Constellation configuration generation method and device meeting integrity monitoring requirement, equipment and medium

Abstract

The invention discloses a constellation configuration generation method and device meeting an integrity monitoring requirement, equipment and a medium, and relates to the field of space flight and aviation, and the method comprises the steps: calculating an integrity index of each constellation configuration in a preset constellation configuration set; creating a first value interval range set, determining a first target constellation configuration corresponding to the first value interval range set from a preset constellation configuration set based on the integrity index, and taking a sub-interval range in which the constellation configuration is not determined in the first value interval range set as a second value interval range set; performing satellite picking operation on constellation configurations in a preset constellation configuration set to obtain a second target constellation configuration of which the integrity index is in a second value interval range set, and deleting a sub-interval range corresponding to the second target constellation configuration in the second value interval range set until the second value interval range set is empty; and determining a target set based on the first target constellation configuration and the second target constellation configuration so as to perform integrity monitoring by using the target set.

Description

Technical Field

[0001] The present application relates to the field of aerospace, and in particular to a constellation configuration generation method, device, equipment and medium that meet integrity monitoring requirements. Background Art

[0002] ICAO (International Civil Aviation Organization) clearly defines the performance requirements that the global navigation satellite system should meet in the GNSS (Global Navigation Satellite System) standards and recommended practices, including accuracy, integrity, continuity and availability; Receiver Autonomous Integrity Monitoring (RAIM) uses redundant pseudo-range observations for consistency verification to provide integrity assurance for the navigation system; Among them, Fault Detection and Exclusion (FDE) is a receiver processing solution that uses redundant pseudo-range observations to autonomously provide integrity monitoring for the position solution; Based on this, the CTSO (Technical Standard Order Approvals) standard proposes an offline FDE test. This test requires the generation of a preset number of constellation configuration sets that meet the requirements. However, the number of original constellation configurations as the data basis is huge and cannot fully meet the offline FDE test requirements. Therefore, how to automatically generate constellation configurations that meet the test requirements is currently a problem to be solved. Summary of the invention

[0003] In view of this, the purpose of this application is to provide a constellation configuration generation method, device, equipment and medium that meet the integrity monitoring requirements, which can efficiently and automatically generate a constellation configuration that meets the requirements of offline FDE testing. The specific scheme is as follows:

[0004] In a first aspect, the present application provides a constellation configuration generation method that meets integrity monitoring requirements, including:

[0005] Acquire a preset constellation configuration set, and calculate the integrity index of each constellation configuration in the preset constellation configuration set; the integrity index includes a horizontal protection level and a horizontal exclusion level;

[0006] creating a first value interval range set of the integrity indicator, determining a first target constellation configuration corresponding to a corresponding sub-interval range in the first value interval range set from the preset constellation configuration set based on the integrity indicator, and using the sub-interval range in the first value interval range set for which the corresponding constellation configuration is not determined as a second value interval range set; the first value interval range set includes sub-interval ranges with different integrity indicator value ranges;

[0007] performing a star-removing operation on the constellation configuration in the preset constellation configuration set to obtain a second target constellation configuration whose integrity indicator is in the second value interval range set, and deleting a sub-interval range corresponding to the second target constellation configuration in the second value interval range set until the second value interval range set is empty;

[0008] Determining a target set based on the first target constellation configuration and the second target constellation configuration; the target set includes a fault detection set corresponding to the horizontal protection level and a fault elimination set corresponding to the horizontal elimination level;

[0009] A target constellation configuration set is obtained based on the fault detection set and the fault elimination set, so as to perform integrity monitoring using the target constellation configuration set.

[0010] Optionally, the determining, from the preset constellation configuration set based on the integrity indicator, a first target constellation configuration corresponding to a corresponding sub-interval range in the first value interval range set includes:

[0011] The constellation configurations in the preset constellation configuration set whose integrity indicators are in the first value interval range set are used as the first target constellation configurations corresponding to the corresponding sub-interval ranges in the first value interval range set.

[0012] Optionally, the performing a star-removing operation on the constellation configuration in the preset constellation configuration set to obtain a second target constellation configuration whose integrity indicator is in the second value interval range set, and deleting a sub-interval range corresponding to the second target constellation configuration in the second value interval range set until the second value interval range set is empty includes:

[0013] Selecting a current constellation configuration from the preset constellation configuration set, and calculating the centroid of the current constellation configuration; the centroid of the current constellation configuration is a centroid determined based on the polar coordinates of all visible satellites in the current constellation configuration in the star map;

[0014] Eliminating the visible satellite in the current constellation configuration that is farthest from the center of mass of the current constellation configuration to obtain a new current constellation configuration, and recalculating the integrity index of the current constellation configuration;

[0015] If the integrity indicator is in the second value interval range set, the current constellation configuration is determined as a second target constellation configuration, a sub-interval range corresponding to the second target constellation configuration is deleted from the second value interval range set, and the process jumps to the step of removing the visible satellite in the current constellation configuration that is farthest from the centroid of the current constellation configuration to obtain a new current constellation configuration, until the second value interval range set is empty;

[0016] If the integrity indicator is not within the second value interval range set, jump to the step of removing the visible satellite in the current constellation configuration that is farthest from the centroid of the current constellation configuration to obtain a new current constellation configuration.

