, the larger the weight coefficient corresponding to the communication effect coefficient; the more the user values ​​the task processing capability of the satellite, the larger the weight coefficient corresponding to the processing effect coefficient; a value of the weight coefficient corresponding to the communication effect coefficient and the processing effect coefficient is provided, the value of the weight coefficient corresponding to the communication effect coefficient is 0.5, the value of the weight coefficient corresponding to the processing effect coefficient is 0.5; a preset number of verification matching satellites are determined according to the satellite performance reference value of each matching low-orbit satellite, and the matching low-orbit satellite with a larger satellite performance reference value becomes the verification matching satellite in priority.

[0097] Specifically, autonomous integrity monitoring is performed on each verification matching satellite of any medium-orbit satellite, and a determination is made as to whether to send a data abnormality warning to the user based on the proportion of abnormal verification satellites;

[0098] If the proportion of abnormal verification satellites is greater than or equal to 50%, the medium-orbit satellite is judged to be abnormal, and a data abnormality warning is sent to the user;

[0099] If the proportion of abnormal verification satellites is less than 50%, it is determined that there is no abnormality in the medium and high orbit satellites, and there is no need to send data abnormality warnings to users.

[0100] Specifically, the abnormal verification satellite is a reference verification matching satellite for which any category of monitoring data is not within a preset threshold range of the corresponding category of monitoring data;

[0101] The reference verification matching satellite is a verification matching satellite whose autonomous integrity monitoring results have no abnormalities.

[0102] Among them, the proportion of abnormal verification satellites = (the number of abnormal verification satellites / the number of reference verification matching satellites) × 100%. In the present invention, each low-orbit satellite is respectively provided with an autonomous integrity monitoring module, and each autonomous integrity monitoring module analyzes whether various monitoring parameters of the corresponding single-orbit satellite are within the corresponding preset parameter range. If any detection parameter is not within the corresponding preset parameter range, it is determined that the autonomous integrity monitoring result of the low-orbit satellite is abnormal. If all detection parameters are within the corresponding preset parameter range, it is determined that there is no abnormality in the autonomous integrity monitoring result of the low-orbit satellite.

[0103] The categories of monitoring parameters analyzed by the autonomous integrity monitoring module in the present invention include but are not limited to signal quality, ranging data and signal power. Any monitoring parameter in the present invention is respectively set with a preset parameter range. The user can set the preset parameter range of each monitoring parameter according to actual needs and historical records. The historical records of the values ​​of each monitoring parameter of the low-orbit satellite with no abnormality in each autonomous integrity monitoring result are recorded as parameter reference records, the average value of the minimum value of each monitoring parameter in the parameter reference record is recorded as the minimum value of the preset parameter range of the corresponding monitoring parameter, and the average value of the maximum value of each monitoring parameter in the parameter reference record is recorded as the maximum value of the preset parameter range of the corresponding monitoring parameter. For any monitoring parameter, if the value of the monitoring parameter is greater than the minimum value of the corresponding preset parameter range and less than or equal to the maximum value of the corresponding preset parameter range, it is determined that the monitoring parameter is within the corresponding preset parameter range. If the value of the monitoring parameter is less than or equal to the minimum value of the corresponding preset parameter range or greater than the maximum value of the corresponding preset parameter range, it is determined that the monitoring parameter is not within the corresponding preset parameter range.

[0104] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0105] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A space-ground integrated global integrity monitoring method, characterized in that: include: According to the satellite matching strategy, low-orbit satellite matching is periodically performed for each medium-orbit and high-orbit satellite to obtain a matching low-orbit satellite; Determine the matching status according to the number of matching low-orbit satellites of each medium-orbit satellite and determine the satellite monitoring mode according to the matching status of each medium-orbit satellite; If the medium and high orbit satellites are in the first preset matching state, each medium and high orbit satellite sends its own monitoring data to the ground monitoring network; If the medium- and high-orbit satellite is in the second preset matching state, a monitoring and processing method is determined according to whether there is an abnormal matching satellite among the matching low-orbit satellites of the medium- and high-orbit satellite, and the monitoring and processing method includes determining a verification satellite screening strategy according to the satellite difference state of the matching low-orbit satellite, and reacquiring various monitoring data of the medium- and high-orbit satellite; The verification satellite screening strategy includes determining a preset verification number of verification matching satellites according to the satellite performance reference value of each matching low-orbit satellite, and determining a screening method according to the number of similar matching satellites; The screening method includes determining a verification matching satellite based on the communication distance between each matching low-orbit satellite and the abnormal matching satellite and a monitoring difference reference value; Whether to send a data anomaly warning to the user is determined based on the proportion of abnormal verification satellites.

2. The space-ground integrated global integrity monitoring method according to claim 1, characterized in that: According to the satellite matching strategy, low-orbit satellite matching is periodically performed for each medium-orbit and high-orbit satellite. The satellite matching strategy includes: For a single medium-orbit satellite, obtain the orbital height difference value and period similarity between the medium-orbit satellite and each low-orbit satellite; The matching coefficient of each low-orbit satellite is determined according to the orbital height difference value and period similarity between each low-orbit satellite and the medium-orbit and high-orbit satellites; A low-orbit satellite whose matching coefficient is greater than a preset matching coefficient is recorded as a matching low-orbit satellite.

