Satellite navigation message integrity diagnosis system based on multi-point joint measurement

Abstract

This application discloses a satellite navigation message integrity diagnosis system based on multi-point joint measurement, comprising: a monitoring point signal collection device, used to determine multiple monitoring points for obtaining a signal to be monitored based on monitoring purpose information and satellite status information; and to receive a signal to be monitored based on the monitoring points, wherein the signal to be monitored is a signal of a satellite to be monitored included in the monitoring purpose information; a satellite signal collection device, used to determine basic observations corresponding to each monitoring point based on the signal of the satellite to be monitored and the monitoring points corresponding to the signal of the satellite to be monitored; a verification device, used to determine consistency data of the basic observations corresponding to each monitoring point and redundancy data of the basic observations corresponding to the monitoring points based on the basic observations; and an integrity diagnosis device, used to determine the integrity monitoring result of the satellite signal to be monitored based on the consistency data and the redundancy data.

Description

Technical Field

[0001] This application belongs to the field of satellite technology, and more specifically, relates to a satellite navigation message integrity diagnosis system based on multi-point joint measurement. Background Technology

[0002] With the continuous development of satellite navigation systems, satellite communication systems, and satellite augmentation and monitoring systems, higher demands are placed on the continuity, reliability, and accuracy of satellite signals. In satellite navigation systems, information transmission can be divided into space and ground segments. In the ground segment, monitoring points are set up to receive satellite navigation messages and broadcast them to user networks. These monitoring points provide the broadcast satellite navigation message data stream to specific users. How to utilize these monitoring points to improve the stability of satellite navigation message broadcasting is a direction that requires improvement in satellite technologies related to these monitoring points. Summary of the Invention

[0003] The purpose of this application is to provide a satellite navigation message integrity diagnosis system based on multi-point joint measurement, which can improve the stability and accuracy of satellite navigation messages broadcast by monitoring points.

[0004] In a first aspect, embodiments of this application provide a satellite navigation message integrity diagnosis system based on multi-point joint testing, comprising: A monitoring point signal collection device is used to determine multiple monitoring points for obtaining signals to be monitored based on monitoring purpose information and satellite status information; and to receive signals to be monitored based on the multiple monitoring points, wherein the signals to be monitored are signals from the satellites to be monitored included in the monitoring purpose information; The satellite signal collection device to be monitored is used to determine the basic observations corresponding to each monitoring point based on the signal of the satellite to be monitored and the monitoring points corresponding to the signal of the satellite to be monitored. The verification device is used to determine, based on the basic observations, the consistency data of the basic observations corresponding to each monitoring point and the redundancy data of the basic observations corresponding to each monitoring point. The consistency data represents the consistency between the basic observations corresponding to each monitoring point and the theoretical observations. The theoretical observations include the types of observations that should theoretically be obtained at each monitoring point and the values ​​of the observations. The redundancy data includes the redundancy data of the basic observations corresponding to each monitoring point compared with the theoretical observations. The integrity diagnostic device is used to determine the integrity monitoring result of the satellite signal to be monitored based on the consistency data and the redundancy data.

[0005] In one embodiment, the satellite signal collection device to be monitored includes: Down-conversion processing module: used to perform down-conversion processing and analog-to-digital conversion on the raw satellite signals from each monitoring point to obtain digitized satellite signals; Pseudo-random code acquisition module: used to extract pseudo-random codes from the digitized satellite signals; Navigation parameter acquisition module: used to obtain navigation parameters from the digitized satellite signals; Basic observation generation module: used to obtain the basic observations corresponding to each monitoring point based on the pseudo-random code and the navigation parameters.

[0006] In one embodiment, the navigation parameter acquisition module includes: The code phase calculation unit is used to obtain the code phase in the digitized satellite signal based on the pseudo-random code. A target carrier acquisition unit is used to acquire the target carrier in the digitized satellite signal based on the code phase. A baseband signal acquisition unit is used to acquire a baseband signal using the target carrier and the digitized satellite signal of the target carrier in subsequent timing sequences; The navigation parameter acquisition unit is used to obtain the navigation parameters based on the code phase and the baseband signal.

[0007] In one implementation, the basic observation generation module includes: The pseudorange calculation unit is used to calculate the pseudorange observation value corresponding to each monitoring point based on the code phase of the pseudo-random code and the navigation parameters. The carrier phase calculation unit is used to calculate the carrier phase corresponding to each monitoring point based on the original phase accumulation value of continuous measurement determined by the pseudo-random code and the navigation parameters. The basic observation acquisition unit is used to obtain the basic observation based on the pseudorange observation and the carrier phase.