[0017] Optionally, removing the visible satellite in the current constellation configuration that is farthest from the centroid of the current constellation configuration to obtain a new current constellation configuration includes:

[0018] Determining whether the number of visible satellites in the current constellation configuration reaches a preset minimum number threshold;

[0019] If not reached, removing the visible satellite in the current constellation configuration that is farthest from the centroid of the current constellation configuration to obtain a new current constellation configuration;

[0020] If so, the process jumps to the step of selecting the current constellation configuration from the preset constellation configuration set and calculating the centroid of the current constellation configuration.

[0021] Optionally, the determining a target set based on the first target constellation configuration and the second target constellation configuration includes:

[0022] For any sub-interval range in the first value interval range set to which a corresponding constellation configuration exists, determine, from the first target constellation configuration, a constellation configuration having a minimum absolute value of a difference between an integrity indicator and a median value of an interval range of the sub-interval range, so as to obtain third target constellation configurations corresponding to the sub-interval ranges in the first value interval range set to which a corresponding constellation configuration exists;

[0023] A target set is determined based on the third target constellation configuration and the second target constellation configuration.

[0024] Optionally, obtaining a preset constellation configuration set includes:

[0025] A space-time point is determined according to a preset time point and a preset space point, and the space-time point is used as an observation point to obtain a preset constellation configuration set.

[0026] Optionally, the number of constellation configurations in the target set is consistent with the number of sub-interval ranges in the first value interval range set.

[0027] In a second aspect, the present application provides a constellation configuration generation device that meets the integrity monitoring requirements, including:

[0028] A set acquisition module, used to acquire a preset constellation configuration set and calculate the integrity index of each constellation configuration in the preset constellation configuration set; the integrity index includes a horizontal protection level and a horizontal exclusion level;

[0029] A first constellation configuration determination module is used to create a first value interval range set of the integrity indicator, determine a first target constellation configuration corresponding to a corresponding sub-interval range in the first value interval range set from the preset constellation configuration set based on the integrity indicator, and use the sub-interval range in the first value interval range set for which the corresponding constellation configuration is not determined as a second value interval range set; the first value interval range set includes sub-interval ranges with different integrity indicator value ranges;

[0030] a second constellation configuration determining module, configured to obtain a second target constellation configuration whose integrity indicator is in the second value interval range set by performing a star-removing operation on the constellation configuration in the preset constellation configuration set, and delete a sub-interval range corresponding to the second target constellation configuration in the second value interval range set until the second value interval range set is empty;

[0031] A first set determination module is used to determine a target set based on the first target constellation configuration and the second target constellation configuration; the target set includes a fault detection set corresponding to the horizontal protection level and a fault elimination set corresponding to the horizontal elimination level;

[0032] The second set determination module is used to obtain a target constellation configuration set based on the fault detection set and the fault elimination set, so as to perform integrity monitoring using the target constellation configuration set.

[0033] In a third aspect, the present application provides an electronic device, including:

[0034] Memory, used to store computer programs;

[0035] A processor is used to execute the computer program to implement the aforementioned constellation configuration generation method that meets the integrity monitoring requirements.

[0036] In a fourth aspect, the present application provides a computer-readable storage medium for storing a computer program, wherein the computer program, when executed by a processor, implements the aforementioned constellation configuration generation method that meets integrity monitoring requirements.

