Constellation Configuration Generation Method, Device, Equipment and Medium Meeting Integrity Monitoring Requirements

Abstract

The present application discloses a constellation configuration generation method, device, equipment and medium meeting the integrity monitoring requirements, which relates to the field of aerospace and includes: calculating the integrity indicators 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 the preset constellation configuration set based on the integrity indicators, and taking the sub-interval ranges in the first value interval range set for which the constellation configuration is not determined as a second value interval range set; performing a star removal operation on the constellation configurations in the preset constellation configuration set to obtain a second target constellation configuration with integrity indicators in the second value interval range set, and deleting the sub-interval ranges in the second value interval range set corresponding to the second target constellation configuration 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 to perform integrity monitoring using the target set.

Description

Technical Field

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

[0002] ICAO (International Civil Aviation Organization) clearly defines in the GNSS (Global Navigation Satellite System) Standards and Recommended Practices the performance requirements that the global navigation satellite system should meet, including accuracy, integrity, continuity and availability; Receiver Autonomous Integrity Monitoring (RAIM) uses redundant pseudorange observables for consistency checking to provide integrity assurance for the navigation system; among them, Fault Detection and Exclusion (FDE) is a receiver processing solution that uses redundant pseudorange observables 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 generating a preset number of constellation configuration sets that meet the requirements. However, the number of original constellation configurations, which is the data basis, is huge and cannot fully meet the requirements of the offline FDE test. Therefore, how to automatically generate constellation configurations that meet the test requirements is a problem to be solved at present. Summary of the Invention

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

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

[0005] Obtain a preset constellation configuration set, and calculate the integrity indicators of each constellation configuration in the preset constellation configuration set; the integrity indicators include horizontal protection level and horizontal exclusion level;

[0006] Create a first set of value range intervals for the integrity metric. Based on the integrity metric, determine a first target constellation configuration corresponding to the corresponding sub-range in the first set of value range intervals from the preset constellation configuration set, and use the sub-range in the first set of value range intervals for which no corresponding constellation configuration is determined as the second set of value range intervals. The first set of value range intervals includes sub-range intervals with different integrity metric value ranges.

[0007] Perform a satellite removal operation on the constellation configurations in the preset constellation configuration set to obtain a second target constellation configuration for which the integrity metric is within the second set of value range intervals, and delete the sub-range intervals in the second set of value range intervals corresponding to the second target constellation configuration until the second set of value range intervals is empty.

[0008] 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.

[0009] Obtain a target constellation configuration set based on the fault detection set and the fault elimination set to perform integrity monitoring using the target constellation configuration set.

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

[0011] Use the constellation configurations in the preset constellation configuration set for which the integrity metric is within the first set of value range intervals as the first target constellation configurations corresponding to the corresponding sub-range in the first set of value range intervals.

[0012] Optionally, the step of performing a satellite removal operation on the constellation configurations in the preset constellation configuration set to obtain a second target constellation configuration for which the integrity metric is within the second set of value range intervals, and deleting the sub-range intervals in the second set of value range intervals corresponding to the second target constellation configuration until the second set of value range intervals is empty includes:

[0013] 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 the centroid determined based on the polar coordinates of all visible satellites in the current constellation configuration in the star map.

[0014] 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 recalculate the integrity metric of the current constellation configuration.

[0015] If the integrity index is within the set of second value interval ranges, determine the current constellation configuration as the second target constellation configuration, delete the sub-interval range corresponding to the second target constellation configuration from the set of second value interval ranges, and jump to the step of removing the visible satellite with the farthest distance from the centroid of the current constellation configuration from the current constellation configuration to obtain a new current constellation configuration until the set of second value interval ranges is empty;

[0016] If the integrity index is not within the set of second value interval ranges, jump to the step of removing the visible satellite with the farthest distance from the centroid of the current constellation configuration from the current constellation configuration to obtain a new current constellation configuration.

