A receiver autonomous integrity monitoring method, apparatus, device and storage medium

Abstract

The application provides a receiver autonomous integrity monitoring method, device, equipment and storage medium, wherein the receiver autonomous integrity monitoring method comprises the following steps: acquiring satellite observation data and 5G base station observation data, and performing preprocessing; performing weighted nonlinear least square method solving based on the satellite observation data and the 5G base station observation data, and determining observation value residuals; performing fault detection and fault identification on a satellite system according to the observation value residuals; and performing autonomous integrity monitoring availability judgment based on a fault-free satellite in the satellite system, and obtaining a judgment result. Through the application, the positioning accuracy of low-altitude aircraft is greatly improved, the integrity monitoring level is significantly improved, and the problem of poor monitoring accuracy in the prior art is solved.

Description

Technical Field

[0001] This invention relates to the field of satellite monitoring technology, and in particular to a method, apparatus, equipment, and storage medium for monitoring the autonomous integrity of a receiver. Background Technology

[0002] Currently, China's low-altitude industry is booming, but this has also brought complex safety issues to the low-altitude environment. Receiver Autonomous Integrity Monitoring (RAIM) is a monitoring technology that can assess the reliability of current positioning results in real time. It can provide real-time estimates and early warnings of potential risks to low-altitude flight, thus safeguarding low-altitude safety.

[0003] Low-altitude aircraft are diverse in type, limited by hardware costs, small in size, low in altitude, slow in speed, and often have unpredictable and highly maneuverable routes. This makes general aviation flights significantly affected by weather, terrain, and ground-based radio interference, resulting in a poor operating environment. Traditional navigation systems are insufficient to meet the actual positioning and integrity requirements of low-altitude general aviation, posing a significant challenge to the flight safety of general aviation aircraft.

[0004] There is currently no effective solution to the problem of poor monitoring accuracy in existing related technologies. Summary of the Invention

[0005] This invention provides a receiver autonomous integrity monitoring method, apparatus, device, and storage medium to address the shortcomings of poor monitoring accuracy in existing related technologies.

[0006] In a first aspect, the present invention provides a receiver autonomous integrity monitoring method, comprising: Acquire satellite observation data and 5G base station observation data, and perform preprocessing; The residuals of the observed values ​​are determined by weighted nonlinear least squares method based on the satellite observation data and the 5G base station observation data. The satellite system is used to detect and identify faults based on the observed residuals. Based on the fault-free satellites in the satellite system, an autonomous integrity monitoring availability assessment is performed to obtain the assessment result.

[0007] According to the receiver autonomous integrity monitoring method provided by the present invention, before acquiring satellite observation data and 5G base station observation data, the method includes: Based on the array antenna in a 5G base station, determine the local coordinate system and the global coordinate system; Determine the transformation relationship between the terminal in the local coordinate system and the global coordinate system.

[0008] According to a receiver autonomous integrity monitoring method provided by the present invention, satellite observation data and 5G base station observation data are acquired and preprocessed, including: By acquiring pseudorange observations of the satellite using a receiver and then modeling them, a pseudorange model can be obtained. The angle information of the low-altitude aircraft is obtained by acquiring the angle information of the 5G antenna and modeling it to obtain the 5G angle measurement model; the angle information includes azimuth angle and altitude angle.

[0009] According to the receiver autonomous integrity monitoring method provided by the present invention, the residual of the observed values ​​is determined by performing a weighted nonlinear least squares method based on the satellite observation data and the 5G base station observation data, including: The pseudorange model of the satellite and the 5G angle measurement model of the low-altitude vehicle are iteratively linearized to determine the estimated solution of the observation residual vector. The observed residuals are determined based on the estimated solution and the true value of the observed residual vector.

[0010] According to the receiver autonomous integrity monitoring method provided by the present invention, fault detection of a satellite system is performed based on the observed residuals, including: Based on the least squares estimation principle, the post-hoc unit weighted mean error is determined by combining the observed residuals. The detection threshold of the post-test unit weight error is determined by combining the false alarm probability of the satellite system; By comparing the post-test unit weight mean square error with the detection threshold of the post-test unit weight mean square error, it is determined whether the satellite system has a fault.

[0011] According to the receiver autonomous integrity monitoring method provided by the present invention, fault identification of a satellite system is performed based on the observed residuals, including: For each satellite in the satellite system, a test statistic is constructed based on the observation residuals; The test threshold of the test statistic is determined by combining the false alarm probability of the satellite system. By comparing the test statistic of each satellite with the test threshold of the test statistic, it is determined whether the satellite has malfunctioned.

