System and method for detecting autonomous integrity monitoring function of ship navigation equipment

Abstract

The invention discloses a detection system for an autonomous integrity monitoring function of ship navigation equipment, which comprises a Rowland signal simulator, a satellite navigation comprehensive tester, a broadband up-down converter and a central controller, and is characterized in that the central controller is respectively connected with the Rowland signal simulator, the satellite navigation comprehensive tester and the broadband up-down converter; the Rowland signal simulator is connected with the broadband up-down converter; the central controller is used for controlling and collecting data, the Rowland signal simulator is ground-based reference source simulation equipment, the broadband up-down converter is used for performing frequency conversion processing on pulse signals output by the Rowland signal simulator and transmitting the pulse signals to ship navigation equipment to be tested, and the satellite navigation comprehensive tester is navigation satellite signal simulation equipment. The invention further discloses a detection method for the autonomous integrity monitoring function of the ship navigation equipment. According to the invention, effectiveness detection of the autonomous integrity monitoring function of the ship navigation ship equipment is carried out by simulating a field environment, the applicability is wide, and the efficiency is high.

Description

Technical Field

[0001] The invention belongs to the technical field of ship navigation equipment detection, and in particular, relates to a detection system and method for an autonomous integrity monitoring function of ship navigation equipment. Background Art

[0002] The autonomous integrity monitoring function in ship navigation equipment is a technology that uses satellite signals and Loran signals to detect and eliminate faulty transmitters. Its purpose is to detect faulty transmitters during navigation and ensure the validity of navigation positioning accuracy indications. Autonomous integrity monitoring technology has many advantages, such as rapid response to transmitter failures, full autonomy, no need for external intervention, low cost, and global availability. This technology is particularly important for life-critical system applications (such as aviation or marine navigation). With the increasing promotion and improvement of integrated navigation systems, this type of comprehensive autonomous integrity monitoring technology will also gradually expand its coverage and application scope.

[0003] At present, the relevant tests of autonomous integrity monitoring of receivers are mainly concentrated before the receiver leaves the factory. For example, "CN201911331942.7 An advanced receiver autonomous integrity monitoring simulation evaluation method and device" introduces the verification method of the receiver autonomous integrity monitoring algorithm. It is necessary to extract the algorithm used by the receiver to the device, and simulate the operation of the receiver autonomous integrity monitoring algorithm in the receiver through the parsed navigation satellite data and ISM message parameters. The algorithms used by major manufacturers of commercial receivers on the market are different and cannot be extracted. Therefore, the performance test of autonomous integrity monitoring of receivers cannot be performed on packaged commercial receivers. There is a lack of corresponding detection methods and equipment for the detection of receiver products at delivery and daily maintenance tests. On the other hand, the test object function of integrity monitoring is the satellite positioning receiving system, and the integrated navigation positioning receiver lacks the corresponding autonomous integrity monitoring effectiveness test method. This type of navigation positioning receiver has different test principles and technical characteristics according to the different sensor types of the integrated navigation system. The relevant receiver autonomous integrity monitoring principle is also significantly different from the receiver autonomous integrity monitoring principle configured by the satellite positioning receiving system. Summary of the invention

[0004] The first purpose of the present invention is to overcome the shortcomings and deficiencies of the prior art, and to provide a detection system for the autonomous integrity monitoring function of ship navigation equipment, which simulates the on-site environment to perform effectiveness detection of the autonomous integrity monitoring function and has wide applicability.

[0005] The second object of the present invention is to provide a method for detecting the autonomous integrity monitoring function of a ship navigation device, simulating a field environment to detect the effectiveness of the autonomous integrity monitoring function, and having high detection efficiency.

[0006] The object of the present invention is achieved by the following technical scheme: a detection system for the autonomous integrity monitoring function of a ship navigation device comprises: a Roland signal simulator, a satellite navigation integrated tester, a broadband up / down converter and a central controller, wherein the central controller is respectively connected to the Roland signal simulator, the satellite navigation integrated tester and the broadband up / down converter, and the Roland signal simulator is connected to the broadband up / down converter;

[0007] The central controller is used to complete the control and data storage of the Loran signal simulator, the satellite navigation integrated tester and the broadband up and down converter. The Loran signal simulator is a ground-based reference source simulation device. The Loran signal simulator is used to simulate the pulse signals of the main station module and the auxiliary station module. The broadband up and down converter is used to perform frequency conversion processing on the pulse signals output by the Loran signal simulator and transmit them to the ship navigation equipment under test. The satellite navigation integrated tester is a navigation satellite signal simulation device, which is used to communicate with the ship navigation equipment under test.

[0008] The method for detecting the autonomous integrity monitoring function of the ship navigation equipment adopts the above-mentioned detection system for the autonomous integrity monitoring function of the ship navigation equipment to perform the autonomous integrity monitoring function detection, comprising the steps of:

[0009] S1, control the satellite navigation integrated tester to output a constellation simulation signal through the central controller to detect whether the operating performance parameters of the ship navigation equipment to be tested meet the technical indicators, and if so, proceed to step S2;

[0010] S2. According to the functional evaluation items of the ship navigation equipment to be tested, the interference module of the satellite navigation comprehensive tester is set through the central controller to obtain the operating performance parameters of the ship navigation equipment to be tested under different interference options;

[0011] S3, using a satellite navigation integrated tester and a Loran signal simulator for combined navigation, setting a reference signal source through a central controller and allowing a margin for the number of effective satellites; changing the phase difference of a single satellite to make the output data of the single satellite abnormal, and obtaining the corresponding operating performance parameters of the navigation equipment of the ship to be tested under each phase difference;

[0012] S4. Combined navigation is performed using a satellite navigation integrated tester and a Loran signal simulator. The reference signal source is set by a central controller so that the number of effective satellites is not redundant. The phase of the carrier frequency signal transmitted by the main station module and the auxiliary station module of the Loran signal simulator is set to be the same. The phase difference of a single satellite is changed to make the output data of the single satellite abnormal, and the operating performance parameters corresponding to the navigation equipment of the ship to be tested under each phase difference are obtained.