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

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

[0019] If not, remove the visible satellite with the farthest distance from the centroid of the current constellation configuration from the current constellation configuration to obtain a new current constellation configuration;

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

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

[0022] For any sub-interval range in the set of first value interval ranges with a corresponding constellation configuration, determine, from the first target constellation configuration, a constellation configuration with the smallest absolute value of the difference between the integrity index and the median of the interval range of the sub-interval range, so as to obtain third target constellation configurations corresponding to the respective sub-interval ranges in the set of first value interval ranges with a corresponding constellation configuration;

[0023] Determine the target set based on the third target constellation configuration and the second target constellation configuration.

[0024] Optionally, the obtaining the set of preset constellation configurations includes:

[0025] 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 the set of preset constellation configurations.

[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 meeting the integrity monitoring requirements, including:

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

[0029] A first constellation configuration determination module, configured to create a first value interval range set of the integrity indicators, determine, based on the integrity indicators, a first target constellation configuration corresponding to the corresponding sub - interval range in the first value interval range set from the preset constellation configuration set, and use the sub - interval ranges in the first value interval range set for which no corresponding constellation configuration is 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 determination module, configured to perform a star - removal operation on the constellation configurations in the preset constellation configuration set to obtain a second target constellation configuration for which the integrity indicator is within the second value interval range set, and delete the sub - interval ranges in the second value interval range set corresponding to the second target constellation configuration until the second value interval range set is empty;

[0031] A first set determination module, configured 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 exclusion set corresponding to the horizontal exclusion level;

[0032] A second set determination module, configured to obtain a target constellation configuration set based on the fault detection set and the fault exclusion set to perform integrity monitoring using the target constellation configuration set.

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

[0034] A memory, configured to store a computer program;

[0035] A processor, configured to execute the computer program to implement the foregoing constellation configuration generation method meeting the integrity monitoring requirements.

[0036] In a fourth aspect, the present application provides a computer - readable storage medium, configured to store a computer program, wherein the computer program, when executed by a processor, implements the foregoing constellation configuration generation method meeting the integrity monitoring requirements.

[0037] In this application, a preset constellation configuration set is obtained, and integrity indexes of each constellation configuration in the preset constellation configuration set are calculated; the integrity indexes include a horizontal protection level and a horizontal exclusion level; a first value interval range set of the integrity indexes is created, and based on the integrity indexes, 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, and a sub-interval range in the first value interval range set for which no corresponding constellation configuration is determined is used as a second value interval range set; the first value interval range set includes sub-interval ranges with different value ranges of the integrity indexes; a second target constellation configuration with the integrity indexes in the second value interval range set is obtained by performing a star removal operation on the constellation configurations in the preset constellation configuration 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 exclusion set corresponding to the horizontal exclusion level; a target constellation configuration set is obtained based on the fault detection set and the fault exclusion set to perform integrity monitoring using the target constellation configuration set. As can be seen from the above, in this application, a preset constellation configuration set is first obtained, and the horizontal protection level and the horizontal exclusion level of each constellation configuration in the preset constellation configuration set are calculated. Then, based on the horizontal protection level and the horizontal exclusion level, selection and star removal operations are performed on the constellation configurations in the preset constellation configuration set to obtain a fault detection set and a fault exclusion set respectively, and a target constellation configuration set is formed based on the fault detection set and the fault exclusion set to perform integrity monitoring using the target constellation configuration set. In this way, selection and star removal operations are performed on the constellation configurations in the large-number preset constellation configuration set to obtain a preset number of target constellation configurations that meet the requirements of the offline FDE test, improving the efficiency. Description of the Drawings

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts.

[0039] Figure 1 It is a flowchart of a constellation configuration generation method that meets the integrity monitoring requirements disclosed in the present application;

[0040] Figure 2 It is a schematic diagram of a specific constellation configuration generation method that meets the integrity monitoring requirements disclosed in the present application;

[0041] Figure 3 Schematic structural diagram of a constellation configuration generation device that meets the integrity monitoring requirements disclosed in this application;

[0042] Figure 4 Schematic structural diagram of an electronic device disclosed in this application. Specific embodiments

[0043] Next, the technical solutions in the embodiments of this application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of this application.