[0012] According to the receiver autonomous integrity monitoring method provided by the present invention, an availability judgment for autonomous integrity monitoring is performed based on fault-free satellites in the satellite system to obtain a judgment result, including: The estimated solution is obtained by performing least squares iteration using satellite observation data from fault-free satellites and 5G base station observation data; Define the projection matrix and covariance matrix, and determine the vertical protection level and horizontal protection level by combining the estimated solution; By comparing the vertical protection level, the horizontal protection level, and the preset alarm level, the autonomous integrity judgment result is obtained.

[0013] Secondly, the present invention also provides a receiver autonomous integrity monitoring device, comprising: The acquisition module is used to acquire satellite observation data and 5G base station observation data, and to perform preprocessing. The processing module is used to perform weighted nonlinear least squares calculation based on the satellite observation data and the 5G base station observation data to determine the observation residuals; The identification module is used to perform fault detection and fault identification on the satellite system based on the observation residuals; The monitoring module is used to perform autonomous integrity monitoring and availability assessment based on fault-free satellites in the satellite system, and obtain the assessment result.

[0014] Thirdly, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the receiver autonomous integrity monitoring method as described in the first aspect above.

[0015] In a fourth aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the receiver autonomous integrity monitoring method as described in the first aspect above.

[0016] Fifthly, the present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the receiver autonomous integrity monitoring method as described in the first aspect above.

[0017] Compared with the prior art, the present invention has the following beneficial effects: The receiver autonomous integrity monitoring method provided by this invention no longer relies solely on ranging observations from satellite signals. Instead, it fully utilizes the elevation angle characteristics and angle measurement observations of the 5G system, combined with observation data from the Global Navigation Satellite System, to construct an observation model suitable for low-altitude scenarios. Employing the RAIM algorithm based on observation residuals, it aims to obtain higher-precision positioning results, reduce protection requirements, and safeguard low-altitude flight. In summary, this method utilizes 5G signals for redundant observation of low-altitude aircraft. 5G signals possess strong anti-interference and anti-multipath capabilities, significantly improving the positioning accuracy of low-altitude aircraft and substantially enhancing integrity monitoring, thus resolving the issue of poor monitoring accuracy in existing related technologies. Furthermore, based on the widespread deployment of existing 5G base stations, this method can improve the utilization rate of social resources without increasing observation costs. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 This is a flowchart of the receiver autonomous integrity monitoring method provided by the present invention; Figure 2 This is a schematic diagram illustrating the process of autonomous integrity monitoring of the receiver in an embodiment of the present invention; Figure 3 This is a schematic diagram of the local coordinate system and the global coordinate system in an embodiment of the present invention; Figure 4 This is a structural block diagram of the receiver autonomous integrity monitoring device provided by the present invention; Figure 5 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0021] This invention provides a method for monitoring the autonomous integrity of a receiver. Figure 1 This is a flowchart of the receiver autonomous integrity monitoring method provided by the present invention, such as... Figure 1 As shown, the method includes the following steps: Step S101: Acquire satellite observation data and 5G base station observation data, and perform preprocessing; Step S102: Based on satellite observation data and 5G base station observation data, perform weighted nonlinear least squares calculation to determine the observation residuals; Step S103: Perform fault detection and fault identification on the satellite system based on the observation residuals; Step S104: Based on the fault-free satellites in the satellite system, perform autonomous integrity monitoring and availability assessment to obtain the assessment result.

[0022] 5G systems boast relatively high deployment density, offering advantages such as abundant signal strength and low cost, along with a wider range of frequencies and directions. Combining 5G systems with Global Navigation Satellite Systems (GNSS), the 5G / GNSS fusion system, with its superior geometric configuration of 5G ground stations and satellites, significantly enhances positioning capabilities during aircraft cruise. Furthermore, the redundant high-frequency observations provided by 5G enable effective monitoring of the integrity of airborne navigation systems. Therefore, this method first acquires satellite observation data and 5G base station observation data, preprocessing the acquired data for subsequent processing and monitoring. The satellite observation data includes BeiDou satellite observation data. Then, weighted nonlinear least squares calculations are performed on the acquired data to obtain observation residuals. Fault detection is then performed on the satellite system based on these residuals to determine if any faults exist. If faults are found, fault identification is performed, and faulty satellites are removed from the system. Finally, based on the fault-free satellites in the system, the receiver's autonomous integrity monitoring availability is assessed, yielding the final judgment result.