[0013] S5. Based on the setting of step S4, the synthetic signal parameters of the Loran signal pulse group are changed to make the corresponding Loran station output data abnormal, and the Loran signal pulse group transmitted back to the central controller is frequency-converted by using a broadband up-down converter to obtain the corresponding operating performance parameters of the ship navigation equipment under each synthetic signal parameter;

[0014] S6, repeating steps S4 to S5 for several times in sequence to obtain several groups of operating performance parameters, taking the minimum value variable combination of the statistic under available conditions to screen the fault reference signal source, wherein the available conditions refer to the condition where the positioning accuracy in the operating performance parameters is restored to the technical index, and comparing the screening results with the troubleshooting results of the navigation equipment of the ship to be tested to obtain a comparison result;

[0015] S7. The central controller generates a data set by time sorting the operating performance parameters of steps S1 to S6 and the comparison result of step S6 and outputs it as a test report.

[0016] Preferably, step S1 specifically includes:

[0017] S11. The satellite navigation integrated tester outputs a constellation simulation signal with normal parameters, wherein the constellation simulation signal includes the number of satellites, satellite numbers, pseudo-random noise codes, satellite angles, satellite time, and positioning coordinates;

[0018] S12. The navigation equipment of the ship to be tested performs navigation positioning according to the constellation simulation signal, and determines whether the operating performance parameters of the navigation equipment of the ship to be tested meet the technical indicators of the equipment to be tested:

[0019] If yes, proceed to step S2;

[0020] If not, a report is generated with the output of the test's operating performance parameters.

[0021] Preferably, step S3 specifically includes:

[0022] S31, setting the total number m of reference signal sources to a value range of 5 to 12, and the number n of valid satellites to be greater than or equal to 5;

[0023] S32, testing the operating performance parameters of valid satellites under different phase differences in sequence, testing a single satellite each time, and the testing process for each time is as follows:

[0024] Set the detection time to X, preset a single satellite to increase the phase difference at the 15th second of each minute, and restore the initial phase difference after 10 to 15 seconds until the detection time X is reached, and record the corresponding operating performance parameters under each phase difference. The phase difference is expressed as:

[0025] (t-15)*α / f,

[0026] where 15s < t ≤ 45s, α is an integer and α ≥ 1, and f is the carrier frequency of the satellite signal.

[0027] Preferably, step S4 specifically includes:

[0028] S41. Set the total number m of reference signal sources to range from 5 to 12, the number n of effective satellites to be less than 5, and the number of Loran stations to be k;

[0029] S42. Set the phases of the carrier frequency signals transmitted by the master station module and the slave station module of the Loran signal simulator to be the same. Then, the phase difference between the carrier frequency signals received by the navigation equipment of the ship to be measured is proportional to the distance difference. The central controller calculates the distance difference based on the measured phase difference, and at the same time, uses the measured time difference to assist in solving the multi-value problem of the phase difference;

[0030] S43. Test the operating performance parameters corresponding to different phase differences of the effective satellites in sequence. Each time, test a single satellite, and the process of each test is as follows:

[0031] Set the detection time to X. Preset that a single satellite increases the phase difference at the 15th second of each minute and lasts for 10s - 15s and then returns to the initial phase difference until the detection time X is reached. Record the operating performance parameters corresponding to each phase difference. The phase difference is expressed as:

[0032] (t - 15) * α / f,

[0033] where 15s < t ≤ 45s, α is an integer and α ≥ 1, and f is the carrier frequency of the satellite signal.

[0034] Preferably, step S5 specifically includes:

[0035] S51. Set the total number m of reference signal sources to range from 5 to 12, the number n of effective satellites to be less than 5, the number of Loran stations to be k, and set the phases of the carrier frequency signals transmitted by the master station module and the slave station module of the Loran signal simulator to be the same. Among them, each group of the master station module transmits 9 pulses, the interval between the first 8 pulses is 1ms, and the interval between the 8th pulse and the 9th pulse is 2ms. The slave station module only transmits the first 8 pulses;

[0036] S52. Test the operating performance parameters corresponding to different parameters of the Loran stations in sequence. Each time, test a single Loran station, and the process of each test is as follows:

[0037] Change the parameters of the composite signal of the Loran signal pulse group according to the detection requirements. The composite signal is:

[0038]

[0039] The parameters include s g (t), Am ,t m and m(t), where s g (t) is the ground Loran signal, A m is the amplitude of the Loran signal reflected by the ionosphere, t m is the delay time between the Loran signal reflected by the ionosphere and the Loran signal on the ground, and m(t) is the noise merging term;

[0040] S53, while the Loran signal simulator outputs the Loran signal pulse group to the navigation device of the ship to be tested, the main frequency carrier is up-converted to the L band and transmitted back to the central controller for storage and analysis of the time domain signal, and under the control of the central controller, the repetition period T of the Loran signal pulse group is adjusted through the broadband up-down converter, and the range of the repetition period T is 40ms to 99.99ms;

[0041] S54. Record the relationship between each synthetic signal parameter and the corresponding parameter threshold and alarm.

[0042] Preferably, step S6 specifically includes:

[0043] S61, repeating steps S4 to S5 several times in sequence, the central controller obtains several groups of operating performance parameters, the operating performance parameters including the satellite signal positioning accuracy ε sat 、Loran signal positioning accuracy ε ext-k , fusion positioning accuracy ε c , precision ratio The accuracy ratio Alarm conditions and corresponding thresholds;

[0044] S62, filtering out operational performance parameters of the availability of the navigation equipment of the ship to be tested according to the plurality of groups of operational performance parameters, wherein the availability specifically refers to: the situation where the navigation equipment of the ship to be tested correctly gives an alarm and restores the positioning accuracy, and the normal alarm refers to a missed alarm rate or a false alarm rate being less than a corresponding threshold;

[0045] S63, taking the minimum value variable combination of the statistical function under available conditions for navigation positioning, completing the screening of the fault reference signal source, and comparing the screened fault reference signal source with the troubleshooting result of the navigation equipment fault of the ship to be tested.

