Multi-constellation compatible airborne GNSS navigation data source switching management system

Abstract

A multi-constellation compatible airborne GNSS navigation data source switching management system and method. The system (100) comprises: a GNSS navigation source (110) comprising at least a first satellite navigation system (112) and a second satellite navigation system (114); a GNSS data management module (120) configured to determine whether to perform GNSS navigation source (110) switching on the basis of first RAIM information of the first satellite navigation system (112), second RAIM information of the second satellite navigation system (114), and position consistency comparison between a first position determined by the first satellite navigation system (112) and a second position determined by the second satellite navigation system (114); a GNSS switching control module (130) configured to perform GNSS navigation source (110) switching on the basis of a result of the GNSS navigation source (110) switching to be performed; and a GNSS user system (140) configured to utilize switched navigation source information to implement navigation. By means of the system and method, GNSS navigation source (110) switching can be efficiently realized with the minimum modification to existing aircrafts.

Description

A multi-constellation compatible airborne GNSS navigation data source switching management system TECHNICAL FIELD

[0001] The present application relates to civil aviation airborne navigation technology, and more particularly, to a multi-constellation compatible airborne global navigation satellite system (GNSS) navigation data source switching management system. BACKGROUND

[0002] Current civil aircraft mainly rely on global positioning system (GPS), inertial navigation system (IRS), distance measuring equipment (DME), very high frequency omnidirectional range (VOR) and localizer (LOC) to obtain the precise position of the aircraft, especially in areas lacking land-based navigation facilities (such as the open sea, remote mountainous areas), which can only rely on GPS satellite navigation source. This may cause the following problems:

[0003] 1. When GPS service is interrupted or degraded, emergency measures must be taken to ensure aviation navigation safety and robustness. The airborne navigation system fails to fully utilize existing satellite-based navigation resources such as the Beidou navigation satellite system and the Galileo satellite system.

[0004] 2. According to the Beidou satellite navigation system application implementation roadmap of the Civil Aviation Administration, by 2035, existing aircrafts need to have dual-frequency multi-constellation satellite navigation capability centered on Beidou. However, the system architecture of existing aircrafts did not consider multi-constellation satellite navigation when designed, and there is no Beidou navigation interface reserved, so it is not possible to simply add a Beidou navigation system to make the aircraft have Beidou navigation capability.

[0005] 3. The current airborne system only receives single satellite navigation source data, so it is not possible to directly install a Beidou navigation system on the aircraft to make the aircraft have the ability to use Beidou navigation source.

[0006] The above problems result in the inability of Beidou navigation to be used as a navigation source on the route. How to add a Beidou navigation system device in the most economical way with the least modification to existing aircrafts is a problem that needs to be solved in the field. SUMMARY

[0007] The summary is provided to introduce some concepts in a simplified form that will be further described in the detailed description below. The summary is not intended to identify key or essential features of the claimed subject matter nor is it intended to be used to determine the scope of the claimed subject matter.

[0008] In view of the defects in the prior art described above, the purpose of the present application is to efficiently implement GNSS navigation source switching with the least modification to existing aircrafts.

[0009] According to a first aspect of the present application, there is provided a Global Navigation Satellite System (GNSS) navigation data source switch management system, comprising: a GNSS navigation source comprising at least a first satellite navigation system and a second satellite navigation system; a GNSS data management module configured to determine whether to perform a GNSS navigation source switch based on first Receiver Autonomous Integrity Monitoring (RAIM) information of the first satellite navigation system, second RAIM information of the second satellite navigation system, and a position consistency comparison of a first position determined by the first satellite navigation system and a second position determined by the second satellite navigation system; a GNSS switch control module configured to perform the GNSS navigation source switch based on a result of whether to perform the GNSS navigation source switch made by the GNSS data management module; and a GNSS user system configured to implement navigation using the switched navigation source information.

[0010] In one embodiment of the first aspect, the GNSS navigation data source switch management system can be implemented as an application software residing on an aircraft computing platform.

[0011] In one embodiment of the first aspect, the GNSS navigation data source switch management system can be implemented as a hardware, wherein the GNSS data management module can be implemented using an ARINC 600 form of equipment or other non-standard hardware equipment form with computing function.

[0012] In one embodiment of the first aspect, the GNSS data management module can be further configured to: receive first information from the first satellite navigation system, the first position being determined based on the first information, the first position being associated with a first coordinate system; receive second information from the second satellite navigation system, the second position being determined based on the second information, the second position being associated with a second coordinate system; perform coordinate conversion of the second position to convert to the first coordinate system; and calculate a position data difference corresponding to a time alignment of the first position and the coordinate-converted second position.