[0023] In the aforementioned process, instead of solely relying on ranging observations from satellite signals, this method fully utilizes the elevation angle characteristics and angle measurement observations of the 5G system, combined with observation data from the Global Navigation Satellite System, to construct an observation model suitable for low-altitude scenarios. Employing the RAIM algorithm based on observation residuals, it aims to obtain higher-precision positioning results, reduce protection requirements, and safeguard low-altitude flights. In summary, this method utilizes 5G signals for redundant observation of low-altitude aircraft. 5G signals possess strong anti-interference and anti-multipath capabilities, significantly improving the positioning accuracy of low-altitude aircraft and substantially enhancing integrity monitoring, thus resolving the issue of poor monitoring accuracy in existing related technologies. Furthermore, based on the widespread deployment of existing 5G base stations, this method can improve the utilization rate of social resources without increasing observation costs.

[0024] Figure 2 This is a schematic diagram illustrating the process of autonomous integrity monitoring of the receiver in an embodiment of the present invention, as shown below. Figure 2 As shown, in some embodiments, before acquiring satellite observation data and 5G base station observation data, step S101 includes: determining the local coordinate system and the global coordinate system based on the array antenna in the 5G base station; and determining the transformation relationship of the terminal in the local coordinate system and the global coordinate system.

[0025] For example, in 5G positioning, the terminal location can be represented in both the Local Coordinate System (LCS) and the Global Coordinate System (GCS). Figure 3 This is a schematic diagram of the local coordinate system and the global coordinate system in an embodiment of the present invention, as shown below. Figure 3 As shown, the LCS takes the center of the array antenna in the 5G base station as the origin, the X-axis is perpendicular to the antenna panel and points outward, the Z-axis points upward along the antenna panel, and the Y-axis forms a right-handed coordinate system with the X-axis and Z-axis. In this embodiment, the GCS is set as an "East-North-Up" (ENU) coordinate system.

[0026] Assume the 5G antenna array rotates sequentially Rotate the axis counterclockwise Degree, Around Rotate the axis counterclockwise Degree, Around Rotate the axis counterclockwise After the LCS is aligned with ENU, the coordinate system of the terminal in the LCS is... and coordinates in ENU The conversion relationship is as follows:

[0027]

[0028] in, The coordinates of the LCS origin in the ENU coordinate system are: This is the coordinate rotation matrix from the LCS to the ENU coordinate system.

[0029] Based on this, in step S101, satellite observation data and 5G base station observation data are acquired and preprocessed, including: acquiring pseudorange observation values ​​of the satellite through the receiver and modeling them to obtain a pseudorange model; acquiring angle information of the low-altitude aircraft through the 5G antenna and modeling it to obtain a 5G angle measurement model; the angle information includes azimuth and elevation angle.

[0030] For example, pseudorange information of observable satellites can be acquired using a GNSS receiver equipped on a low-altitude aircraft. At discrete moments... The received data is processed as follows:

[0031] in, This represents the pseudorange observation value of the m-th satellite. and These are ionospheric delay and tropospheric delay, respectively. It's the speed of light; and They are numbered Satellite coordinates and satellite clock bias in the ENU coordinate system; and These are the coordinate position of the GNSS receiver in the ENU coordinate system and the clock error, respectively. Error term. It can be modeled as following the mean. The variance is A Gaussian white noise sequence.

[0032] 5G base stations observe the angle information of low-altitude aircraft. The angle observations in 5G positioning are typically the azimuth angle A and the altitude angle E, and their true values ​​are discrete at time intervals. It can be represented as:

[0033] In this context, the superscript dn indicates downhill, corresponding to the departure angle; the superscript up indicates uphill, corresponding to the arrival angle. The arctangent function whose results are distributed across the four quadrants; The result is the arctangent function distributed in two quadrants.

[0034] In some embodiments, step S102, which involves performing a weighted nonlinear least squares solution based on satellite observation data and 5G base station observation data to determine the observation residuals, includes: performing iterative linearization on the pseudorange model of the satellite and the 5G angle measurement model of the low-altitude aircraft to determine the estimated solution of the observation residual vector; and determining the observation residuals based on the estimated solution and the true value of the observation residual vector.