[0046] Preferably, the minimum value variable combination of the statistical function is expressed as:

[0047]

[0048] Wherein, m is the total number of reference signal sources of the Loran signal simulator and the satellite navigation integrated tester, k is the number of reference signal sources provided by the Loran signal simulator, is the number of combinations of the kth reference signal source without abnormality among m reference signal sources, H is the precision reduction factor, which is obtained by fusing the positioning error and the ranging error, ε c is the fusion positioning accuracy, φ i is the accuracy ratio of the i-th available device in the Loran signal navigation system, the fused positioning error is obtained by subtracting the positioning accuracy of the navigation device of the ship to be tested from the positioning accuracy of the central controller under the combined navigation condition, and the ranging error is obtained by subtracting the ranging coordinates of the navigation device of the ship to be tested from the ranging coordinates of the central controller under the combined navigation condition.

[0049] Preferably, in step S2, the interference options include tropospheric interference, ionospheric interference and multipath effect.

[0050] Preferably, the operating performance parameters include positioning accuracy and positioning accuracy threshold, deviation and deviation threshold, alarm conditions and corresponding thresholds, and positioning accuracy recovery time;

[0051] The positioning accuracy and positioning accuracy recovery time are directly read through the central controller, the alarm conditions include correct alarms, false alarms and missed alarms, the corresponding thresholds include false alarm thresholds and missed alarm thresholds, the positioning accuracy recovery time refers to the time required for the positioning accuracy to recover from the abnormal system data output to reach the technical indicators, the deviation and alarm conditions are obtained by comparing the measured values ​​of the central controller with the measured values ​​of the navigation equipment of the ship to be tested, and the positioning accuracy threshold, deviation threshold, false alarm threshold and missed alarm threshold are calculated according to the standard deviation and preset multiples of the measured values ​​of positioning accuracy, deviation, false alarm and missed alarm, respectively.

[0052] Compared with the prior art, the present invention has the following advantages and effects:

[0053] (1) Aiming at the detection requirements of important functions of ship navigation equipment, the present invention has completely and systematically established a detection system and method for the autonomous integrity monitoring function of ship navigation equipment. The system and method simulate the on-site environment to detect the effectiveness of related functions, without the need to perform detection in an actual specific site. The required channel state can be designed according to the customer's usage scenario, and has a wider applicability.

[0054] (2) The detection system of the autonomous integrity monitoring function of the ship navigation equipment of the present invention controls the broadband up and down converters through the central controller to process the signal of the Loran signal simulator, thereby obtaining a signal with the same frequency as the signal of the satellite navigation integrated tester, thereby realizing control and acquisition of signal data under a unified frequency standard, solving the problem that the sampling intervals of the low-frequency pulse phase hyperbolic signal of Loran and the satellite L-band signal are different during the measurement process, and the Loran C envelope signal and the GNSS envelope signal cannot be observed at the same resolution, thereby reducing the influence of the time domain resolution of the standard instrument on the calibration process.

[0055] (3) The detection method of the autonomous integrity monitoring function of the ship navigation equipment of the present invention can eliminate the fault reference signal source, avoiding the process of isolating one fault at a time and analyzing it one by one when using the test receiver autonomous integrity monitoring or similar technology. It can quickly detect whether the monitoring and troubleshooting function of the receiver autonomous integrity monitoring (RAIM) of the ship navigation equipment meets the requirements, greatly improving the detection efficiency, and the test accuracy and reliability are high. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 It is a structural schematic diagram of the detection system of the autonomous integrity monitoring function of the ship navigation equipment of the present invention.

[0057] Figure 2 It is a flow chart of a method for detecting the autonomous integrity monitoring function of a ship navigation device according to the present invention. DETAILED DESCRIPTION

[0058] The present invention will be further described in detail below in conjunction with embodiments and drawings, but the embodiments of the present invention are not limited thereto.

[0059] Example 1

[0060] like Figure 1 The figure shows a structural schematic diagram of a detection system for the autonomous integrity monitoring function of a ship navigation device, comprising: a Loran signal simulator, a satellite navigation integrated tester, a broadband up / down converter and a central controller, wherein the central controller is respectively connected to the Loran signal simulator, the satellite navigation integrated tester and the broadband up / down converter, and the Loran signal simulator is connected to the broadband up / down converter;

[0061] The central controller is used to complete the control and data storage of the Loran signal simulator, the satellite navigation integrated tester and the broadband up and down converter. The Loran signal simulator is a ground-based reference source simulation device. The Loran signal simulator is used to simulate the pulse signals of the main station module and the auxiliary station module. The broadband up and down converter is used to perform frequency conversion processing on the pulse signals output by the Loran signal simulator and transmit them to the ship navigation equipment under test. The satellite navigation integrated tester is a navigation satellite signal simulation device, which is used to communicate with the ship navigation equipment under test.

[0062] Specifically, the central controller is used to monitor the operating parameters of the Roland signal simulator, the satellite navigation integrated tester and the broadband up-down converter and store test data. The central controller is operated by a computing device to set the operating conditions of the Roland signal simulator, the satellite navigation integrated tester and the broadband up-down converter under the same frequency standard. The computing device can be a terminal device such as a desktop computer, a laptop computer, a PDA handheld terminal, and a tablet computer; the Roland signal simulator is a ground-based reference source simulation device that simulates the pulse signals of the main station and the auxiliary station respectively, and the ship navigation device to be tested searches for the corresponding phase-coded pulse signal to measure and navigate; the satellite navigation integrated tester is a navigation satellite signal simulation device that includes RNSS and RDSS functions and is used to communicate and navigate with the ship navigation device to be tested; the broadband up-down converter adopts a multi-level frequency conversion architecture, and multi-frequency and multi-bandwidth switching input and output simulates the electromagnetic environment in the test scene, and processes the signal output by the Roland simulator and forwards it to the ship navigation device to be tested. The system of the present invention can simulate the field environment for the ship navigation device to be tested to perform relevant function validity detection, without the need to detect in an actual specific site, and can design the required channel state according to the customer's usage scenario, and has a wide range of applicability.