[0013] In one embodiment of the first aspect, the position consistency comparison can further comprise: determining a position consistency indicator of the first position and a position consistency indicator of the second position based on the first position, the second position, a third position determined by an inertial navigation system, and a fourth position determined by a radio navigation system; wherein the GNSS data management module can be further configured to: determine whether to perform the GNSS navigation source switch based on a comparison of the position consistency indicator of the first position and the position consistency indicator of the second position.

[0014] In one embodiment of the first aspect, the GNSS data management module can be further configured to determine whether to perform the GNSS navigation source switching based on a comparison of the position consistency indicator of the first position with a spoofing threshold and / or a comparison of the position consistency indicator of the second position with the spoofing threshold.

[0015] In one embodiment of the first aspect, the first satellite navigation system can be a GPS navigation system, and the second satellite navigation system can be a Beidou navigation system or a Galileo satellite navigation system, etc.

[0016] In one embodiment of the first aspect, the first satellite navigation system can have a default priority higher than the second satellite navigation system.

[0017] According to a second aspect of the present application, there is provided a method for switching a global navigation satellite system (GNSS) navigation data source, the GNSS navigation data source comprising at least a first satellite navigation system and a second satellite navigation system, the method can comprise: receiving first information from the first satellite navigation system and determining a first position based on the first information; receiving second information from the second satellite navigation system and determining a second position based on the second information; obtaining first receiver autonomous integrity monitoring (RAIM) information of the first satellite navigation system and second RAIM information of the second satellite navigation system; and determining whether to perform the switching of the GNSS navigation data source based on the first RAIM information of the first satellite navigation system, the second RAIM information of the second satellite navigation system, and a position consistency comparison of the first position and the second position.

[0018] In one embodiment of the second aspect, the position consistency comparison can further comprise: determining a position consistency indicator of the first position and a position consistency indicator of the second position based on the first position, the second position, a third position determined by an inertial navigation system, and a fourth position determined by a radio navigation system; wherein the method can further comprise: determining whether to perform the switching of the GNSS navigation data source based on a comparison of the position consistency indicator of the first position and the position consistency indicator of the second position, a comparison of the position consistency indicator of the first position with a spoofing threshold and / or a comparison of the position consistency indicator of the second position with the spoofing threshold.

[0019] By employing the technical solutions provided by the present application, a new navigation system such as the Beidou navigation system can be seamlessly integrated into the existing aircraft system architecture without modifying other systems, and the new navigation function can be added with minimal modification, so that the aircraft has multi-constellation navigation capability, meets the requirement of autonomous control of the navigation system, and meets the growing needs of flight safety.

[0020] These and other features and advantages will be apparent from a reading of the following detailed description when taken with the associated drawings. It is to be understood that both the foregoing general description and the following detailed description are merely intended to illustrate and not to limit the various aspects which can be claimed. BRIEF DESCRIPTION OF DRAWINGS

[0021] So that the above-recited features and advantages of the present application can be understood in detail, a more particular description of the application, briefly summarized above, can be had by reference to various embodiments, some of which are illustrated in the appended drawings. It is to be noted, however, that the appended drawings illustrate only typical aspects of this application and are therefore not to be considered limiting of its scope, for the description can admit to other equally effective aspects.

[0022] FIG. 1 illustrates a schematic block diagram of a GNSS navigation data source switch management system, according to one embodiment of the present application.

[0023] FIG. 2 illustrates a schematic diagram of the detailed operation of a GNSS data management module, according to one embodiment of the present application.

[0024] FIG. 3 illustrates a schematic diagram of the operation of GNSS data pre-processing, according to one embodiment of the present application.

[0025] FIG. 4 illustrates a flowchart of the schematic operation for determining whether to switch GNSS navigation sources, according to one embodiment of the present application.

[0026] FIG. 5 illustrates a schematic block diagram of a GNSS navigation data source switch management system, according to one embodiment of the present application.

[0027] FIG. 6 illustrates a flowchart of a method for switching GNSS navigation data sources, according to one embodiment of the present application.

[0028] FIG. 7 illustrates a general hardware device that can perform the method of the present application, according to one embodiment of the present application. DETAILED DESCRIPTION

[0029] The present application will be described in detail below with reference to the attached drawings.