[0035] Based on the principles of satellite navigation and positioning and the linearization method of nonlinear functions, the following can be obtained by linearizing the satellite pseudorange model and the 5G angle measurement model:

[0036] Among them, the observation coefficient matrix for The matrix is ​​the coefficient matrix after linearizing the satellite pseudorange function model and the 5G angle measurement model. It is the observed residual vector. The vector of parameters to be estimated. This represents observation error. Because linearization ignores higher-order terms, it introduces errors, thus requiring multiple iterations to obtain an accurate solution.

[0037] Use the result of the last iteration as the least squares estimate:

[0038]

[0039] In the formula, The weighted matrix represents the estimation result. Defined as:

[0040] in, It is a diagonal matrix of covariance used to evaluate the accuracy of each observation. The superscript -1 indicates the inverse matrix. It is the first The measurement variance of each observation. This is the prior unit weight variance. Based on the least squares estimation results, the observed residual vector... The solution can be estimated. With truth value The difference is obtained as follows:

[0041] in, Representing a unit diagonal matrix, the cofactor matrix of the residual vector is defined as follows:

[0042] in, Let T denote the cofactor matrix, and the superscript T denotes the transpose matrix.

[0043] In some embodiments, step S103, which involves fault detection of the satellite system based on the observation residuals, includes: determining the post-test unit weighted mean square error based on the least squares estimation principle and the observation residuals; determining the detection threshold of the post-test unit weighted mean square error based on the false alarm probability of the satellite system; and comparing the post-test unit weighted mean square error with the detection threshold of the post-test unit weighted mean square error to determine whether the satellite system has a fault.

[0044] For example, based on the least squares estimation principle, the posterior unit weight mean error Calculated from the sum of squared residuals of the observed values:

[0045] According to the theory of mathematical statistics distribution, we know Obeying the degree of freedom , where n represents the number of samples, and the decentralization parameter is The chi-square distribution. When the false alarm probability of the satellite system... Given the given information, the following equation holds true:

[0046] In the formula, This represents the probability that the weighted sum of squared residuals is less than the squared threshold of the test. This represents the probability density function of the chi-square distribution. x Let be the integration variable. Therefore, we can calculate... Detection threshold The detection threshold for the post-test unit weight error can be derived as follows:

[0047] in, This represents the pre-test unit weight mean square error, which is calculated in real time and then compared with the detection threshold. Real-time comparison, if If the signal is positive, it indicates that the satellite system is functioning correctly; otherwise, it indicates that the satellite system is malfunctioning and an alarm message needs to be sent to the user.

[0048] When there are no satellite malfunctions, the observation error is assumed to follow Gaussian white noise, and the observation error characteristics of a single satellite can be represented by the residuals. A test statistic is constructed for each satellite. :

[0049] in, Let m represent the pseudorange residual of the i-th satellite, and m represent the number of satellites. The first element in the observation residual cofactor matrix Okay, number The elements of the column. Expectation It follows a normal distribution with a mean of 0 and a variance of 1.

[0050] Calculate the test statistic for each satellite, given the total false alarm probability. Distributing these equally among each statistic, the following equation can be obtained from the normal distribution model:

[0051] in, This represents the probability that the test statistic for the satellite normal distribution is greater than the test threshold. This represents the test statistic for a normal distribution. The cumulative distribution function represents the standard normal distribution, from which the statistic can be calculated. Inspection threshold Compare the test statistic for each satellite with the test threshold. If... , then it indicates the first If a satellite malfunctions, it should be removed from the list.

[0052] Based on the above embodiments, step S104 involves performing an autonomous integrity monitoring availability judgment based on fault-free satellites in the satellite system to obtain a judgment result. This includes: performing least squares iteration using satellite observation data from fault-free satellites and 5G base station observation data to obtain an estimated solution; defining a projection matrix and a covariance matrix, and determining the vertical protection level and horizontal protection level in conjunction with the estimated solution; and comparing the vertical protection level and horizontal protection level with a pre-set alarm level to obtain the autonomous integrity judgment result.