[0063] Example 2

[0064] like Figure 2 The figure is a flow chart of a method for detecting the autonomous integrity monitoring function of a ship navigation device. The detection system for the autonomous integrity monitoring function of the ship navigation device described in Example 1 is used to perform the autonomous integrity monitoring function detection, including the following steps:

[0065] S1, control the satellite navigation integrated tester to output a constellation simulation signal through the central controller to detect whether the operating performance parameters of the ship navigation equipment to be tested meet the technical indicators, and if so, proceed to step S2;

[0066] Step S1 specifically includes:

[0067] S11. The satellite navigation integrated tester outputs a constellation simulation signal with normal parameters, wherein the constellation simulation signal includes the number of satellites, satellite numbers, pseudo-random noise codes, satellite angles, satellite time, and positioning coordinates;

[0068] S12. The navigation equipment of the ship to be tested performs navigation positioning according to the constellation simulation signal, and determines whether the operating performance parameters of the navigation equipment of the ship to be tested meet the technical indicators of the equipment to be tested:

[0069] If yes, proceed to step S2;

[0070] If not, a report is generated with the output of the test's operating performance parameters.

[0071] S2. According to the functional evaluation items of the ship navigation equipment to be tested, the interference module of the satellite navigation comprehensive tester is set through the central controller to obtain the operating performance parameters of the ship navigation equipment to be tested under different interference options;

[0072] S3, using a satellite navigation integrated tester and a Loran signal simulator for combined navigation, setting a reference signal source through a central controller and allowing a margin for the number of effective satellites; changing the phase difference of a single satellite to make the output data of the single satellite abnormal, and obtaining the corresponding operating performance parameters of the navigation equipment of the ship to be tested under each phase difference;

[0073] S4. Combined navigation is performed using a satellite navigation integrated tester and a Loran signal simulator. The reference signal source is set by a central controller so that the number of effective satellites is not redundant. The phase of the carrier frequency signal transmitted by the main station module and the auxiliary station module of the Loran signal simulator is set to be the same. The phase difference of a single satellite is changed to make the output data of the single satellite abnormal, and the operating performance parameters corresponding to the navigation equipment of the ship to be tested under each phase difference are obtained.

[0074] S5. Based on the setting of step S4, the synthetic signal parameters of the Loran signal pulse group are changed to make the corresponding Loran station output data abnormal, and the Loran signal pulse group transmitted back to the central controller is frequency-converted by using a broadband up-down converter to obtain the corresponding operating performance parameters of the ship navigation equipment under each synthetic signal parameter;

[0075] S6, repeating steps S4 to S5 for several times in sequence to obtain several groups of operating performance parameters, taking the minimum value variable combination of the statistic under available conditions to screen the fault reference signal source, wherein the available conditions refer to the condition where the positioning accuracy in the operating performance parameters is restored to the technical index, and comparing the screening results with the troubleshooting results of the navigation equipment of the ship to be tested to obtain a comparison result;

[0076] S7. The central controller generates a data set by time sorting the operating performance parameters of steps S1 to S6 and the comparison result of step S6 and outputs it as a test report.

[0077] Specifically, the autonomous integrity monitoring function refers to the function that when individual observable satellites in the satellite-based navigation system fail, the ship navigation equipment under test can identify and eliminate the faulty satellite to ensure navigation accuracy. Ship navigation equipment navigates through Loran (land-based) and satellite (satellite-based). Since the accuracy of satellite-based navigation systems is much higher than that of land-based navigation systems, the navigation process of such equipment is mainly based on satellite-based navigation data as a reference. The ship navigation equipment will sound an alarm when the satellite-based navigation data is abnormal, and then determine whether there are redundant observable satellites to replace based on the number of valid satellites to restore the navigation data to normal; if there are no redundant observable satellites to replace, it should be able to use land-based navigation data in a timely manner to supplement and maintain appropriate accuracy to continue to complete the navigation work.

[0078] The method of the present invention applies the detection system of Example 1 to gradually determine whether the autonomous integrity monitoring function of the ship navigation equipment meets the operation requirements from normal to abnormal and from simple to complex.

[0079] Step S1 uses a satellite navigation integrated tester to simulate the satellite-based navigation situation. Under normal satellite-based navigation conditions, it is determined that the navigation equipment of the ship to be tested is working properly before entering step S2. This embodiment includes determining that the positioning accuracy in the operating performance parameters meets the technical indicator requirements to determine that the navigation equipment of the ship to be tested is working properly;

[0080] Step S2 detects the operating conditions of the navigation equipment of the ship to be tested in various interference environments. In step S2, the interference options include tropospheric interference, ionospheric interference and multipath effect. Various interference conditions are simulated by the interference module of the satellite navigation comprehensive tester, and each interference option is gradually set or the interference options are combined to simulate the interference environment of the real environment, so that the detection is comprehensive and reliable.

[0081] Steps S3 to S6 simulate abnormal conditions to perform functional tests on the navigation equipment of the ship to be tested:

[0082] Step S3 sets the Roland signal simulator and the satellite navigation integrated tester to output reference signals simultaneously through the central controller, i.e., simulates the combined navigation mode. In this step, the Roland signal simulator does not start the Roland station. When there is a surplus of effective satellites, the Roland station does not start navigation. This step detects whether the navigation equipment of the ship to be tested works normally when a single satellite is abnormal: whether the abnormal satellite is identified and the positioning accuracy in the operating performance parameters is restored to normal after the abnormal satellite is removed at a certain time point, and detects the alarm situation in the operating performance parameters.