[0008] In one embodiment, the satellite navigation message integrity diagnosis system based on multi-point joint testing includes: The consistency parameter acquisition module is used to determine the consistency parameters of each basic observation corresponding to each monitoring point based on the basic observations and the location information of the monitoring points. The subset consistency parameter acquisition module is used to determine the subset consistency parameter of each subset based on multiple subsets of pre-divided basic observations and the consistency parameter. The consistency data acquisition module is used to determine the consistency data of the basic observations corresponding to each monitoring point based on the subset consistency parameters.

[0009] In one implementation, the plurality of subsets includes a first subset, a second subset, and a third subset; the basic observations of the first subset include: carrier phase and pseudorange observations; the basic observations of the second subset include: throughput; the basic observations of the third subset include checksums; the consistency parameter acquisition module includes: The first subset unit is used to determine the subset consistency parameter of the first subset based on the smoothness coefficient of the carrier phase, the pseudorange observation, the corresponding satellite orbit parameters, clock error, and atmospheric delay parameters. The second subset unit is used to determine the subset consistency parameter of the second subset based on the throughput, the acquisition time of the throughput, the throughput reference data corresponding to the monitoring point, the actual throughput corresponding to each monitoring point, and the theoretical throughput of each monitoring point. The third subset unit is used to determine the consistency parameters of the third subset based on the equivalent values ​​of the check codes of each monitoring point.

[0010] In one embodiment, the satellite navigation message integrity diagnosis system based on multi-point joint testing includes: The basic observation matrix module is used to construct a basic observation matrix based on the basic observations, the basic observations to be evaluated, the number of satellites monitored for each monitoring point, and the total number of basic observations. The reliability matrix module is used to determine the reliability matrix based on the basic observation matrix, the design matrix of the basic observations, and the weight matrix of the basic observations. The redundancy parameter module is used to determine the redundancy parameters of the basic observations based on the reliability matrix.

[0011] In one implementation, the basic observation matrix module includes: The row element unit is used to determine the row element of the basic observation based on the occurrence frequency and type of each basic observation in the basic observation, as well as the value of the basic observation. The column element unit is used to determine the column elements of the basic observations based on the number of satellites, the difference between the number of basic observations and the number of basic observations to be evaluated, and whether each basic observation is an observation to be evaluated. A construction unit is used to construct the basic observation matrix based on the row elements and the column elements.

[0012] In one implementation, the redundancy parameter module is used to determine the redundancy parameter of the basic observations based on the set elements in the reliability matrix.

[0013] Secondly, embodiments of this application also provide an electronic device, the electronic device comprising: a processor and a memory; the memory being used to store a program for the electronic device to execute the method provided in any embodiment of this application, and to store data involved in implementing the method provided in any embodiment of this application; the processor being configured to execute the program stored in the memory.

[0014] Thirdly, embodiments of this application also provide a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause a computer to execute the charging method of the electronic atomizer provided in any embodiment of this application.

[0015] The system provided in this application embodiment can utilize multiple existing monitoring points to receive satellite signals in a coordinated manner. Then, it performs integrity monitoring based on the satellite signals received from multiple monitoring points, fully utilizing the data from multiple monitoring points, improving the stability of data processing, and enhancing the purity and accuracy of satellite navigation messages broadcast from the monitoring points to downstream receiving points. The system provided in this application embodiment includes multiple monitoring points. It can summarize the information and signal characteristics received from multiple monitoring points, and based on the prior information of each monitoring point, the results of filtering and extrapolating correct information from previous periods, and the reasonable range of observations at each point, it performs data filtering to obtain comprehensive and accurate information and signal characteristics. Based on this, it verifies and determines the reasonableness of the data from each monitoring point. In addition to independent anti-interference algorithms at each point, it assists in integrity verification. Based on the integrity verification results, the entire system's ability to identify and resist interference signals is improved. The advantage of the system provided in this application embodiment is that: a single monitoring point device cannot know the correct message and reasonable observation. The method provided in this application embodiment can obtain the correct information through data from a large range of multiple monitoring points, using voting mechanisms, prior information, extrapolation and other means, and then use it for feedback judgment. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of a system related to an embodiment of this application; Figure 2 A schematic diagram of the device used in a satellite navigation message integrity diagnosis system based on multi-point joint testing, provided for an embodiment of this application; Figure 3A schematic diagram illustrating the signal transmission and reception relationship between a satellite navigation message integrity diagnosis system based on multi-point joint measurement and monitoring points and satellites, provided for an embodiment of this application; Figure 4 This is a detailed structural example diagram of a satellite navigation message integrity diagnosis system based on multi-point joint measurement, provided as an embodiment of this application. Detailed Implementation