[0044] ICAO clearly defines in the GNSS Standards and Recommended Practices the performance requirements that the global navigation satellite system should meet, including accuracy, integrity, continuity, and availability; Receiver Autonomous Integrity Monitoring (RAIM) uses redundant pseudorange observables for consistency checking to provide integrity assurance for the navigation system; among them, Fault Detection and Exclusion (FDE) is a receiver processing scheme that uses redundant pseudorange observables to autonomously provide integrity monitoring for the position solution; based on this, the CTSO standard proposes an offline FDE test. This test requires generating 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 requirements of the offline FDE test. Therefore, this application provides a constellation configuration generation method that meets the integrity monitoring requirements and can efficiently and automatically generate constellation configurations that meet the requirements of the offline FDE test.

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

[0046] Step S11: Obtain a preset constellation configuration set and calculate the integrity indicators of each constellation configuration in the preset constellation configuration set; the integrity indicators include Horizontal Protection Level (HPL) and Horizontal Exclusion Level (HEL).

[0047] In this embodiment, first, a preset constellation configuration set is obtained and the Horizontal Protection Level (HPL) and Horizontal Exclusion Level (HEL) of each constellation configuration in the preset constellation configuration set are calculated; among them, the constellation configurations in the preset constellation configuration set may not fully meet the requirements of the offline FDE test.

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

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

[0050] ;

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

[0052] Based on the above time points and space points, the total number of space-time points is 2353×144 = 338832 points. Based on the almanac at 00:00:00 on December 31, 2020, with each space-time 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, calculate the horizontal protection level and horizontal exclusion level corresponding to the constellation configuration.

[0053] Step S12, create a first value interval range set of the integrity index. Based on the integrity index, determine the first target constellation configurations corresponding to the corresponding sub-interval ranges in the first value interval range set from the preset constellation configuration set, and use the sub-interval ranges in the first value interval range set for which no corresponding constellation configurations are determined as the second value interval range set; the first value interval range set includes sub-interval ranges with different integrity index value ranges.

[0054] In this embodiment, first, create a first value interval range set of the integrity index. The first value interval range set includes sub-interval ranges with different integrity index value ranges. The constellation configurations in the preset constellation configuration set obtained based on step S11 whose integrity index is within 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. Then, the sub-interval ranges in the first value interval range set for which no constellation configurations corresponding to their own interval ranges are determined from the preset constellation configuration set are used as the second value interval range set.

[0055] Among them, when creating the first set of value range intervals, the preset interval range of the first set of value range intervals can be set according to the integrity index, and considering the error range, the preset interval range is evenly set to obtain sub-interval ranges with different value ranges of the integrity index.

[0056] Step S13: Based on the star removal operation on the constellation configurations in the preset constellation configuration set to obtain the second target constellation configuration with the integrity index in the second set of value range intervals, and delete the sub-interval range corresponding to the second target constellation configuration in the second set of value range intervals until the second set of value range intervals is empty.

[0057] In this embodiment, first, select the 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 the centroid determined based on the polar coordinates of all visible satellites in the current constellation configuration in the star map; then remove the visible satellite with the farthest distance from the centroid of the current constellation configuration in the current constellation configuration to obtain a new current constellation configuration, and recalculate the integrity index of the current constellation configuration; if the integrity index is in the second set of value range intervals, determine the current constellation configuration as the second target constellation configuration, delete the sub-interval range corresponding to the second target constellation configuration from the second set of value range intervals, and jump to the step of removing the visible satellite with the farthest distance from the centroid of the current constellation configuration in the current constellation configuration to obtain a new current constellation configuration until the second set of value range intervals is empty; if the integrity index is not in the second set of value range intervals, jump to the step of removing the visible satellite with the farthest distance from the centroid of the current constellation configuration in the current constellation configuration to obtain a new current constellation configuration.

[0058] Among them, the above-mentioned removing the visible satellite with the farthest distance from the centroid of the current constellation configuration in the current constellation configuration to obtain a new current constellation configuration may include: first, judge whether the number of visible satellites in the current constellation configuration reaches the preset minimum number threshold; if not, remove the visible satellite with the farthest distance from the centroid of the current constellation configuration in the current constellation configuration to obtain a new current constellation configuration; if it reaches, 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.