[0083] Step S4 maintains the combined navigation mode, and the number of effective satellites is set to have no margin through the central controller. The Roland signal simulator starts several Roland stations. When the satellite data is abnormal, the Roland station will be put into navigation work, and the main station module and the auxiliary station module of the Roland signal simulator are set to have the same phase of the carrier signal transmitted. This step detects whether the navigation equipment of the ship to be tested works normally when a single satellite is abnormal: whether the abnormal satellite is identified and the positioning accuracy in the operating performance parameters is restored to normal after the abnormal satellite is eliminated at a certain time point, and detects the alarm situation in the operating performance parameters.

[0084] Step S5 maintains all the settings of step S4: that is, the combined navigation mode is maintained, the number of effective satellites is set to have no margin through the central controller, the Loran signal simulator starts several Loran stations, and the carrier frequency signals emitted by the main station module and the auxiliary station module of the Loran signal simulator are set to have the same phase. This step detects whether the navigation equipment of the ship to be tested works normally when a single Loran station is abnormal: whether the abnormal Loran station is identified and the positioning accuracy in the operating performance parameters is restored to normal after the abnormal Loran station is eliminated at a certain time point, and detects the alarm situation in the operating performance parameters.

[0085] Step S6 includes repeating steps S4 to S5 several times to obtain statistics of several operating performance parameters, and taking the minimum value variable combination of the statistics under available conditions to screen the fault reference signal source, wherein the available conditions refer to the situation where the positioning accuracy in the operating performance parameters of the tested ship navigation equipment can normally alarm, identify and eliminate abnormal satellites or abnormal Loran stations, and then return to normal. The correct alarm includes that the missed alarm rate and the false alarm rate are respectively less than the corresponding thresholds, and the missed alarm and the false alarm are respectively calculated according to the alarm conditions in the statistics of the operating performance parameters.

[0086] Step S7: The data recorded by the central controller in this round of test cycle are sorted by time to generate a measurement data set, named and stored with the number of the tested ship navigation equipment and the test date, and a report is generated. The parameter data of the tested ship navigation equipment in this test cycle are compared with the measurement data set value by time sorting, and this round of testing ends. If a subsequent test is required, the parameter data of the tested ship navigation equipment can be directly compared with the measurement data set, shortening the data processing time and improving the detection efficiency.

[0087] The method of the present invention can simulate the field environment for testing the effectiveness of relevant functions of the ship navigation equipment to be tested, without the need to perform testing in an actual specific site. The required channel state can be designed according to the customer's usage scenario, and the method has wide applicability, reasonable and comprehensive method design, and high testing efficiency.

[0088] Step S3 specifically includes:

[0089] S31. Set the range of the total number m of reference signal sources to be 5 - 12, and the number n of effective satellites is greater than or equal to 5;

[0090] S32. Test the corresponding operating performance parameters of the effective satellites at different phase differences in sequence. Each time, test a single satellite, and the test process each time is as follows:

[0091] Set the detection time to X. Preset that a single satellite increases the phase difference at the 15th second of each minute and maintains it for 10s - 15s and then restores to the initial phase difference until the detection time X is reached. Record the corresponding operating performance parameters at each phase difference. The phase difference is expressed as:

[0092] (t - 15)*α / f,

[0093] where 15s < t ≤ 45s, α is an integer and α ≥ 1, and f is the satellite signal carrier frequency.

[0094] Specifically, a large number of previous tests have shown that the test efficiency is the highest when the phase stability time is 10s - 15s. In this embodiment, after the phase difference is changed, it is maintained for 10s - 15s and then restored to the initial phase difference, which is convenient for obtaining a higher test efficiency. When changing the phase difference of a single satellite, output data, record each phase difference, phase difference threshold, and the corresponding alarm situation at each phase difference, which can be recorded in the form of Table 1:

[0095] Table 1: Operating performance parameters corresponding to changing the phase difference of a single satellite

[0096]

[0097] Step S4 specifically includes:

[0098] S41. Set the range of the total number m of reference signal sources to be 5 - 12, the number n of effective satellites is less than 5, and the number of Loran stations is k;

[0099] S42. Set the phase of the carrier frequency signals transmitted by the master station module and the slave station module of the Loran signal simulator to be the same. Then, the phase difference between the carrier frequency signals of the master station module and the slave station module received by the待测船舶导航设备 (to-be-tested ship navigation equipment) is proportional to the distance difference. The central controller calculates the distance difference based on the measured phase difference, and at the same time, uses the measured time difference to assist in solving the multi-value problem of the phase difference;

[0100] S43. Test the corresponding operating performance parameters of the effective satellites at different phase differences in sequence. Each time, test a single satellite, and the test process each time is as follows:

[0101] Set the detection time to X. Preset that a single satellite increases the phase difference at the 15th second of each minute, and after 10 s to 15 s, it returns to the initial phase difference until the detection time X is reached. Record the corresponding operating performance parameters at each phase difference. The phase difference is expressed as:

[0102] (t - 15)*α / f,

[0103] where 15 s < t ≤ 45 s, α is an integer and α ≥ 1, and f is the carrier frequency of the satellite signal.

[0104] Specifically, ranging is usually completed in the time domain. In this embodiment, the propagation speed of electromagnetic waves is approximately calculated as the speed of light in air. If the time difference is directly used for ranging, the accuracy is relatively poor, while the phase difference is accurate but there are multiple repetitions and multi-value problems, which need to be identified. Therefore, in this embodiment, the distance difference is calculated through the phase difference to ensure the accuracy of the test; at the same time, the time difference is measured to assist in solving the multi-value problem of the phase difference. When a single satellite changes the phase difference and outputs data, record each phase difference, the phase difference threshold, and the alarm situation corresponding to each phase difference. The recorded data is the same as in Table 1. The normal situation of the system is to alarm when the satellite data is abnormal and exceeds the phase difference threshold, and then start the Loran signal.