[0018] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0019] Figure 1 This illustrates the relationship between the satellite, monitoring points, and other equipment. In the communication system, satellite 11 transmits signals to the ground. These signals include a fundamental signal, also known as a carrier wave. Based on the fundamental signal, the signals transmitted by satellite 11 may also include a ranging code and a navigation message, which can be modulated onto the fundamental signal and the ranging code. Furthermore, the signals transmitted by satellite 11 may also include pilot signals. In possible implementations, monitoring points 12 can receive navigation or communication signals from the same or multiple satellites 11. Signals transmitted by the same satellite 11 can also be received by multiple ground monitoring points 12. After receiving the satellite signals, each monitoring point 12 performs analog-to-digital conversion on the satellite signals and then generates digital raw signal observations. Different monitoring points 12 may obtain different raw signal observations. After obtaining the raw signal observations, each monitoring point 12 transmits them to downstream equipment. Downstream equipment of monitoring point 12 may include high-precision user equipment 13, a data collection and processing center 14, and relay and auxiliary equipment 15. The high-precision user equipment 13 utilizes the raw signal observations broadcast from monitoring point 12 for high-precision positioning, navigation, and other functions. The data collection and processing center 14 provides satellite data to specialized user equipment based on the raw signal observations. The relay and auxiliary equipment 15 provides satellite data to a dedicated network based on the raw signal observations.

[0020] based on Figure 1 The system shown in this application provides a satellite navigation message integrity diagnosis system based on multi-point joint testing, referring to... Figure 2 As shown, it includes the following main components. It should be understood that, in the embodiments of this application, the satellite navigation message integrity diagnosis system based on multi-point joint measurement may include software devices, hardware devices, or a combination of software and hardware devices.

[0021] A monitoring point signal collection device is used to determine multiple monitoring points for obtaining signals to be monitored based on monitoring purpose information and satellite status information; and to receive signals to be monitored based on the multiple monitoring points, wherein the signals to be monitored are signals from the satellites to be monitored included in the monitoring purpose information.

[0022] In possible implementations, the monitoring point signal collection device may include a software module for receiving signals from the monitoring points and a computing module for processing the received signals. The computing module for processing the received signals may be a software module. The software module in this embodiment may include a series of programs, which, when running, can perform a series of functions.

[0023] In this embodiment, the monitoring objective information may include: the geographical location information to be monitored and / or the integrity risk level information. The geographical location information may refer to the geographical area to be monitored, which may include longitude and latitude ranges, administrative divisions, natural features, or reference points. Longitude and latitude ranges may include intervals defined by longitude and latitude. Administrative divisions may include geographical areas with clearly defined boundaries and administrative authority, divided for the purpose of hierarchical management. Natural features may include areas formed by objects in the natural environment, such as mountain A, the middle section of a river B, and lake C. Reference point information may include the reference point and the area relative to it; for example, if the reference point is a point of interest (POI), the area relative to the reference point may be a 100-kilometer radius around the POI. Furthermore, the monitoring objective information may also include a monitoring time period. If the monitoring objective information does not include a monitoring time period, the monitoring time period can be determined based on a default duration preset in the system and the time the monitoring objective information is received.

[0024] Furthermore, the monitored information may also include the satellite to be monitored. Accordingly, satellite status information may include orbital status information during the monitoring period, as well as satellite visibility information. Orbital status information during the monitoring period may include the satellite's orbital attributes and / or its relative position in its orbit during the monitoring period. Satellite visibility information may include the visibility of the satellite's signal to each monitoring point in the monitoring environment, determined in conjunction with the monitoring objective information, during the monitoring period. The satellite to be monitored may include at least one satellite, or at least one type of satellite, and may also include all observable satellites at the monitored geographical location.

[0025] In a possible implementation, receiving the signal to be monitored based on the plurality of monitoring points may include: receiving the signal to be monitored transmitted by each of the selected plurality of monitoring points. The signal to be monitored may be a satellite signal received by each monitoring point, or it may be a signal sent by each monitoring point to the system for integrity detection after processing the received satellite signal.

[0026] The satellite signal collection device is used to determine the basic observations corresponding to each monitoring point based on the signal of the satellite to be monitored and the monitoring point corresponding to the signal of the satellite to be monitored.