[0037] In the present application, a preset constellation configuration set is obtained, and the integrity index of each constellation configuration in the preset constellation configuration set is calculated; the integrity index includes a horizontal protection level and a horizontal exclusion level; a first value interval range set of the integrity index is created, and a first target constellation configuration corresponding to a corresponding sub-interval range in the first value interval range set is determined from the preset constellation configuration set based on the integrity index, and a sub-interval range in the first value interval range set for which a corresponding constellation configuration is not determined is used as a second value interval range set; the first value interval range set includes sub-interval ranges with different integrity indicator value ranges; based on the preset constellation configuration set, The constellation configuration in the combination is subjected to a star-removing operation to obtain a second target constellation configuration whose integrity index is in the second value interval range set, and the sub-interval range corresponding to the second target constellation configuration in the second value interval range set is deleted until the second value interval range set is empty; a target set is determined based on the first target constellation configuration and the second target constellation configuration; the target set includes a fault detection set corresponding to the horizontal protection level and a fault elimination set corresponding to the horizontal elimination level; a target constellation configuration set is obtained based on the fault detection set and the fault elimination set, so as to use the target constellation configuration set for integrity monitoring. As can be seen from the above, the present application first obtains a preset constellation configuration set, and calculates the horizontal protection level and the horizontal elimination level of each constellation configuration in the preset constellation configuration set, and then selects and removes the constellation configuration in the preset constellation configuration set based on the horizontal protection level and the horizontal elimination level, respectively obtains a fault detection set and a fault elimination set, and forms a target constellation configuration set based on the fault detection set and the fault elimination set, so as to use the target constellation configuration set for integrity monitoring. In this way, constellation configurations in a large number of preset constellation configuration sets are selected and star-picking operations are performed to obtain a preset number of target constellation configurations that meet the requirements of the offline FDE test, thereby improving efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0039] Figure 1 A flowchart of a constellation configuration generation method that meets integrity monitoring requirements disclosed in this application;

[0040] Figure 2 A schematic diagram of a specific constellation configuration generation method that meets integrity monitoring requirements disclosed in this application;

[0041] Figure 3 This is a schematic diagram of the structure of a constellation configuration generating device that meets the integrity monitoring requirements disclosed in this application;

[0042] Figure 4 This is a schematic diagram of the structure of an electronic device disclosed in this application. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0044] ICAO has clearly defined the performance requirements that the global navigation satellite system should meet in the GNSS standards and recommended practices, including accuracy, integrity, continuity and availability; the autonomous integrity detection of the receiver uses redundant pseudo-range observations for consistency verification to provide integrity assurance for the navigation system; among them, fault detection and troubleshooting is a receiver processing solution that uses redundant pseudo-range observations to autonomously provide integrity monitoring for the position solution; based on this, the CTSO standard proposes an offline FDE test. This test requires the generation of a preset number of constellation configuration sets that meet the requirements. However, the number of original constellation configurations as the data basis is huge and cannot fully meet the offline FDE test requirements. For this reason, this application provides a constellation configuration generation method that meets the integrity monitoring requirements, which can efficiently and automatically generate constellation configurations that meet the offline FDE test requirements.

[0045] See also Figure 1 As shown, an embodiment of the present invention discloses a constellation configuration generation method that meets the integrity monitoring requirements, including:

[0046] Step S11, obtaining a preset constellation configuration set, and calculating the integrity index of each constellation configuration in the preset constellation configuration set; the integrity index includes a horizontal protection level and a horizontal exclusion level.

[0047] In this embodiment, a preset constellation configuration set is first obtained and the horizontal protection level (HPL) and horizontal exclusion level (HEL) of each constellation configuration in the preset constellation configuration set are calculated; wherein the constellation configuration in the preset constellation configuration set may not fully meet the offline FDE test requirements.

[0048] The space-time point can be determined according to the preset time point and the preset space point, and the space-time point can be used as an observation point to obtain a preset constellation configuration set.

[0049] Specifically, firstly, the time points are sampled, which can be sampled every 5 minutes within 12 hours (from 00:00:00 to 12:00:00 UTC), for a total of 144 time points; then the spatial points are sampled, which can be sampled every 3 degrees from 0 degrees latitude to 90 degrees north latitude. The points of each latitude circle are evenly distributed in longitude, for a total of 2353 spatial points, which are defined as follows:

[0050] ;

[0051] Among them, long.step represents the longitude interval; ROUND represents the rounding function; degrees represents the degree; cos (latitude) represents the cosine value of latitude; min represents the minimum value.

[0052] Based on the above time points and space points, the total number of time-space points is 2353×144=338832 points. Based on the almanac at 00:00:00 on December 31, 2020, with each time-space point as an observation point, a total of 338832 constellation configurations can be generated to obtain a preset constellation configuration set; further, for each constellation configuration in the preset constellation configuration set, the horizontal protection level and horizontal exclusion level corresponding to the constellation configuration are calculated.

[0053] Step S12: create a first value interval range set for the integrity indicator, determine a first target constellation configuration corresponding to a corresponding sub-interval range in the first value interval range set from the preset constellation configuration set based on the integrity indicator, and use the sub-interval range in the first value interval range set for which the corresponding constellation configuration has not been determined as a second value interval range set; the first value interval range set includes sub-interval ranges with different integrity indicator value ranges.