[0105] Step S5 specifically includes:

[0106] S51. Set the total number m of reference signal sources to have a value range of 5 to 12, the number n of effective satellites to be less than 5, and the number k of Loran stations. Set the phase of the carrier frequency signals transmitted by the master station module and the slave station module of the Loran signal simulator to be the same. Among them, the master station module transmits 9 pulses in each group, the interval between the first 8 pulses is 1 ms, and the interval between the 8th pulse and the 9th pulse is 2 ms. The slave station module only transmits the first 8 pulses;

[0107] S52. Test the corresponding operating performance parameters of the Loran stations under different parameters in sequence. Each time, test a single Loran station. The process of each test is as follows:

[0108] According to the detection requirements, change the parameters of the composite signal of the Loran signal pulse group. The composite signal is:

[0109]

[0110] The parameters include s g (t), A m , t m and m(t), where s g (t) is the ground Loran signal, A m is the amplitude of the ionospheric reflected Loran signal, t m is the delay time between the ionospheric reflected Loran signal and the ground Loran signal, and m(t) is the noise combination term;

[0111] S53, while the Loran signal simulator outputs the Loran signal pulse group to the navigation device of the ship to be tested, the main frequency carrier is up-converted to the L band and transmitted back to the central controller for storage and analysis of the time domain signal, and under the control of the central controller, the repetition period T of the Loran signal pulse group is adjusted through the broadband up-down converter, and the range of the repetition period T is 40ms to 99.99ms;

[0112] S54. Record the relationship between each synthetic signal parameter and the corresponding parameter threshold and alarm.

[0113] Specifically, the parameter change is for a single Loran station, and the test is performed on each Loran station by repeating k times. During the test, due to different ranges, the Loran envelope signal and the GNSS envelope signal cannot be measured simultaneously within a unit of time. In this embodiment, the Loran pulse signal group is subjected to real-time frequency conversion by a broadband up-down converter. While the Loran signal simulator sends a signal to the navigation device of the ship to be tested, the broadband up-down converter up-converts the main frequency carrier to the L band and transmits it back to the central controller for storage and analysis of the time domain signal. Adjusting the repetition period includes shortening the pulse group repetition period T, thereby reducing the capture time T. 2 The frequency conversion operation ensures that the Loran envelope signal and the GNSS envelope signal can be measured simultaneously under the condition that the navigation equipment of the ship to be tested can receive signals normally. This step solves the problem that the sampling intervals of the Loran and GNSS are different during the measurement of the Loran low-frequency pulse phase hyperbolic signal and the satellite L-band signal, and the Loran signal envelope and the GNSS envelope cannot be observed at the same resolution.

[0114] Change each parameter of each synthetic signal, output data, record the change of each parameter, parameter threshold and the alarm situation corresponding to each parameter, which can be recorded in the form of Table 2:

[0115] Table 2 Change one of the parameters s g (t) The corresponding operating performance parameters

[0116]

[0117] Step S6 specifically includes:

[0118] S61, repeating steps S4 to S5 several times in sequence, the central controller obtains several groups of operating performance parameters, the operating performance parameters including the satellite signal positioning accuracy ε sat 、Loran signal positioning accuracy ε ext-k , fusion positioning accuracy ε c , precision ratio The accuracy ratio Alarm conditions and corresponding thresholds;

[0119] S62, filtering out operational performance parameters of the availability of the navigation equipment of the ship to be tested according to the plurality of groups of operational performance parameters, wherein the availability specifically refers to: the situation where the navigation equipment of the ship to be tested correctly gives an alarm and restores the positioning accuracy, and the normal alarm refers to a missed alarm rate or a false alarm rate being less than a corresponding threshold;

[0120] S63, taking the minimum value variable combination of the statistical function under available conditions for navigation positioning, completing the screening of the fault reference signal source, and comparing the screened fault reference signal source with the troubleshooting result of the navigation equipment fault of the ship to be tested.

[0121] The minimum value variable combination of the statistical function is expressed as:

[0122]

[0123] Wherein, m is the total number of reference signal sources of the Loran signal simulator and the satellite navigation integrated tester, k is the number of reference signal sources provided by the Loran signal simulator, is the number of combinations of the kth reference signal source without abnormality among m reference signal sources, H is the precision reduction factor, which is obtained by fusing the positioning error and the ranging error, ε c To integrate positioning accuracy, is the accuracy ratio of the i-th available device in the Loran signal navigation system. The fused positioning error is obtained according to the measured coordinates of the navigation device of the ship to be tested and the reference coordinates of the central controller under the combined navigation condition. The ranging error is obtained by subtracting the measured distance of the navigation device of the ship to be tested and the reference distance of the central controller under the combined navigation condition.

[0124] Specifically, in order to obtain the statistics of the operating performance parameters of the ship navigation equipment to be tested in the available situation, that is, to detect whether the ship navigation equipment to be tested correctly alarms (missed alarm rate, false alarm rate is less than the threshold value), whether fault detection and elimination can be carried out, at least 6 measurements are required, however, based on the specific geometric position of the reference signal source, more measurements are usually required, usually 7 to 12 reference signal sources are required. In this embodiment, in order to obtain the statistics, the number of times steps S4 to S5 are repeated for measurement is set to 6 times. The rapid screening of the faulty reference signal source is completed by the combination of the minimum value variables of the statistical function, and the system passes if it is normal. Among them, the precision attenuation factor H decreases with the increase of the reference signal source under normal circumstances, and the comparison H is attenuated after adding the Roland station. The method of the present invention realizes the elimination of the faulty reference signal source, avoids the process of using the test receiver autonomous integrity monitoring or approximate technology to separate a fault each time for analysis, and can quickly detect whether the monitoring and troubleshooting functions of the receiver autonomous integrity monitoring (RAIM) of the ship navigation equipment meet the requirements, greatly improves the detection efficiency, and has high test accuracy and reliability.

[0125] According to the above-mentioned detection method of the autonomous integrity monitoring function of the ship navigation equipment, the operating performance parameters include positioning accuracy and positioning accuracy threshold, deviation and deviation threshold, alarm conditions and corresponding thresholds, and positioning accuracy recovery time;

[0126] The positioning accuracy and positioning accuracy recovery time are directly read through the central controller, the alarm conditions include correct alarms, false alarms and missed alarms, the corresponding thresholds include false alarm thresholds and missed alarm thresholds, the positioning accuracy recovery time refers to the time required for the positioning accuracy to recover from the abnormal system data output to reach the technical indicators, the deviation and alarm conditions are obtained by comparing the measured values ​​of the central controller with the measured values ​​of the navigation equipment of the ship to be tested, and the positioning accuracy threshold, deviation threshold, false alarm threshold and missed alarm threshold are calculated according to the standard deviation and preset multiples of the measured values ​​of positioning accuracy, deviation, false alarm and missed alarm, respectively.