[0059] It should be noted that in the above steps, most of the sub-interval ranges in the set of second value interval ranges without corresponding constellation configurations have relatively large integrity indicators. In each constellation configuration, the greater the variance of all visible satellites, the closer the centroid of the constellation configuration is to the origin of the coordinate system, the better the geometric configuration of the constellation, and the smaller the integrity indicator of the constellation configuration. Excluding the visible satellite farthest from the centroid of the constellation configuration can make the centroid of the constellation configuration deviate more from the origin of the coordinate system, increasing the integrity indicator of the constellation configuration after satellite exclusion, making it more likely that the integrity indicator of the constellation configuration after satellite exclusion is within the set of second value interval ranges. Therefore, it is necessary to exclude the visible satellite farthest from the centroid of the current constellation configuration.

[0060] In the satellite exclusion operation, for different integrity indicators, different preset minimum quantity thresholds can be preset. For example, if the integrity indicator is the horizontal protection level, the preset minimum quantity threshold can be set to 5; if the integrity indicator is the horizontal exclusion level, the preset minimum quantity threshold can be set to 6. Correspondingly, the above-mentioned step of excluding the visible satellite 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 the preset minimum quantity threshold; if not, excluding the visible satellite farthest from the centroid of the current constellation configuration to obtain a new current constellation configuration; if so, 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: 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 exclusion set corresponding to the horizontal exclusion level.

[0062] In this embodiment, for any sub-interval range in the set of first value interval ranges with a corresponding constellation configuration, a constellation configuration with the smallest absolute value of the difference between the integrity indicator and the median of the interval range of the sub-interval range is determined from the first target constellation configuration, so as to obtain third target constellation configurations corresponding to each sub-interval range in the set of first value interval ranges with a corresponding constellation configuration; then, based on the third target constellation configuration and the second target constellation configuration, a first target set and a second target set are determined, and further the target set is obtained.

[0063] It should be noted that when the integrity index 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 abnormal conditions such as whether there are faults in the system; when the integrity index is the horizontal exclusion level (HEL), the second target set, i.e., the fault exclusion set, can be determined, and its function focuses on excluding faults or taking corresponding solutions after detecting faults. 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 the same as 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 the same as the number of sub-interval ranges in the first value interval range set.

[0064] Step S15: Obtain a target constellation configuration set based on the fault detection set and the fault exclusion set, so as to perform integrity monitoring by using the target constellation configuration set.

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

[0066] As can be seen from the above, in this embodiment, first, a preset constellation configuration set is obtained, and the horizontal protection level and the horizontal exclusion level of each constellation configuration in the preset constellation configuration set are calculated. Then, based on the horizontal protection level and the horizontal exclusion level, selection and star removal operations are performed on the constellation configurations in the preset constellation configuration set to obtain a fault detection set and a fault exclusion set respectively, and a target constellation configuration set is formed based on the fault detection set and the fault exclusion set, so as to perform an offline FDE test by using the target constellation configuration set. In this way, selection and star removal operations are performed on the constellation configurations in the large-number preset constellation configuration set to obtain a preset number of target constellation configurations that meet the requirements of the offline FDE test, improving the efficiency and providing a data basis for verifying the integrity of the receiver and the compliance with the CTSO standard.

[0067] See Figure 2 shown below. The technical solutions in the present application will be described with specific examples; among them, Figure 2 is the fault detection set obtained when the integrity index is the horizontal protection level; when the integrity index is the horizontal exclusion level, the process of obtaining the fault exclusion set can be seen in Figure 2 shown in the process, which will not be elaborated here.