[0027] In one possible implementation, after receiving signals from the satellites to be monitored at each monitoring point, the signals are calculated to obtain at least one basic observation. The basic observation may include pseudorange, carrier phase, number of visible satellites, throughput, checksum, etc.

[0028] The verification device is used to determine, based on the basic observations, the consistency data of the basic observations corresponding to each monitoring point, and the redundancy data of the basic observations corresponding to each monitoring point. The consistency data represents the consistency between the basic observations corresponding to each monitoring point and the theoretical observations. The theoretical observations include the types of observations that should theoretically be obtained at each monitoring point, as well as the numerical values ​​of the observations. The redundancy data includes the redundancy data of the basic observations corresponding to each monitoring point compared with the theoretical observations.

[0029] In the embodiments of this application, the consistency data of basic observations can also be used to represent the consistency of the basic observations obtained by each monitoring point for the same satellite. Redundancy data can also be used to represent the degree of redundancy of the basic observations obtained by each monitoring point for the same satellite.

[0030] The integrity diagnostic device is used to determine the integrity monitoring result of the satellite signal to be monitored based on the consistency data and the redundancy data.

[0031] In this embodiment, the integrity monitoring result may include an integrity level identifier, whereby the integrity level indicates the integrity level of the signal from the satellite under monitoring. In possible implementations, the integrity level identifier may be used to indicate the availability level of the signal from the satellite under monitoring, where availability includes definitely available, possibly available, or unavailable.

[0032] In one embodiment, the satellite signal collection device to be monitored includes the following modules. It should be understood that the modules in the embodiments of this application can be software modules, hardware modules, or a combination of software and hardware modules.

[0033] Down-conversion processing module: Used to perform down-conversion processing and analog-to-digital conversion on the raw satellite signals from each monitoring point to obtain digitized satellite signals.

[0034] In one possible implementation, the satellite signal collection device to be monitored can be located at the monitoring point to process the signals from the satellite to be monitored collected at the corresponding monitoring point. The original satellite signal includes the signal from the satellite to be monitored. Through down-conversion processing, the down-conversion processing module converts the original satellite signal into an intermediate frequency (IF) or low frequency (LFM) signal. Then, the down-conversion processing module performs analog-to-digital conversion on the IF or LFM signal to obtain the digitized satellite signal corresponding to the original satellite signal.

[0035] Pseudo-random code acquisition module: used to extract pseudo-random codes from the digitized satellite signals.

[0036] Navigation parameter acquisition module: used to obtain navigation parameters from the digitized satellite signals.

[0037] Basic observation generation module: used to obtain the basic observations corresponding to each monitoring point based on the pseudo-random code and the navigation parameters.

[0038] In this embodiment, the pseudo-random code and navigation parameters can be obtained in any order or simultaneously. Before obtaining the pseudo-random code and navigation parameters, the satellite signal collection device to be monitored can track the digitized satellite signal to obtain the signal of the satellite to be monitored. The receiver at the monitoring point pre-stores a unique copy of the pseudo-random code for each satellite. The receiver uses a sliding correlation process to multiply and integrate the local code with the input digital signal of the stored pseudo-random code copy point by point to determine the correlation between the received signal and the copy of the pseudo-random code. When the local code aligns with the satellite code hidden in the signal, the correlation suddenly increases, forming a peak, thus successfully capturing the corresponding satellite.

[0039] In one embodiment, the navigation parameter acquisition module includes the following units. It should be understood that, in the embodiments of this application, the units can be software units, hardware units, or a combination of software and hardware.

[0040] The code phase calculation unit is used to obtain the code phase in the digitized satellite signal based on the pseudo-random code in the captured signal of the satellite to be monitored.

[0041] The target carrier acquisition unit is used to acquire the target carrier in the digitized satellite signal based on the code phase.

[0042] The baseband signal acquisition unit is used to acquire a baseband signal using the target carrier and the digitized satellite signal of the target carrier in subsequent timing sequences.

[0043] The navigation parameter acquisition unit is used to obtain the navigation parameters based on the code phase and the baseband signal.