[0127] Specifically, the operating performance parameters refer to the operating performance parameters of the ship navigation equipment to be tested under the respective conditions of each step from step S1 to step S7. Among them, the deviation and alarm conditions (missed alarm and false alarm) need to be compared with the reference value provided by the central controller and the measured value of the equipment to be tested. During the test, the central controller and the ship navigation equipment to be tested are measured simultaneously, but the central controller is synchronized with other equipment in time and frequency, so the measured value of the central controller is the reference value. The positioning accuracy threshold, deviation threshold, false alarm threshold and missed alarm threshold are all multiples of the standard deviation of the actual measured values ​​under their respective conditions. As the test parameters change during the test process, the thresholds will also change accordingly. The multiples in this embodiment can be taken as or

[0128] The above embodiments are preferred implementations of the present invention and are not intended to limit the present invention. Any other changes or other equivalent replacement methods that do not deviate from the technical solutions of the present invention are included in the protection scope of the present invention.

Claims

1. Detection system for autonomous integrity monitoring function of ship navigation equipment, It is characterized in that include: A Roland signal simulator, a satellite navigation integrated tester, a broadband up / down converter and a central controller, wherein the central controller is connected to the Roland signal simulator, the satellite navigation integrated tester and the broadband up / down converter respectively, and the Roland signal simulator is connected to the broadband up / down converter; The central controller is used to complete the control and data storage of the Loran signal simulator, the satellite navigation integrated tester and the broadband up and down converter. The Loran signal simulator is a ground-based reference source simulation device. The Loran signal simulator is used to simulate the pulse signals of the main station module and the auxiliary station module. The broadband up and down converter is used to perform frequency conversion processing on the pulse signals output by the Loran signal simulator and transmit them to the ship navigation equipment under test. The satellite navigation integrated tester is a navigation satellite signal simulation device, which is used to communicate with the ship navigation equipment under test.

2. Testing methods for autonomous integrity monitoring functions of ship navigation equipment, It is characterized in that The autonomous integrity monitoring function detection system of the ship navigation equipment according to claim 1 is used to perform autonomous integrity monitoring function detection, comprising the steps of: S1, control the satellite navigation integrated tester to output a constellation simulation signal through the central controller to detect whether the operating performance parameters of the ship navigation equipment to be tested meet the technical indicators, and if so, proceed to step S2; S2. According to the functional evaluation items of the ship navigation equipment to be tested, the interference module of the satellite navigation comprehensive tester is set through the central controller to obtain the operating performance parameters of the ship navigation equipment to be tested under different interference options; S3, using a satellite navigation integrated tester and a Loran signal simulator for combined navigation, setting a reference signal source through a central controller and allowing a margin for the number of effective satellites; changing the phase difference of a single satellite to make the output data of the single satellite abnormal, and obtaining the corresponding operating performance parameters of the navigation equipment of the ship to be tested under each phase difference; S4. Combined navigation is performed using a satellite navigation integrated tester and a Loran signal simulator. The reference signal source is set by a central controller so that the number of effective satellites is not redundant. The phase of the carrier frequency signal transmitted by the main station module and the auxiliary station module of the Loran signal simulator is set to be the same. The phase difference of a single satellite is changed to make the output data of the single satellite abnormal, and the operating performance parameters corresponding to the navigation equipment of the ship to be tested under each phase difference are obtained. S5. Based on the setting of step S4, the synthetic signal parameters of the Loran signal pulse group are changed to make the corresponding Loran station output data abnormal, and the Loran signal pulse group transmitted back to the central controller is frequency-converted by using a broadband up-down converter to obtain the corresponding operating performance parameters of the ship navigation equipment under each synthetic signal parameter; S6, repeating steps S4 to S5 for several times in sequence to obtain several groups of operating performance parameters, taking the minimum value variable combination of the statistic under available conditions to screen the fault reference signal source, wherein the available conditions refer to the condition where the positioning accuracy in the operating performance parameters is restored to the technical index, and comparing the screening results with the troubleshooting results of the navigation equipment of the ship to be tested to obtain a comparison result; S7. The central controller generates a data set by sorting the operation performance parameters of steps S1 to S6 and the comparison result of step S6 in time sequence and outputs it as the test report for this time.

3. The detection method for the autonomous integrity monitoring function of the ship navigation equipment according to claim 2, characterized in that, step S1 specifically includes: S11. The satellite navigation integrated tester outputs a constellation simulation signal with normal parameters, and the constellation simulation signal includes the number of satellites, satellite numbers, pseudo-random noise codes, satellite angles, satellite time, and positioning coordinates; S12. The ship navigation equipment to be tested performs navigation positioning according to the constellation simulation signal, and determines whether the operation performance parameters of the ship navigation equipment to be tested meet the technical indicators of the equipment to be tested: If so, proceed to step S2; If not, output the operation performance parameters of the test to generate a report.

4. The detection method for the autonomous integrity monitoring function of the ship navigation equipment according to claim 2, characterized in that, step S3 specifically includes: S31. Set the total number m of reference signal sources to range from 5 to 12, and the number n of effective satellites to be greater than or equal to 5; S32. Test the operation performance parameters corresponding to different phase differences of the effective satellites in sequence. Each time, a single satellite is tested, and the test process each time is as follows: Set the detection time to X, preset a single satellite to increase the phase difference at the 15th second of each minute, and keep it for 10 s to 15 s and then restore the initial phase difference until the detection time X is reached, and record the operation performance parameters corresponding to each phase difference. The phase difference is expressed as: (t - 15)*α / f, where 15 s < t ≤ 45 s, α is an integer and α ≥ 1, and f is the satellite signal carrier frequency.