[0053] For example, after excluding faulty satellites, the least squares iterative solution is performed using the observations from the remaining set of fault-free satellites and the angle measurement observations from the 5G base station. The final least squares estimated solution is calculated as follows:

[0054] in, , and The matrix after removing outlier observations, Projection matrix Defined as:

[0055] The covariance matrix is ​​defined as:

[0056] in, This represents the covariance matrix after removing outlier observations. The vertical and horizontal protection levels can be calculated using the following formula:

[0057]

[0058]

[0059]

[0060] in, Indicates vertical protection level. This represents the total observation error in the celestial direction. This indicates the number of satellite pseudorange observations after excluding anomalies. Indicates the number of 5G observations. Indicates the level of protection. This represents the total observation error in the horizontal direction. This represents the total observation error in the eastward direction. This represents the total observation error in the north direction. This represents the total observation error in the northeast direction. Representation matrix The Middle Okay, number Column elements, It can be or ;coefficient , Defined by the following formula:

[0061] in, , These represent the integrity components in the vertical and horizontal directions, respectively, and their values ​​are set to... and It is worth noting that the specific value of the integrity budget depends on the system in question, the application domain, and the relevant security standards and requirements. , The calculated horizontal and vertical protection levels are compared with the specified alarm levels. When both are less than the alarm threshold, the service is considered available.

[0062] The present invention also provides a receiver autonomous integrity monitoring device. The receiver autonomous integrity monitoring device provided by the present invention will be described below. The receiver autonomous integrity monitoring device described below and the receiver autonomous integrity monitoring method described above can be referred to in correspondence. Figure 4 This is a structural block diagram of the receiver autonomous integrity monitoring device provided by the present invention, as shown below. Figure 4 As shown, the device includes: The acquisition module 401 is used to acquire satellite observation data and 5G base station observation data, and to perform preprocessing. Processing module 402 is used to perform weighted nonlinear least squares calculation based on satellite observation data and 5G base station observation data to determine the observation residuals; The identification module 403 is used to perform fault detection and fault identification on the satellite system based on the observation residuals. The monitoring module 404 is used to perform autonomous integrity monitoring and availability assessment based on fault-free satellites in the satellite system, and obtain the assessment results.

[0063] In operation, this device first acquires satellite observation data and 5G base station observation data, and preprocesses the acquired data to facilitate subsequent processing and monitoring. Then, the processing module 402 performs weighted nonlinear least squares calculations on the acquired data to obtain the observation residuals. The identification module 403 then performs fault detection on the satellite system based on the observation residuals to determine if a fault exists. If a fault is found, fault identification is performed, and faulty satellites are removed from the system. Finally, the monitoring module 404 performs receiver autonomous integrity monitoring and availability assessment based on the fault-free satellites in the system, obtaining the final assessment result.

[0064] In the aforementioned process, instead of solely relying on satellite ranging observations, this device fully utilizes the elevation angle characteristics and angle measurement observations of the 5G system, combined with Global Navigation Satellite System (GNSS) observation data, to construct an observation model suitable for low-altitude scenarios. Employing the RAIM algorithm based on observation residuals, it aims to obtain higher-precision positioning results, reduce protection requirements, and safeguard low-altitude flight. In summary, this device utilizes 5G signals for redundant observation of low-altitude aircraft. Furthermore, the strong anti-interference and anti-multipath capabilities of 5G signals significantly improve the positioning accuracy of low-altitude aircraft, substantially enhancing integrity monitoring and resolving the issue of poor monitoring accuracy in existing related technologies. Moreover, based on the widespread deployment of existing 5G base stations, this device can improve the utilization rate of social resources without increasing observation costs.

[0065] Figure 5 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 5 As shown, the electronic device may include: a processor 501, a communication interface 502, a memory 503, and a communication bus 504. The processor 501, communication interface 502, and memory 503 communicate with each other via the communication bus 504. The processor 501 can call logical instructions from the memory 503 to execute a receiver autonomous integrity monitoring method, which includes: Acquire satellite observation data and 5G base station observation data, and perform preprocessing; The residuals of the observed values ​​are determined by weighted nonlinear least squares method based on satellite observation data and 5G base station observation data. Fault detection and identification of the satellite system are performed based on the residuals of the observed values. The availability of autonomous integrity monitoring is performed on fault-free satellites in the satellite system to obtain the assessment results.

[0066] Furthermore, the logical instructions in the aforementioned memory 503 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0067] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer is able to execute the receiver autonomous integrity monitoring method provided by the above methods, the method including: Acquire satellite observation data and 5G base station observation data, and perform preprocessing; The residuals of the observed values ​​are determined by weighted nonlinear least squares method based on satellite observation data and 5G base station observation data. Fault detection and identification of the satellite system are performed based on the residuals of the observed values. The availability of autonomous integrity monitoring is performed on fault-free satellites in the satellite system to obtain the assessment results.