[0044] In this embodiment, the code phase calculation unit can first obtain pseudorange based on the pseudo-random code in the signal of the satellite to be monitored, and then obtain the code phase based on the pseudorange. The target carrier can be a clean carrier in the digitized satellite signal. Further, the target carrier can be a clean sine wave generated in real time by a numerically controlled oscillator and synchronized with the input signal carrier. Before obtaining the baseband signal, the navigation parameter acquisition module also obtains the digitized satellite signal with subsequent timing of the target carrier. Then, the baseband signal acquisition unit performs carrier stripping on the target carrier and the digitized satellite signal with subsequent timing of the target carrier to obtain the baseband signal. After obtaining the baseband signal, the navigation parameter acquisition unit performs code stripping on the baseband signal to obtain the data symbol stream in the baseband signal. Then, the navigation parameter acquisition unit uses a phase-locked loop to perform bit synchronization and frame synchronization operations on the data symbol stream in the baseband signal to obtain synchronization data; next, the navigation parameter acquisition unit extracts the navigation parameters of the synchronization data according to the protocol. In possible implementations, the navigation parameters may include at least one of the following: time parameters, satellite orbit parameters, satellite clock bias parameters, satellite health status indicators, and ionospheric model delay parameters.

[0045] In one embodiment, the basic observation generation module includes the following units.

[0046] The pseudorange calculation unit is used to calculate the pseudorange observation value corresponding to each monitoring point based on the code phase of the pseudo-random code and the navigation parameters.

[0047] The carrier phase calculation unit is used to calculate the carrier phase corresponding to each monitoring point based on the original phase accumulation value of continuous measurement determined by the pseudo-random code and the navigation parameters.

[0048] The basic observation acquisition unit is used to obtain the basic observation based on the pseudorange observation and the carrier phase.

[0049] In possible implementations, pseudorange observations can include at least one of the following values: pseudorange, time stamp, spatial stamp, signal-to-noise ratio / carrier-to-noise ratio, satellite elevation angle, multipath estimate, and prior measurement variance. The pseudorange calculation unit can first determine the transmission time of the corresponding satellite signal based on the code phase of the pseudo-random code and navigation parameters. Then, based on the transmission time of the satellite signal, the recorded reception time of the satellite signal, and a predetermined signal propagation speed, it calculates the raw pseudorange and determines the pseudorange observation based on the raw pseudorange. The carrier phase calculation unit obtains the raw phase accumulation value obtained from carrier tracking. Then, the carrier phase calculation unit associates a time stamp with each accumulated raw phase in the raw phase accumulation value and synchronizes the associated stamp with the time reference of the pseudorange observation. Finally, the carrier phase is determined based on the associated raw phase accumulation value. Next, the basic observation acquisition unit synchronizes the pseudorange and carrier phase in time to ensure that the pseudorange and carrier phase observations from the same channel are at the same time epoch. Then, the pseudorange observations and carrier phases from the same satellite and the same monitoring station at the same time are paired to form a basic observation unit. Then, based on the pseudorange observations and carrier phases corresponding to the observation unit, the basic observations corresponding to a single monitoring point are extracted and output.

[0050] In one embodiment, the satellite navigation message integrity diagnosis system based on multi-point joint testing further includes the following modules.

[0051] The consistency parameter acquisition module is used to determine the consistency parameters of each basic observation corresponding to each monitoring point based on the basic observations and the location information of the monitoring points.

[0052] The subset consistency parameter acquisition module is used to determine the subset consistency parameter of each subset based on multiple subsets of pre-divided basic observations and the consistency parameter.

[0053] The consistency data acquisition module is used to determine the consistency data of the basic observations corresponding to each monitoring point based on the subset consistency parameters.

[0054] In this embodiment, the consistency parameter acquisition module can utilize statistical algorithms to determine the consistency parameters of each basic observation corresponding to each monitoring point. The subset consistency parameter acquisition module can divide the basic observations into multiple subsets based on the monitoring objective information. For example, the basic observations can be divided according to satellites, signal types, spatial regions, or clustering results of monitoring points. Based on each subset, the consistency of the corresponding basic observations is calculated to determine the subset consistency parameters.

[0055] In one possible implementation, the consistency data acquisition module can also determine the consistency data of the basic observations based on the consistency parameters and subset consistency parameters. In another possible implementation, the subset consistency parameter acquisition module can also cluster the monitoring points based on the consistency parameters, and then divide the basic observations into multiple subsets based on the clustering results.

[0056] In one embodiment, the plurality of subsets includes a first subset, a second subset, and a third subset; the basic observations of the first subset include carrier phase and pseudorange observations; the basic observations of the second subset include throughput; the basic observations of the third subset include check codes; and the consistency parameter acquisition module includes the following units.

[0057] The first subset unit is used to determine the subset consistency parameter of the first subset based on the smoothness coefficient of the carrier phase, the pseudorange observation, the corresponding satellite orbit parameters, clock error, and atmospheric delay parameters.