[0030] As mentioned above, current onboard systems only receive single satellite navigation source data, so they cannot make the aircraft have the ability to use the Beidou navigation source by directly installing the Beidou navigation system device on the aircraft. How to add the Beidou navigation system device in the most economical way with the least change to the existing aircraft is a problem that needs to be solved in the field. The present application proposes that, in the case that the existing aircraft only has a single satellite navigation source (such as GPS), by adding the GNSS navigation data source switching management system of the present application, the additional GNSS navigation source (for example, the Beidou navigation source, hereinafter referred to as BDS or BD) can be integrated into the aircraft system, realizing compatibility with the original GPS system, so that the aircraft has the ability to use BDS and GPS navigation. When GPS is invalid or unavailable (such as GPS navigation data loss / fraud), it can be switched to the Beidou navigation source according to the availability of the Beidou navigation source, thereby ensuring flight safety.

[0031] The following describes the specific implementation of the present application taking GPS navigation source and BDS navigation source as examples. However, it should be noted that GPS navigation source and BDS navigation source are only exemplary and not limiting. The present application is not limited to switching between GPS navigation source and BDS navigation source, but can be applied to any other known or future navigation source (for example, switching between Galileo / BDS, etc.).

[0032] FIG. 1 illustrates a schematic block diagram of a GNSS navigation data source switching management system 100 according to one embodiment of the present application. It should be noted that FIG. 1 is for illustrative purposes only and is not limiting, and the system 100 can include more or fewer components than those shown in FIG. 1.

[0033] As shown in FIG. 1, the system 100 can include a GNSS navigation source 110, which can provide time, position, etc. information for an onboard system to enable determination of position based on the information. In one example, the GNSS navigation source 110 can include at least a first satellite navigation system and a second satellite navigation system (e.g., GPS 112 and BDS 114 in FIG. 1). The system 100 can further include a GNSS data management module 120, which can be used to process navigation source information, including data processing, position comparison, integrity monitoring, position consistency monitoring, GNSS navigation source switching logic, etc., to provide a basis for decision of navigation source switching. In one example, the GNSS data management module 120 can be configured to determine whether to perform GNSS navigation source switching based on first receiver autonomous integrity monitoring (RAIM) information of the first satellite navigation system, second RAIM information of the second satellite navigation system, and a position consistency comparison of a first position determined by the first satellite navigation system and a second position determined by the second satellite navigation system, as will be described in further detail below. The system 100 can also include a GNSS switching control module 130, which can be used to provide a pilot with a GNSS navigation source status display, an abnormality alarm, and a human-machine interface for selection of an automatic switching mode and a manual switching mode. In one example, the GNSS switching control module 130 can be configured to perform GNSS navigation source switching based on a determination made by the GNSS data management module that GNSS navigation source switching is to be performed. The system 100 can also include a GNSS user system 140, which uses the decided navigation source information (e.g., BDS navigation information after switching from GPS to BDS) for FMS, inertial reference, etc. user systems to achieve navigation and guidance of an aircraft. In one example, the GNSS user system 140 can include a flight management system, a flight data recording system, an inertial reference system, etc.

[0034] In one embodiment, the GNSS navigation data source switching management system 100 can reside as an application software on an existing computing platform of an aircraft, including providing computing resources, storage resources, etc. for the GNSS data management module 120, the GNSS switching control module 130, etc. to support the application software residing thereon; and providing a touch screen or other display terminal, external devices, etc. to support human-machine interaction functions of the above software.

[0035] In one embodiment, the GNSS navigation data source switching management system 100 can also be implemented in a hardware form, including but not limited to an ARINC 600 form device implementing the GNSS data management module functions.

[0036] FIG. 2 illustrates a schematic diagram of operations 200 of a GNSS data management module according to one embodiment of the present application. The GNSS data management module is the core of the GNSS data source switch management system, which provides a GNSS navigation source comparison method, including data processing, space-time reference alignment, position consistency monitoring, integrity monitoring, and GNSS navigation source switch logic, etc., to provide a basis for decision-making for the pilot.

[0037] In one example, the operations 200 can include, but are not limited to, a step of obtaining GNSS data (210), a step of GNSS data preprocessing (220), a step of position consistency comparison (230), a step of GNSS navigation source switch logic determination (240), and a step of GNSS navigation source selection result (250). For example, the step of obtaining GNSS data (210) can include taking GPS data in a multi-mode receiver and BDS data in a Beidou navigation receiver, IRS navigation data, and radio navigation data (including DME / VOR / LOC) as signal sources, which contain the current position, track angle, ground speed, time, integrity, etc. of the aircraft. The step of GNSS data preprocessing (220) can include preprocessing the obtained GNSS data for further processing. FIG. 3 illustrates a schematic diagram of detailed operations of GNSS data preprocessing according to one embodiment of the present application. As shown in FIG. 3, GNSS data preprocessing can include GNSS coordinate conversion (e.g., converting BDS position information to the same coordinate system as GPS position information, or vice versa), GNSS navigation source position registration, radio navigation source (e.g., DME, VOR, LOC, etc.) position registration. In addition, GNSS data preprocessing can further include aligning the time information of GPS and Beidou navigation sources (including aligning Beidou time and GPS time), calculating the position data difference corresponding to the alignment time by fitting extrapolation, etc.