[0054] In this embodiment, a first value interval range set of the integrity indicator is first created, the first value interval range set including sub-interval ranges with different integrity indicator value ranges, and the constellation configuration whose integrity indicator is in the first value interval range set in the preset constellation configuration set obtained based on step S11 is used as the first target constellation configuration corresponding to the corresponding sub-interval range in the first value interval range set, and then the sub-interval range in the first value interval range set that has not been determined from the preset constellation configuration set to correspond to its own interval range is used as the second value interval range set.

[0055] When creating the first value interval range set, a preset interval range of the first value interval range set can be set according to the integrity indicator, and considering the error range, the preset interval range can be evenly set to obtain sub-interval ranges with different integrity indicator value ranges.

[0056] Step S13: performing a star-removing operation on the constellation configuration in the preset constellation configuration set to obtain a second target constellation configuration whose integrity indicator is in the second value interval range set, and deleting a sub-interval range corresponding to the second target constellation configuration in the second value interval range set until the second value interval range set is empty.

[0057] In this embodiment, first, the current constellation configuration is selected from a preset constellation configuration set, and the centroid of the current constellation configuration is calculated; the centroid of the current constellation configuration is the centroid determined based on the polar coordinates of all visible satellites in the current constellation configuration in the star map; then, the visible satellite in the current constellation configuration that is farthest from the centroid of the current constellation configuration is removed to obtain a new current constellation configuration, and the integrity index of the current constellation configuration is recalculated; if the integrity index is in a second value interval range set, the current constellation configuration is determined as a second target constellation configuration, the sub-interval range corresponding to the second target constellation configuration is deleted from the second value interval range set, and the step of removing the visible satellite in the current constellation configuration that is farthest from the centroid of the current constellation configuration to obtain a new current constellation configuration is jumped to, until the second value interval range set is empty; if the integrity index is not in the second value interval range set, the step of removing the visible satellite in the current constellation configuration that is farthest from the centroid of the current constellation configuration to obtain a new current constellation configuration.

[0058] Among them, the above-mentioned elimination of the visible satellite in the current constellation configuration that is farthest from the centroid of the current constellation configuration to obtain a new current constellation configuration may include: first determining whether the number of visible satellites in the current constellation configuration reaches a preset minimum number threshold; if not reached, eliminating the visible satellite in the current constellation configuration that is farthest from the centroid of the current constellation configuration to obtain a new current constellation configuration; if reached, jumping to the above-mentioned step of selecting the current constellation configuration from the preset constellation configuration set, and calculating the centroid of the current constellation configuration.

[0059] It should be noted that in the above steps, most of the second value interval range set that does not correspond to the constellation configuration are sub-interval ranges with larger integrity indicators. In each constellation configuration, the larger the variance of all visible satellites, the closer the centroid of the constellation configuration is to the coordinate origin, the better the geometric configuration of the constellation, and the smaller the integrity indicator of the constellation configuration. Eliminating the visible satellite farthest from the centroid of the constellation configuration can make the centroid of the constellation configuration deviate more from the coordinate origin, and the integrity indicator of the constellation configuration becomes larger, making it more likely that the integrity indicator of the constellation configuration after the star is eliminated is in the second value interval range set. Therefore, it is necessary to eliminate the visible satellite farthest from the centroid of the current constellation configuration.

[0060] In the satellite removal operation, different preset minimum number thresholds can be pre-set for different integrity indicators. For example, if the integrity indicator is a horizontal protection level, the preset minimum number threshold can be 5; if the integrity indicator is a horizontal exclusion level, the preset minimum number threshold can be 6; accordingly, the above-mentioned removal of the visible satellite in the current constellation configuration that is farthest from the centroid of the current constellation configuration to obtain a new current constellation configuration can include: first, determining whether the number of visible satellites in the current constellation configuration reaches the preset minimum number threshold; if not, removing the visible satellite in the current constellation configuration that is farthest from the centroid of the current constellation configuration to obtain a new current constellation configuration; if reached, jumping to the step of selecting the current constellation configuration from the preset constellation configuration set and calculating the centroid of the current constellation configuration.

[0061] Step S14: determining a target set based on the first target constellation configuration and the second target constellation configuration; the target set includes a fault detection set corresponding to the horizontal protection level and a fault elimination set corresponding to the horizontal elimination level.

[0062] In this embodiment, for any sub-interval range in the first value interval range set that has a corresponding constellation configuration, a constellation configuration having a minimum absolute value of a difference between an integrity indicator and a median of an interval range of the sub-interval range is determined from the first target constellation configuration to obtain third target constellation configurations corresponding to the sub-interval ranges in the first value interval range set that have a corresponding constellation configuration; and then the first target set and the second target set are determined based on the third target constellation configuration and the second target constellation configuration, thereby obtaining a target set.