[0058] The second subset unit is used to determine the subset consistency parameter of the second subset based on the throughput, the acquisition time of the throughput, the throughput reference data corresponding to the monitoring point, the actual throughput corresponding to each monitoring point, and the theoretical throughput of each monitoring point.

[0059] The third subset unit is used to determine the consistency parameters of the third subset based on the equivalent values ​​of the check codes of each monitoring point.

[0060] In possible implementations, the consistency parameter acquisition module may also include other subset units. The subset consistency parameter acquisition module can determine the subset consistency parameters based on the consistency parameters of the first subset, the second subset, and the third subset.

[0061] In one embodiment, the satellite navigation message integrity diagnosis system based on multi-point joint testing further includes the following modules.

[0062] The basic observation matrix module is used to construct a basic observation matrix based on the basic observations, the basic observations to be evaluated, the number of satellites monitored for each monitoring point, and the total number of basic observations.

[0063] The reliability matrix module is used to determine the reliability matrix based on the basic observation matrix, the design matrix of the basic observations, and the weight matrix of the basic observations.

[0064] The redundancy parameter module is used to determine the redundancy parameters of the basic observations based on the reliability matrix.

[0065] The system can obtain redundancy parameters for determining signal integrity through the basic observation matrix module, reliability matrix module, and redundancy parameter module.

[0066] In one embodiment, the basic observation matrix module includes the following units.

[0067] The row element unit is used to determine the row element of the basic observation based on the occurrence frequency and type of each basic observation in the basic observation, as well as the value of the basic observation. The column element unit is used to determine the column elements of the basic observations based on the number of satellites, the difference between the number of basic observations and the number of basic observations to be evaluated, and whether each basic observation is an observation to be evaluated. A construction unit is used to construct the basic observation matrix based on the row elements and the column elements.

[0068] In one implementation, the redundancy parameter module is used to determine the redundancy parameter of the basic observations based on the set elements in the reliability matrix.

[0069] In this embodiment of the application, some devices in the satellite navigation message integrity diagnosis system based on multi-point joint monitoring can be set at monitoring points, or can correspond to each monitoring point, to acquire and collect satellite signals received by the monitoring points, as described above. Figure 3 As shown, the satellite navigation message integrity diagnostic system based on multi-point joint monitoring can be partially set up at each monitoring point 12, or it can be completely independent of each monitoring point and capable of receiving signals from the monitoring points and sending signals to each monitoring point 12. After performing integrity analysis on the signals from each monitoring point, feedback can be sent to the corresponding monitoring point based on the analysis results, enabling the monitoring point to actively filter unreliable signals, or to temporarily replace unreliable monitoring points with other monitoring points, stopping the output of satellite signals to downstream equipment.

[0070] In a possible implementation, this application embodiment also provides a satellite navigation message integrity diagnosis method based on multi-point joint measurement. This method can be implemented by a computer program and may include the steps implemented by each device in the satellite navigation message integrity diagnosis system based on multi-point joint measurement provided in this application embodiment.

[0071] This application also provides an electronic device, which includes a processor and a memory; the memory is used to store a program for the electronic device to execute the method provided in any embodiment of this application, and to store data involved in implementing the method provided in any embodiment of this application; the processor is configured to execute the program stored in the memory.

[0072] The embodiments of the present invention described above are combinations of elements and features of the present invention. Unless otherwise stated, elements or features may be considered optional. Individual elements or features may be practiced without combination with other elements or features. Furthermore, embodiments of the present invention may be constructed by combining some elements and / or features. The order of operations described in the embodiments of the present invention may be rearranged. Some constructions of any embodiment may be included in another embodiment and may be replaced by corresponding constructions of another embodiment. It will be apparent to those skilled in the art that claims in the appended claims that are not explicitly referenced in each other may be combined to form embodiments of the present invention, or may be included as new claims in modifications made after the submission of this invention.

[0073] In firmware or software configuration, embodiments of the present invention can be implemented in the form of modules, processes, functions, etc. Software code can be stored in memory units and executed by a processor. The memory units are located inside or outside the processor and can send data to and receive data from the processor via various known means.