[0068] First, generate a constellation configuration set that meets the integrity monitoring requirements, denoted as set , and calculate the horizontal protection level (HPL) of all constellation configurations in set ; create a first value interval range set, denoted as , the preset interval range of the set is set to 0.1 NM to 4.0 NM. The number of sub-interval ranges in the first value interval range set is set to 20. The preset interval range is evenly configured, and the error range is considered. For example, the first value interval range set is set as: {(0.09~0.11), (0.29~0.31), (0.49~0.51), ……, (3.89~3.91)}; here, take ±0.01 of 0.1, 0.3, …, 3.9, and other ranges can be selected as appropriate; select the constellation configuration with the HPL value in the set from the constellation configuration set, that is, the first target constellation configuration. If there is no corresponding constellation configuration for the sub-interval range in the set , then a second value interval range set is formed based on these sub-interval ranges, denoted as . For example, if no constellation configuration with HPL in 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)}; for the constellation configuration in the set , respectively select the constellation configuration with the HPL closest to the median of the interval range of the sub-interval range in each sub-interval range. For example, for the constellation configuration in the sub-interval 0.09~0.11, select the constellation configuration with the HPL closest to 0.1 to obtain the third target constellation configuration, and record the third target constellation configuration in the set ; randomly select any constellation configuration in the set , determine the centroid based on the polar coordinates of all visible satellites in the star chart of the current constellation configuration, remove the visible satellite farthest from the centroid in the current constellation configuration, recalculate the HPL of the constellation configuration after removing the satellite, and judge whether the HPL is in the set . If the HPL is in the set , then record this constellation configuration in the set , and update the set , delete the sub-interval range corresponding to the above constellation configuration in the set ; judge whether the set is 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, then continue to use the current constellation configuration, continue to remove the visible satellite second farthest from the centroid, and calculate the HPL of the constellation configuration after removing two visible satellites. If the number of visible satellites in the current constellation configuration reaches 5, then no more satellite removal operations are performed on the current constellation configuration. Select a new constellation configuration from the set and perform satellite removal operations on it until the set is an empty set, that is, the set All constellation configurations corresponding to the sub-interval ranges in are generated to obtain the set , that is, the fault detection set. Correspondingly, a fault troubleshooting set can be obtained. Based on the fault detection set and the fault troubleshooting set, a target constellation configuration set is obtained. The target constellation configuration set includes 40 constellation configurations that meet the requirements of the offline FDE test.

[0069] As can be seen from the above, in this embodiment, a specific example is used to elaborate on the method for generating constellation configurations that meet the integrity monitoring requirements in the present application. The constellation configurations in the preset constellation configuration set with a large quantity are selected and star-removing operations are performed to obtain a fault detection set and a fault troubleshooting set that meet the requirements of the offline FDE test, and then 40 constellation configurations that meet the requirements of the offline FDE test are obtained.

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

[0071] A set acquisition module 11, configured to acquire a preset constellation configuration set and calculate the integrity indexes of each constellation configuration in the preset constellation configuration set; the integrity indexes include a horizontal protection level and a horizontal exclusion level;

[0072] A first constellation configuration determination module 12, configured to create a first value interval range set of the integrity indexes, determine first target constellation configurations corresponding to the corresponding sub-interval ranges in the first value interval range set from the preset constellation configuration set based on the integrity indexes, and use the sub-interval ranges in the first value interval range set for which no corresponding constellation configurations are determined as a second value interval range set; the first value interval range set includes sub-interval ranges with different value ranges of the integrity indexes;

[0073] A second constellation configuration determination module 13, configured to perform star-removing operations on the constellation configurations in the preset constellation configuration set to obtain second target constellation configurations for which the integrity indexes are in the second value interval range set, and delete the sub-interval ranges corresponding to the second target constellation configurations in the second value interval range set until the second value interval range set is empty;

[0074] A first set determination module 14, configured to determine a target set based on the first target constellation configurations and the second target constellation configurations; the target set includes a fault detection set corresponding to the horizontal protection level and a fault troubleshooting set corresponding to the horizontal exclusion level;

[0075] A second set determination module 15, configured to obtain a target constellation configuration set based on the fault detection set and the fault troubleshooting set to perform integrity monitoring using the target constellation configuration set.

[0076] As can be seen from the above, in this application, the preset constellation configuration set is first obtained, and the horizontal protection level and horizontal exclusion level of each constellation configuration in the preset constellation configuration set are calculated. Then, based on the horizontal protection level and horizontal exclusion level, the constellation configurations in the preset constellation configuration set are selected and satellite elimination operations are performed to obtain a fault detection set and a fault elimination set respectively, and a target constellation configuration set is formed based on the fault detection set and the fault elimination set to perform integrity monitoring using the target constellation configuration set. In this way, the constellation configurations in the large number of preset constellation configuration sets are selected and satellite elimination operations are performed to obtain a preset number of target constellation configurations that meet the integrity monitoring requirements, improving the efficiency.