[0063] It should be noted that when the integrity indicator is the horizontal protection level (HPL), the first target set, i.e., the fault detection set, can be determined, which is mainly used to detect whether there are abnormal conditions such as faults in the system; when the integrity indicator is the horizontal exclusion level (HEL), the second target set, i.e., the fault exclusion set, can be determined, which focuses on eliminating the fault or taking corresponding solutions after the fault is detected. The first target set and the second target set constitute the target set. Among them, the number of constellation configurations in the first target set is consistent with the number of sub-interval ranges in the first value interval range set, and the number of constellation configurations in the second target set is consistent with the number of sub-interval ranges in the first value interval range set.

[0064] Step S15: obtaining a target constellation configuration set based on the fault detection set and the fault elimination set, and performing integrity monitoring using the target constellation configuration set.

[0065] In this embodiment, it is necessary to obtain a fault detection set and a fault elimination set according to the horizontal protection level and the horizontal elimination level, respectively, so as to form a target constellation configuration set based on the fault detection set and the fault elimination set, so as to use the target constellation configuration set to perform offline FDE testing, that is, integrity monitoring.

[0066] As can be seen from the above, this embodiment first obtains a preset constellation configuration set, and calculates the horizontal protection level and horizontal exclusion level of each constellation configuration in the preset constellation configuration set, and then selects and removes the constellation configuration in the preset constellation configuration set based on the horizontal protection level and the horizontal exclusion level, respectively obtaining a fault detection set and a fault elimination set, and constructs a target constellation configuration set based on the fault detection set and the fault elimination set, so as to use the target constellation configuration set for offline FDE testing. In this way, the constellation configurations in a large number of preset constellation configuration sets are selected and removed to obtain a preset number of target constellation configurations that meet the requirements of offline FDE testing, thereby improving efficiency and providing a data basis for verifying the integrity of the receiver and the compliance with the CTSO standard.

[0067] See also Figure 2 As shown, the technical solution in this application is described below with specific examples; wherein, Figure 2 is the fault detection set obtained when the integrity indicator is at the horizontal protection level; when the integrity indicator is at the horizontal elimination level, the process of obtaining the fault elimination set can be found in Figure 2 The process shown will not be described in detail here.

[0068] First, generate a constellation configuration set that meets the integrity monitoring requirements, denoted as set , calculate the set The horizontal protection level (HPL) of all constellation configurations in ; create the first value interval range set, recorded as ,gather The preset interval range is set to 0.1NM~4.0NM, the number of sub-interval ranges in the first value interval range set is set to 20, the preset interval ranges are evenly configured, and the error range is considered. For example, the first value interval range set is set to: {(0.09~0.11), (0.29~0.31), (0.49~0.51), ..., (3.89~3.91)}; here, ±0.01 of 0.1, 0.3, ..., 3.9 is taken, and other ranges can be taken as appropriate; select HPL values ​​from the constellation configuration set in the set The constellation configuration in, that is, the first target constellation configuration, if the set If there is no corresponding constellation configuration in the sub-interval range, a second value interval range set is formed based on these sub-interval ranges, which is recorded as For example, if no constellation configuration with HPL between 3.69~3.71 and 3.89~3.91 is found in the constellation configuration set, then is {(3.69~3.71), (3.89~3.91)}; in the set In the constellation configuration, take the constellation configuration closest to the median of the HPL ion range in each sub-interval range. For example, in the constellation configuration of the sub-interval 0.09~0.11, take the constellation configuration with HPL closest to 0.1 to obtain the third target constellation configuration, and record the third target constellation configuration in the set In; Randomly select a set For any constellation configuration in the set, the centroid is determined based on the polar coordinates of all visible satellites in the current constellation configuration in the star map, the visible satellite farthest from the centroid in the current constellation configuration is removed, the HPL of the constellation configuration after the satellite is removed is recalculated, and the HPL is determined to see if it is in the set If HPL is in the set In the constellation configuration, the constellation configuration is recorded in the set and update the collection , delete the collection The subinterval range corresponding to the above constellation configuration; the judgment set Is it an empty set? If the HPL of the constellation configuration is still not in the set after removing the visible satellite farthest from the centroid, If the number of visible satellites in the current constellation configuration reaches 5, the current constellation configuration will no longer be removed, and the HPL of the constellation configuration after removing the two visible satellites will be calculated. Reselect a new constellation configuration and perform star removal operations on it until the collection is the empty set, i.e. the set The constellation configurations corresponding to all subinterval ranges in are generated, and the set , that is, the fault detection set. Correspondingly, the fault elimination set can be obtained. Based on the fault detection set and the fault elimination set, the target constellation configuration set is obtained. The target constellation configuration set includes 40 constellation configurations that meet the offline FDE test requirements.