[0074] The various aspects of the systems and methods described in this paper can be implemented as functions programmable into any type of circuit, including programmable logic devices (PLDs), such as field-programmable gate arrays (FPGAs), programmable array logic (PAL) devices, electronically programmable logic and memory devices, standard cell-based devices, and application-specific integrated circuits (ASICs). Other possibilities for implementing these aspects of the system include: microcontrollers with memory, such as electronically erasable programmable read-only memory (EEPROM), embedded microprocessors, firmware, software, etc. Furthermore, these aspects of the system can be embodied in microprocessors with software-based circuit emulation, discrete logic (sequential and combinational), custom devices, fuzzy (neural) logic, quantum devices, and any combination of the various device types mentioned above. Of course, underlying device technologies can be provided in various component types, such as metal-oxide-semiconductor field-effect transistor (MOSFET) technologies such as complementary metal-oxide-semiconductor (CMOS), bipolar technologies such as emitter-coupled logic (ECL), polymer technologies (e.g., silicon conjugated polymers and metal conjugated polymer metal structures), hybrid analog and digital, etc.

[0075] The various functions or processes disclosed herein can be described, based on their behavior, register transfers, logic components, transistors, geometric layouts, and / or other characteristics, as data and / or instructions embodied in various computer-readable media. Computer-readable media that may contain such formatted data and / or instructions include, but are not limited to, various forms of non-volatile storage media (e.g., optical, magnetic, or semiconductor storage media) and carrier waves, which can be used to transmit such formatted data and / or instructions via wireless, optical, or wired signal media, or any combination thereof. Such data and / or instructions can be processed by a processing entity (e.g., one or more processors) upon receipt by any of various circuits (e.g., a computer).

[0076] The above description of the illustrated embodiments of the systems and methods is not intended to be exhaustive or to limit the systems and methods to the precise forms disclosed. While specific embodiments and examples of system components and methods have been described herein for illustrative purposes, those skilled in the art will understand that various equivalent modifications can be made within the scope of the systems, components, and methods. The teachings of the systems and methods provided herein can be applied to other processing systems and methods, and are not limited to those described above.

[0077] Those skilled in the art will understand that various changes and / or modifications can be made to the invention illustrated in particular embodiments without departing from the spirit or scope of the broad description of the invention. Therefore, these embodiments are to be considered illustrative rather than restrictive in all respects. Furthermore, the invention includes any combination of features described with respect to different embodiments (including those in the abstract section), even if such feature or combination of features is not expressly specified in the claims or the detailed description of these embodiments.

[0078] Generally, the terminology used in the following claims should not be construed as limiting the systems and methods to the specific embodiments disclosed in the specification and claims, but should be interpreted as encompassing all processing systems operating under the claims. Therefore, the systems and methods are not limited by this disclosure, but their scope is determined entirely by the claims.

[0079] Unless the context explicitly requires otherwise, throughout the specification and claims, the words “comprising,” “including,” and “containing” should be interpreted in a comprehensive sense, not in an exclusive or exhaustive sense; that is, in the sense of “including but not limited to.” The use of singular or plural words also includes both singular and plural, respectively. Furthermore, “this article,” “in the following,” “above,” “below,” and words with similar meanings refer to the application as a whole, and not to any particular part of the application. When the word “or” is used to refer to a list of two or more items, the word “or” includes all of the following interpretations: any item in the list, all items in the list, and any combination of items in the list.

[0080] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0081] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A satellite navigation message integrity diagnostic system based on multi-point joint testing, characterized in that, include: The monitoring point signal collection device is used to determine multiple monitoring points for obtaining the signal to be monitored based on the monitoring objective information and satellite status information. And, based on the multiple monitoring points, receive the signal to be monitored, wherein the signal to be monitored is the signal of the satellite to be monitored included in the monitoring objective information; The satellite signal collection device to be monitored is used to determine the basic observations corresponding to each monitoring point based on the signal of the satellite to be monitored and the monitoring points corresponding to the signal of the satellite to be monitored. The verification device is used to determine, based on the basic observations, the consistency data of the basic observations corresponding to each monitoring point and the redundancy data of the basic observations corresponding to each monitoring point. The consistency data represents the consistency between the basic observations corresponding to each monitoring point and the theoretical observations. The theoretical observations include the types of observations that should theoretically be obtained at each monitoring point and the values ​​of the observations. The redundancy data includes the redundancy data of the basic observations corresponding to each monitoring point compared with the theoretical observations. The integrity diagnostic device is used to determine the integrity monitoring result of the satellite signal to be monitored based on the consistency data and the redundancy data.

2. The satellite navigation message integrity diagnosis system based on multi-point joint testing according to claim 1, characterized in that, The satellite signal collection device to be monitored includes: Down-conversion processing module: used to perform down-conversion processing and analog-to-digital conversion on the raw satellite signals from each monitoring point to obtain digitized satellite signals; Pseudo-random code acquisition module: used to extract pseudo-random codes from the digitized satellite signals; Navigation parameter acquisition module: used to obtain navigation parameters from the digitized satellite signals; Basic observation generation module: used to obtain the basic observations corresponding to each monitoring point based on the pseudo-random code and the navigation parameters.