3. The space-ground integrated global integrity monitoring method according to claim 2, characterized in that: The matching status of each medium and high orbit satellite is determined according to the number of matching low orbit satellites of each medium and high orbit satellite. The matching status includes: A first preset matching state in which the number of matching low-orbit satellites is less than or equal to the preset number of matching low-orbit satellites; A second preset matching state in which the number of matching low-orbit satellites is greater than a preset number of matching low-orbit satellites.

4. The space-ground integrated global integrity monitoring method according to claim 3 is characterized in that: The satellite monitoring method is determined according to the matching status of each medium and high orbit satellite, including: If the medium-orbit satellite is in the first preset matching state, the medium-orbit satellite sends its own monitoring data to the ground monitoring network; If the medium-orbit satellite is in the second preset matching state, a monitoring and processing method is determined according to whether there is an abnormal matching satellite among the matching low-orbit satellites of the medium-orbit satellite; The abnormal matching satellite is determined based on the monitoring data of various categories of the corresponding medium and high orbit satellites obtained by the matching low orbit satellite, and a matching low orbit satellite whose monitoring data of any category is not within the preset threshold range of the monitoring data of the corresponding category is recorded as an abnormal matching satellite.

5. The space-ground integrated global integrity monitoring method according to claim 4, characterized in that: The preset threshold range is set according to the reference records of the corresponding medium and high orbit satellites. Different categories of monitoring data have corresponding preset threshold ranges. The average value of the minimum value of each category of monitoring data in the reference record is recorded as the minimum value of the preset threshold range of the corresponding category of monitoring data, and the average value of the maximum value of each category of monitoring data in the reference record is recorded as the maximum value of the preset threshold range of the corresponding category of monitoring data; The reference record is determined based on the data monitoring record of the same medium-orbit satellite and the difference value of the matching coefficient of each matching low-orbit satellite in the current monitoring period.

6. The space-ground integrated global integrity monitoring method according to claim 5, characterized in that: The monitoring and processing methods include: For a single medium-high orbit satellite, if there is an abnormal matching satellite among the matching low-orbit satellites of the medium-high orbit satellite, the matching low-orbit satellites of the medium-high orbit satellite are screened, and the verification satellite screening strategy is determined according to the satellite difference status of the matching low-orbit satellites; The verification satellite screening strategy includes determining a screening method according to the number of similar matching satellites, and determining a preset verification number of verification matching satellites according to satellite performance reference values ​​of each matching low-orbit satellite; For a single medium-orbit satellite, if there is no abnormal matching satellite among the matching low-orbit satellites of the medium-orbit satellite, re-acquire various monitoring data of the medium-orbit satellite; The satellite difference state is determined according to the monitoring difference reference value of the matching low-orbit satellite, and the satellite difference state includes a first type of satellite difference state whose monitoring difference reference value is greater than a preset difference reference value, and a second type of satellite difference state whose monitoring difference reference value is less than or equal to the preset difference reference value.

7. The space-ground integrated global integrity monitoring method according to claim 6, characterized in that: For a single medium-orbit satellite, if the matching low-orbit satellite of the medium-orbit satellite is in a class of satellite difference state, the screening method is determined according to the number of similar matching satellites. The screening method includes: If the number of similar matching satellites is less than the preset number of similar matching satellites, a preset number of verification matching satellites is determined according to the communication distance between each matching low-orbit satellite and the abnormal matching satellite; If the number of similar matching satellites is greater than or equal to the preset number of similar matching satellites, a preset number of verified matching satellites is determined according to the monitoring difference values ​​of each matching low-orbit satellite.

8. The space-ground integrated global integrity monitoring method according to claim 7, characterized in that: For a single medium-orbit satellite, if the matching low-orbit satellite of the medium-orbit satellite is in a Class II satellite difference state, a preset number of verification matching satellites are determined according to the satellite performance reference values ​​of each matching low-orbit satellite; The satellite performance reference value is determined according to the communication effect coefficient and the processing effect coefficient of each matching low-orbit satellite.

9. The space-ground integrated global integrity monitoring method according to claim 8, characterized in that: Conduct autonomous integrity monitoring on each verification matching satellite of any medium-orbit satellite, and determine whether to send data abnormality warning to users based on the proportion of abnormal verification satellites; If the proportion of abnormal verification satellites is greater than or equal to 50%, the medium-orbit satellite is judged to be abnormal, and a data abnormality warning is sent to the user; If the proportion of abnormal verification satellites is less than 50%, it is determined that there is no abnormality in the medium and high orbit satellites, and there is no need to send data abnormality warnings to users.

10. The space-ground integrated global integrity monitoring method according to claim 9, characterized in that: The abnormal verification satellite is a reference verification matching satellite for which any category of monitoring data is not within a preset threshold range of the corresponding category of monitoring data; The reference verification matching satellites are verification matching satellites whose autonomous integrity monitoring results are all normal.

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