[0068] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the receiver autonomous integrity monitoring method provided by the above methods, the method comprising: Acquire satellite observation data and 5G base station observation data, and perform preprocessing; The residuals of the observed values ​​are determined by weighted nonlinear least squares method based on satellite observation data and 5G base station observation data. Fault detection and identification of the satellite system are performed based on the residuals of the observed values. The availability of autonomous integrity monitoring is performed on fault-free satellites in the satellite system to obtain the assessment results.

[0069] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0070] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0071] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for monitoring the autonomous integrity of a receiver, characterized in that, include: Acquire satellite observation data and 5G base station observation data, and perform preprocessing; The residuals of the observed values ​​are determined by weighted nonlinear least squares calculation based on the satellite observation data and the 5G base station observation data; wherein, a weighting matrix is ​​used. The weighting is performed, and the weighting matrix W is obtained through the formula... Confirmed, among which It is a diagonal matrix of covariance used to evaluate the accuracy of each observation. It is the pre-test unit weighted variance; The satellite system is used to detect and identify faults based on the observed residuals. Based on the fault-free satellites in the satellite system, an autonomous integrity monitoring availability assessment is performed to obtain the assessment result; Before acquiring satellite observation data and 5G base station observation data, the following steps are required: Based on the array antenna in a 5G base station, determine the local coordinate system and the global coordinate system; Determine the transformation relationship between the terminal in the local coordinate system and the global coordinate system; Acquire satellite observation data and 5G base station observation data, and perform preprocessing, including: By acquiring pseudorange observations of the satellite using a receiver and then modeling them, a pseudorange model can be obtained. The angle information of a low-altitude aircraft is acquired by a 5G antenna and modeled to obtain a 5G angle measurement model; the angle information includes azimuth and altitude angles. Fault detection of the satellite system based on the observed residuals includes: Based on the least squares estimation principle, the post-hoc unit weighted mean error is determined by combining the observed residuals. The detection threshold of the post-test unit weight error is determined by combining the false alarm probability of the satellite system; By comparing the post-test unit weight mean square error with the detection threshold of the post-test unit weight mean square error, it is determined whether the satellite system has a fault; Fault identification of the satellite system based on the observed residuals includes: For each satellite in the satellite system, a test statistic is constructed based on the observation residuals; The test threshold of the test statistic is determined by combining the false alarm probability of the satellite system. By comparing the test statistic of each satellite with the test threshold of the test statistic, it is determined whether the satellite has malfunctioned.

2. The receiver autonomous integrity monitoring method according to claim 1, characterized in that, Based on the satellite observation data and the 5G base station observation data, a weighted nonlinear least squares method is used to determine the observation residuals, including: The pseudorange model of the satellite and the 5G angle measurement model of the low-altitude vehicle are iteratively linearized to determine the estimated solution of the observation residual vector. The observed residuals are determined based on the estimated solution and the true value of the observed residual vector.

3. The receiver autonomous integrity monitoring method according to claim 1, characterized in that, Based on the fault-free satellites in the aforementioned satellite system, an autonomous integrity monitoring availability assessment is performed to obtain the assessment results, including: The estimated solution is obtained by performing least squares iteration using satellite observation data from fault-free satellites and 5G base station observation data; Define the projection matrix and covariance matrix, and determine the vertical protection level and horizontal protection level by combining the estimated solution; By comparing the vertical protection level, the horizontal protection level, and the preset alarm level, the autonomous integrity judgment result is obtained.

4. A receiver autonomous integrity monitoring device, used to implement the receiver autonomous integrity monitoring method according to any one of claims 1 to 3, characterized in that, include: The acquisition module is used to acquire satellite observation data and 5G base station observation data, and to perform preprocessing. The processing module is used to perform weighted nonlinear least squares calculation based on the satellite observation data and the 5G base station observation data to determine the observation residuals; The identification module is used to perform fault detection and fault identification on the satellite system based on the observation residuals; The monitoring module is used to perform autonomous integrity monitoring and availability assessment based on fault-free satellites in the satellite system, and obtain the assessment result.

5. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the receiver autonomous integrity monitoring method as described in any one of claims 1 to 3.

6. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the receiver autonomous integrity monitoring method as described in any one of claims 1 to 3.

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