[0077] In some specific embodiments, the first constellation configuration determination module 12 includes:

[0078] A first constellation configuration determination unit, configured to use the constellation configurations in the preset constellation configuration set whose integrity indicators are within the first value interval range set as the first target constellation configurations corresponding to the corresponding sub-interval ranges in the first value interval range set.

[0079] In some specific embodiments, the second constellation configuration determination module 13 includes:

[0080] A centroid determination unit, configured 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 the centroid determined based on the polar coordinates of all visible satellites in the current constellation configuration in the star map;

[0081] A satellite elimination sub-module, configured to eliminate the visible satellite farthest from the centroid of the current constellation configuration in the current constellation configuration to obtain a new current constellation configuration, and recalculate the integrity indicator of the current constellation configuration;

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

[0083] A second judgment unit, configured to, if the integrity indicator is not within the second value interval range set, jump to the step of eliminating the visible satellite farthest from the centroid of the current constellation configuration in the current constellation configuration to obtain a new current constellation configuration.

[0084] In some specific embodiments, the star removal sub-module includes:

[0085] A third determination unit, configured to determine whether the number of visible satellites in the current constellation configuration reaches a preset minimum number threshold;

[0086] A first processing unit, configured to, if not reaching, remove the visible satellite with the farthest distance from the centroid of the current constellation configuration from the current constellation configuration to obtain a new current constellation configuration;

[0087] A second processing unit, configured to, if reaching, 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.

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

[0089] A second constellation configuration determination unit, configured to, for any sub-interval range in the first value interval range set where there is a corresponding constellation configuration, determine, from the first target constellation configurations, a constellation configuration with the smallest absolute value of the difference between the integrity index and the median of the interval range of the sub-interval range, so as to obtain third target constellation configurations corresponding to the respective sub-interval ranges in the first value interval range set where there is a corresponding constellation configuration;

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

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

[0092] A constellation configuration set determination unit, configured 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 embodiments, the number of constellation configurations in the target set is the same as the number of sub-interval ranges in the first value interval range set.

[0094] Furthermore, an embodiment of the present application also discloses an electronic device, Figure 4 It is a structural diagram of an electronic device 20 shown according to an exemplary embodiment, and the content in the figure cannot be considered as any limitation to the scope of use of the present application.

[0095] Figure 4Schematic diagram of the structure of an electronic device 20 provided by 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. Among them, the memory 22 is used to store a computer program, and the computer program 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 foregoing 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 external devices, and the communication protocol it follows is any communication protocol applicable to the technical solution of the present application, and specific limitations are not imposed here; the input / output interface 25 is used to obtain external input data or output data to the outside, and its specific interface type can be selected according to specific application needs, and specific limitations are not imposed here.

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

[0098] Among them, the operating system 221 is used to manage and control each hardware device and the computer program 222 on the electronic device 20, and it 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 foregoing embodiments, the computer program 222 may further include a computer program 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, it implements the constellation configuration generation method that meets the integrity monitoring requirements disclosed above. For the specific steps of this method, reference may be made to the corresponding content disclosed in the foregoing embodiments, and details will not be repeated here.

[0100] In this specification, the various embodiments are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts among the various embodiments may 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 may be referred to the description of the method part.

[0101] Those skilled in the art may further realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0102] The steps of the methods or algorithms described in combination with the embodiments disclosed herein can be directly implemented by hardware, software modules executed by a processor, or a combination of the two. The software modules can be placed in a random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0103] Finally, it should also be noted that in this document, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising a..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0104] The technical solutions provided in this application have been introduced in detail above. Specific examples are used herein to elaborate on the principles and implementation manners of this application. The description of the above embodiments is only used to help understand the method and its core idea of this application; at the same time, for those of ordinary skill in the art, according to the idea of this application, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to this 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; Obtaining 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; The determining of the 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.

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 includes: 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 any one of claims 1 to 4, 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.

6. 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.

7. 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; a second set determination module, 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; Wherein, the first set determination module includes: a constellation configuration determining unit, configured to 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 of an interval range of the sub-interval range for any sub-interval range in the first value interval range set to which a corresponding constellation configuration exists, 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; A set determining unit is used to determine a target set based on the third target constellation configuration and the second target constellation configuration.

8. 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 6.

9. 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 6.

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