3. The satellite navigation message integrity diagnosis system based on multi-point joint testing according to claim 2, characterized in that, The navigation parameter acquisition module includes: The code phase calculation unit is used to obtain the code phase in the digitized satellite signal based on the pseudo-random code. A target carrier acquisition unit is used to acquire the target carrier in the digitized satellite signal based on the code phase. A baseband signal acquisition unit is used to acquire a baseband signal using the target carrier and the digitized satellite signal of the target carrier in subsequent timing sequences; The navigation parameter acquisition unit is used to obtain the navigation parameters based on the code phase and the baseband signal.

4. The satellite navigation message integrity diagnosis system based on multi-point joint testing according to claim 2, characterized in that, The basic observation generation module includes: The pseudorange calculation unit is used to calculate the pseudorange observation value corresponding to each monitoring point based on the code phase of the pseudo-random code and the navigation parameters. The carrier phase calculation unit is used to calculate the carrier phase corresponding to each monitoring point based on the original phase accumulation value of continuous measurement determined by the pseudo-random code and the navigation parameters. The basic observation acquisition unit is used to obtain the basic observation based on the pseudorange observation and the carrier phase.

5. The satellite navigation message integrity diagnosis system based on multi-point joint testing according to claim 1, characterized in that, The satellite navigation message integrity diagnostic system based on multi-point joint testing also includes: The consistency parameter acquisition module is used to determine the consistency parameters of each basic observation corresponding to each monitoring point based on the basic observations and the location information of the monitoring points. The subset consistency parameter acquisition module is used to determine the subset consistency parameter of each subset based on multiple subsets of pre-divided basic observations and the consistency parameter. The consistency data acquisition module is used to determine the consistency data of the basic observations corresponding to each monitoring point based on the subset consistency parameters.

6. The satellite navigation message integrity diagnosis system based on multi-point joint testing according to claim 5, characterized in that, The plurality of subsets includes a first subset, a second subset, and a third subset; The basic observations of the first subset include: carrier phase and pseudorange observations; the basic observations of the second subset include: throughput; the basic observations of the third subset include checksums; the consistency parameter acquisition module includes: The first subset unit is used to determine the subset consistency parameter of the first subset based on the smoothness coefficient of the carrier phase, the pseudorange observation, the corresponding satellite orbit parameters, clock error, and atmospheric delay parameters. The second subset unit is used to determine the subset consistency parameter of the second subset based on the throughput, the acquisition time of the throughput, the throughput reference data corresponding to the monitoring point, the actual throughput corresponding to each monitoring point, and the theoretical throughput of each monitoring point. The third subset unit is used to determine the consistency parameters of the third subset based on the equivalent values ​​of the check codes of each monitoring point.

7. The satellite navigation message integrity diagnosis system based on multi-point joint testing according to claim 1, characterized in that, The satellite navigation message integrity diagnostic system based on multi-point joint testing also includes: The basic observation matrix module is used to construct a basic observation matrix based on the basic observations, the basic observations to be evaluated, the number of satellites monitored for each monitoring point, and the total number of basic observations. The reliability matrix module is used to determine the reliability matrix based on the basic observation matrix, the design matrix of the basic observations, and the weight matrix of the basic observations. The redundancy parameter module is used to determine the redundancy parameters of the basic observations based on the reliability matrix.

8. The satellite navigation message integrity diagnosis system based on multi-point joint testing according to claim 7, characterized in that, The basic observation matrix module includes: The row element unit is used to determine the row element of the basic observation based on the occurrence frequency and type of each basic observation in the basic observation, as well as the value of the basic observation. The column element unit is used to determine the column elements of the basic observations based on the number of satellites, the difference between the number of basic observations and the number of basic observations to be evaluated, and whether each basic observation is an observation to be evaluated. A construction unit is used to construct the basic observation matrix based on the row elements and the column elements.

9. The satellite navigation message integrity diagnosis system based on multi-point joint testing according to claim 7 or 8, characterized in that, The redundancy parameter module is used to determine the redundancy parameter of the basic observations based on the set elements in the reliability matrix.

10. An electronic device, characterized in that, The electronic device includes: a processor and a memory; The memory is used to store programs for the electronic device to execute the system as described in any one of claims 1-9, and to store data related to implementing the system as described in any one of claims 1-9; The processor is configured to execute programs stored in the memory.

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