5. The detection method for the autonomous integrity monitoring function of the ship navigation equipment according to claim 2, characterized in that, step S4 specifically includes: S41. Set the total number m of reference signal sources to range from 5 to 12, the number n of effective satellites to be less than 5, and the number of Loran stations to be k; S42. Set the phases of the carrier frequency signals transmitted by the master station module and the slave station module of the Loran signal simulator to be the same, then the phase difference between the carrier frequency signals of the master station module and the slave station module received on the ship navigation equipment to be tested is proportional to the distance difference. The central controller calculates the distance difference according to the measured phase difference, and at the same time uses the measured time difference to assist in solving the multi-value problem of the phase difference; S43. Test the operation performance parameters corresponding to different phase differences of the effective satellites in sequence. Each time, a single satellite is tested, and the test process each time is as follows: Set the detection time to X, preset a single satellite to increase the phase difference at the 15th second of each minute, and keep it for 10 s to 15 s and then restore the initial phase difference until the detection time X is reached, and record the operation performance parameters corresponding to each phase difference. The phase difference is expressed as: (t - 15)*α / f, where 15 s < t ≤ 45 s, α is an integer and α ≥ 1, and f is the satellite signal carrier frequency.

6. The detection method for the autonomous integrity monitoring function of the ship navigation equipment according to claim 2, characterized in that, step S5 specifically includes: S51, set the total number of reference signal sources m to a value range of 5 to 12, the number of valid satellites n to be less than 5, the number of Loran stations to be k, set the phases of the carrier signals transmitted by the main station module and the auxiliary station module of the Loran signal simulator to be the same, wherein the main station module transmits 9 pulses per group, the first 8 pulses are separated by 1ms, the interval between the 8th pulse and the 9th pulse is 2ms, and the auxiliary station module only transmits the first 8 pulses; S52, testing the corresponding operating performance parameters of the Roland station under different parameters in turn, testing a single Roland station each time, and the test process of each time is as follows: The parameters of the synthetic signal of the Loran signal pulse group are changed according to the detection requirements. The synthetic signal is: The parameters include s g (t), A m ,t m and m(t), where s g (t) is the ground Loran signal, A m is the amplitude of the Loran signal reflected by the ionosphere, t m is the delay time between the Loran signal reflected by the ionosphere and the Loran signal on the ground, and m(t) is the noise merging term; S53, while the Loran signal simulator outputs the Loran signal pulse group to the navigation device of the ship to be tested, the main frequency carrier is up-converted to the L band and transmitted back to the central controller for storage and analysis of the time domain signal, and under the control of the central controller, the repetition period T of the Loran signal pulse group is adjusted through the broadband up-down converter, and the range of the repetition period T is 40ms to 99.99ms; S54. Record the relationship between each synthetic signal parameter and the corresponding parameter threshold and alarm.

7. The method for detecting the autonomous integrity monitoring function of a ship navigation device according to claim 2, It is characterized in that Step S6 specifically includes: S61, repeating steps S4 to S5 several times in sequence, the central controller obtains several groups of operating performance parameters, the operating performance parameters including the satellite signal positioning accuracy ε sat 、Loran signal positioning accuracy ε ext-k , fusion positioning accuracy ε c , precision ratio The accuracy ratio Alarm conditions and corresponding thresholds; S62, filtering out operational performance parameters of the availability of the navigation equipment of the ship to be tested according to the plurality of groups of operational performance parameters, wherein the availability specifically refers to: the situation where the navigation equipment of the ship to be tested correctly gives an alarm and restores the positioning accuracy, and the normal alarm refers to a missed alarm rate or a false alarm rate being less than a corresponding threshold; S63, taking the minimum value variable combination of the statistical function under available conditions for navigation positioning, completing the screening of the fault reference signal source, and comparing the screened fault reference signal source with the troubleshooting result of the navigation equipment fault of the ship to be tested.

8. The method for detecting the autonomous integrity monitoring function of a ship navigation device according to claim 7, It is characterized in that The minimum value variable combination of the statistical function is expressed as: Wherein, m is the total number of reference signal sources of the Loran signal simulator and the satellite navigation integrated tester, k is the number of reference signal sources provided by the Loran signal simulator, is the number of combinations of the kth reference signal source without abnormality among m reference signal sources, H is the precision reduction factor, which is obtained by fusing the positioning error and the ranging error, ε c is the fusion positioning accuracy, φ i is the accuracy ratio of the i-th available device in the Loran signal navigation system, the fused positioning error is obtained by subtracting the positioning accuracy of the navigation device of the ship to be tested from the positioning accuracy of the central controller under the combined navigation condition, and the ranging error is obtained by subtracting the ranging coordinates of the navigation device of the ship to be tested from the ranging coordinates of the central controller under the combined navigation condition.

9. The method for detecting the autonomous integrity monitoring function of a ship navigation device according to claim 2, It is characterized in that In step S2, the interference options include tropospheric interference, ionospheric interference and multipath effect.

10. The method for detecting the autonomous integrity monitoring function of a ship navigation device according to any one of claims 2 to 9, It is characterized in that The operating performance parameters include positioning accuracy and positioning accuracy threshold, deviation and deviation threshold, alarm conditions and corresponding thresholds, and positioning accuracy recovery time; The positioning accuracy and positioning accuracy recovery time are directly read through the central controller, the alarm conditions include correct alarms, false alarms and missed alarms, the corresponding thresholds include false alarm thresholds and missed alarm thresholds, the positioning accuracy recovery time refers to the time required for the positioning accuracy to recover from the abnormal system data output to reach the technical indicators, the deviation and alarm conditions are obtained by comparing the measured values ​​of the central controller with the measured values ​​of the navigation equipment of the ship to be tested, and the positioning accuracy threshold, deviation threshold, false alarm threshold and missed alarm threshold are calculated according to the standard deviation and preset multiples of the measured values ​​of positioning accuracy, deviation, false alarm and missed alarm, respectively.

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