[0069] As can be seen from the above, in this embodiment, the constellation configuration generation method that meets the integrity monitoring requirements in this application is explained with a specific example, and the constellation configurations in a large number of preset constellation configuration sets are selected and star-cutting operations are performed to obtain a fault detection set and a fault elimination set that meet the offline FDE test requirements, thereby obtaining 40 constellation configurations that meet the offline FDE test requirements.

[0070] See also Figure 3 As shown, the embodiment of the present application also discloses a constellation configuration generating device that meets the integrity monitoring requirements, including:

[0071] A set acquisition module 11 is used to acquire a preset constellation configuration set and calculate the integrity index of each constellation configuration in the preset constellation configuration set; the integrity index includes a horizontal protection level and a horizontal exclusion level;

[0072] A first constellation configuration determination module 12 is used to create a first value interval range set of the integrity indicator, determine a first target constellation configuration corresponding to a corresponding sub-interval range in the first value interval range set from the preset constellation configuration set based on the integrity indicator, and use the sub-interval range in the first value interval range set for which the corresponding constellation configuration is not determined as a second value interval range set; the first value interval range set includes sub-interval ranges with different integrity indicator value ranges;

[0073] A second constellation configuration determining module 13 is configured to obtain a second target constellation configuration whose integrity indicator is in the second value interval range set by performing a star-removing operation on the constellation configuration in the preset constellation configuration set, and delete a sub-interval range corresponding to the second target constellation configuration in the second value interval range set until the second value interval range set is empty;

[0074] A first set determination module 14 is used to determine a target set based on the first target constellation configuration and the second target constellation configuration; the target set includes a fault detection set corresponding to the horizontal protection level and a fault elimination set corresponding to the horizontal elimination level;

[0075] The second set determination module 15 is configured to obtain a target constellation configuration set based on the fault detection set and the fault elimination set, so as to perform integrity monitoring using the target constellation configuration set.

[0076] As can be seen from the above, the present application first obtains a preset constellation configuration set, and calculates the horizontal protection level and horizontal exclusion level of each constellation configuration in the preset constellation configuration set, and then selects and removes the constellation configuration in the preset constellation configuration set based on the horizontal protection level and the horizontal exclusion level, respectively obtaining a fault detection set and a fault elimination set, and constructing a target constellation configuration set based on the fault detection set and the fault elimination set, so as to use the target constellation configuration set for integrity monitoring. In this way, the constellation configurations in a large number of preset constellation configuration sets are selected and removed to obtain a preset number of target constellation configurations that meet the integrity monitoring requirements, thereby improving efficiency.

[0077] In some specific implementations, the first constellation configuration determining module 12 includes:

[0078] The first constellation configuration determining unit is configured to use a constellation configuration in the preset constellation configuration set whose integrity indicator is in the first value interval range set as a first target constellation configuration corresponding to a corresponding sub-interval range in the first value interval range set.

[0079] In some specific implementations, the second constellation configuration determining module 13 includes:

[0080] A centroid determination unit, used to select a current constellation configuration from the preset constellation configuration set and calculate the centroid of the current constellation configuration; the centroid of the current constellation configuration is a centroid determined based on the polar coordinates of all visible satellites in the current constellation configuration in the star map;

[0081] a satellite removal submodule, configured to remove the visible satellite in the current constellation configuration that is farthest from the centroid of the current constellation configuration to obtain a new current constellation configuration, and to recalculate the integrity index of the current constellation configuration;

[0082] a first judgment unit, configured to determine the current constellation configuration as a second target constellation configuration if the integrity indicator is in the second value interval range set, delete a sub-interval range corresponding to the second target constellation configuration from the second value interval range set, and jump to the step of removing the visible satellite in the current constellation configuration that is farthest from the centroid of the current constellation configuration to obtain a new current constellation configuration, until the second value interval range set is empty;

[0083] The second judgment unit is used to jump to the step of eliminating the visible satellite farthest from the center of mass of the current constellation configuration in the current constellation configuration to obtain a new current constellation configuration if the integrity indicator is not in the second value interval range set.

[0084] In some specific embodiments, the star-removing submodule includes:

[0085] A third judgment unit is used to judge whether the number of visible satellites in the current constellation configuration reaches a preset minimum number threshold;

[0086] A first processing unit is configured to remove the visible satellite in the current constellation configuration that is farthest from the centroid of the current constellation configuration to obtain a new current constellation configuration if the target value is not reached;

[0087] The second processing unit is configured to jump to the step of selecting the current constellation configuration from the preset constellation configuration set and calculating the centroid of the current constellation configuration if the condition is reached.

[0088] In some specific implementations, the first set determination module 14 includes:

[0089] a second constellation configuration determining unit, configured to determine, for any sub-interval range in the first value interval range set to which a corresponding constellation configuration exists, from the first target constellation configuration, a constellation configuration having a minimum absolute value of a difference between an integrity indicator and a median of an interval range of the sub-interval range, so as to obtain third target constellation configurations corresponding to respective sub-interval ranges in the first value interval range set to which a corresponding constellation configuration exists;

[0090] A target set determining unit is configured to determine a target set based on the third target constellation configuration and the second target constellation configuration.

[0091] In some specific implementations, the set acquisition module 11 includes:

[0092] The constellation configuration set determining unit is used to determine a space-time point according to a preset time point and a preset space point, and use the space-time point as an observation point to obtain a preset constellation configuration set.

[0093] In some specific implementations, the number of constellation configurations in the target set is consistent with the number of sub-interval ranges in the first value interval range set.

[0094] Furthermore, the present application also discloses an electronic device. Figure 4 This is a structural diagram of an electronic device 20 according to an exemplary embodiment. The content in the diagram cannot be regarded as any limitation on the scope of use of the present application.

[0095] Figure 4A schematic diagram of the structure of an electronic device 20 provided in an embodiment of the present application. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. The memory 22 is used to store a computer program, which is loaded and executed by the processor 21 to implement the relevant steps in the constellation configuration generation method that meets the integrity monitoring requirements disclosed in any of the aforementioned embodiments. In addition, the electronic device 20 in this embodiment may specifically be an electronic computer.

[0096] In this embodiment, the power supply 23 is used to provide working voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and the external device, and the communication protocol it follows is any communication protocol that can be applied to the technical solution of the present application, and is not specifically limited here; the input and output interface 25 is used to obtain external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs and is not specifically limited here.

[0097] In addition, the memory 22, as a carrier for storing resources, can be a read-only memory, a random access memory, a disk or an optical disk, etc. The resources stored thereon can include an operating system 221, a computer program 222, etc., and the storage method can be temporary storage or permanent storage.

[0098] The operating system 221 is used to manage and control the hardware devices and computer program 222 on the electronic device 20, and may be Windows Server, Netware, Unix, Linux, etc. In addition to the computer program that can be used to complete the constellation configuration generation method that meets the integrity monitoring requirements and is executed by the electronic device 20 disclosed in any of the aforementioned embodiments, the computer program 222 may further include computer programs that can be used to complete other specific tasks.

[0099] Furthermore, the present application also discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the aforementioned disclosed method for generating a constellation configuration that meets the integrity monitoring requirements is implemented. For the specific steps of the method, reference may be made to the corresponding contents disclosed in the aforementioned embodiments, and no further description will be given here.

[0100] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0101] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0102] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0103] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0104] The technical solution provided by the present application is introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for general technicians in this field, according to the idea of ​​the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A constellation configuration generation method that meets integrity monitoring requirements, characterized in that: include: Acquire a preset constellation configuration set, and calculate the integrity index of each constellation configuration in the preset constellation configuration set; the integrity index includes a horizontal protection level and a horizontal exclusion level; creating a first value interval range set of the integrity indicator, determining a first target constellation configuration corresponding to a corresponding sub-interval range in the first value interval range set from the preset constellation configuration set based on the integrity indicator, and using the sub-interval range in the first value interval range set for which the corresponding constellation configuration is not determined as a second value interval range set; the first value interval range set includes sub-interval ranges with different integrity indicator value ranges; performing a star-removing operation on the constellation configuration in the preset constellation configuration set to obtain a second target constellation configuration whose integrity indicator is in the second value interval range set, and deleting a sub-interval range corresponding to the second target constellation configuration in the second value interval range set until the second value interval range set is empty; Determining a target set based on the first target constellation configuration and the second target constellation configuration; the target set includes a fault detection set corresponding to the horizontal protection level and a fault elimination set corresponding to the horizontal elimination level; A target constellation configuration set is obtained based on the fault detection set and the fault elimination set, so as to perform integrity monitoring using the target constellation configuration set.

2. The method for generating a constellation configuration that meets integrity monitoring requirements according to claim 1, characterized in that: The determining, based on the integrity indicator, from the preset constellation configuration set, a first target constellation configuration corresponding to a corresponding sub-interval range in the first value interval range set comprises: The constellation configurations in the preset constellation configuration set whose integrity indicators are in the first value interval range set are used as the first target constellation configurations corresponding to the corresponding sub-interval ranges in the first value interval range set.

3. The method for generating a constellation configuration that meets integrity monitoring requirements according to claim 1, characterized in that: The step of performing a star-picking operation on the constellation configuration in the preset constellation configuration set to obtain a second target constellation configuration whose integrity indicator is in the second value interval range set, and deleting a sub-interval range corresponding to the second target constellation configuration in the second value interval range set until the second value interval range set is empty includes: Selecting a current constellation configuration from the preset constellation configuration set, and calculating the centroid of the current constellation configuration; the centroid of the current constellation configuration is a centroid determined based on the polar coordinates of all visible satellites in the current constellation configuration in the star map; Eliminating the visible satellite in the current constellation configuration that is farthest from the center of mass of the current constellation configuration to obtain a new current constellation configuration, and recalculating the integrity index of the current constellation configuration; If the integrity indicator is in the second value interval range set, the current constellation configuration is determined as a second target constellation configuration, a sub-interval range corresponding to the second target constellation configuration is deleted from the second value interval range set, and the process jumps to the step of removing the visible satellite in the current constellation configuration that is farthest from the centroid of the current constellation configuration to obtain a new current constellation configuration, until the second value interval range set is empty; If the integrity indicator is not within the second value interval range set, jump to the step of removing the visible satellite in the current constellation configuration that is farthest from the centroid of the current constellation configuration to obtain a new current constellation configuration.

4. The method for generating a constellation configuration that meets integrity monitoring requirements according to claim 3, characterized in that: The removing of the visible satellite in the current constellation configuration that is farthest from the centroid of the current constellation configuration to obtain a new current constellation configuration includes: Determining whether the number of visible satellites in the current constellation configuration reaches a preset minimum number threshold; If not reached, removing the visible satellite in the current constellation configuration that is farthest from the centroid of the current constellation configuration to obtain a new current constellation configuration; If so, the process jumps to the step of selecting the current constellation configuration from the preset constellation configuration set and calculating the centroid of the current constellation configuration.

5. The method for generating a constellation configuration that meets integrity monitoring requirements according to claim 1, characterized in that: The determining a target set based on the first target constellation configuration and the second target constellation configuration includes: For any sub-interval range in the first value interval range set to which a corresponding constellation configuration exists, determine, from the first target constellation configuration, a constellation configuration having a minimum absolute value of a difference between an integrity indicator and a median value of an interval range of the sub-interval range, so as to obtain third target constellation configurations corresponding to the sub-interval ranges in the first value interval range set to which a corresponding constellation configuration exists; A target set is determined based on the third target constellation configuration and the second target constellation configuration.

6. The method for generating a constellation configuration that meets integrity monitoring requirements according to any one of claims 1 to 5, characterized in that: The obtaining of a preset constellation configuration set includes: A space-time point is determined according to a preset time point and a preset space point, and the space-time point is used as an observation point to obtain a preset constellation configuration set.

7. The method for generating a constellation configuration that meets integrity monitoring requirements according to claim 1, characterized in that: The number of constellation configurations in the target set is consistent with the number of sub-interval ranges in the first value interval range set.

8. A constellation configuration generation device that meets the requirements of integrity monitoring, characterized in that: include: A set acquisition module, used to acquire a preset constellation configuration set and calculate the integrity index of each constellation configuration in the preset constellation configuration set; the integrity index includes a horizontal protection level and a horizontal exclusion level; A first constellation configuration determination module is used to create a first value interval range set of the integrity indicator, determine a first target constellation configuration corresponding to a corresponding sub-interval range in the first value interval range set from the preset constellation configuration set based on the integrity indicator, and use the sub-interval range in the first value interval range set for which the corresponding constellation configuration is not determined as a second value interval range set; the first value interval range set includes sub-interval ranges with different integrity indicator value ranges; a second constellation configuration determining module, configured to obtain a second target constellation configuration whose integrity indicator is in the second value interval range set by performing a star-removing operation on the constellation configuration in the preset constellation configuration set, and delete a sub-interval range corresponding to the second target constellation configuration in the second value interval range set until the second value interval range set is empty; A first set determination module is used to determine a target set based on the first target constellation configuration and the second target constellation configuration; the target set includes a fault detection set corresponding to the horizontal protection level and a fault elimination set corresponding to the horizontal elimination level; The second set determination module is used to obtain a target constellation configuration set based on the fault detection set and the fault elimination set, so as to perform integrity monitoring using the target constellation configuration set.

9. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor, configured to execute the computer program to implement the constellation configuration generation method that meets the integrity monitoring requirements as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: Used to store a computer program, which, when executed by a processor, implements the constellation configuration generation method that meets the integrity monitoring requirements as described in any one of claims 1 to 7.

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