[0038] The step of position consistency comparison (230) can include jointly taking the registered GPS, BDS, and radio navigation positions as a reference, together with the pure inertial navigation information of the aircraft, to evaluate the position consistency and calculate whether there is GNSS data spoofing for BDS or GPS. Here, GNSS navigation source spoofing is defined as follows: under the premise that BDS, DME can produce position data that meets the performance requirements of position accuracy, when GPS spoofing occurs, the aircraft gradually deviates from the flight path. The final phenomenon is that the position of GPS is on the flight path, while the positions of BDS and DME deviate from the flight path, at which point GPS data spoofing is identified. Similarly, the spoofing conditions of other GNSS navigation sources (such as Galileo, BDS, etc.) can also be obtained.

[0039] The step (240) of determining by the GNSS navigation source switching logic can include outputting the BDS and GPS status and selecting the satellite navigation source based on GPS and BDS receiver self-integrity (RAIM) information, position consistency evaluation results (and / or flight phase information).

[0040] The step (250) of GNSS navigation source selection results can include that during the flight, the pilot can obtain the navigation source switching prompt through the on-board display warning system, the GNSS control panel or other human-machine interface. The pilot completes the GNSS navigation source manual switching or automatic switching using the GNSS control panel based on the GNSS navigation source selection results.

[0041] The operation for determining whether to switch the GNSS navigation source of the present application will be described in detail below in connection with FIG. 4. FIG. 4 illustrates a flowchart of illustrative operation for determining whether to switch the GNSS navigation source according to one embodiment of the present application.

[0042] First, after receiving the GPS data and the BDS data, the RAIM integrity information output by the GPS and the BDS receiver is determined. As known by those skilled in the art, the RAIM technology can timely detect the faulty satellite and ensure the reliability of the receiver positioning. At present, the GPS receiver and the BDS receiver can use the known RAIM algorithm to perform detection to output the relevant RAIM integrity information. In one embodiment, if the GPS integrity is normal and the BDS integrity is abnormal, the GPS data can be used or switched to be used; if the GPS integrity is abnormal and the BDS integrity is normal, the BDS data can be used or switched to be used; if the GPS and the BDS integrity are both abnormal, the data is marked as abnormal, and the use of the GPS data and the BDS data is stopped; if the GPS and the BDS integrity are both normal, the subsequent position consistency determination is entered.

[0043] Subsequently, the GPS position is obtained based on the GPS data; the BDS position is obtained based on the BDS data; the inertial navigation position is obtained based on the inertial navigation information; and the radio navigation position is obtained based on the radio navigation information. In one example, the position consistency comparison can be performed based on the GPS position, the BDS position, the inertial navigation position and the radio navigation position obtained above.

[0044] In order to perform the position consistency comparison, the various positions obtained above need to be converted to a unified coordinate system. For example, the GPS uses the WGS-84 coordinate system, and the BDS uses the CGCS2000 coordinate system. Therefore, the BDS position data can be converted, i.e., the position in the CGCS2000 coordinate system is converted to the position in the WGS-84 coordinate system.

[0045] Due to different data frequencies sent by different GNSS receivers, and different working periods of different sensors, there are differences in time for positions of the same observation target. In order to compare the track information observed by multiple navigation sources, the position observation values of multiple different navigation source sensors need to be aligned in time. In an embodiment, a time alignment-position deduction algorithm can be used to align the data bds sent by the Beidou receiver and the data gps sent by the GPS receiver in time and obtain the position data difference corresponding to the alignment time, the calculation method of which is shown in the following formula (1):

[0046] wherein represents the coordinate difference value of GPS and BDS at time t, represents the GPS coordinate at time t. represents the BDS coordinate at time t+Δt, Δt represents the time difference between GPS and BDS, G GPs,BDS represents the GPS and BDS coordinate system conversion matrix, P Δt represents the fitting extrapolation matrix corresponding to the time difference Δt. The differences between other positions (for example, the difference between BDS and pure inertial navigation position IRS, the difference between BDS and radio navigation position NAV, the difference between GPS and IRS, and the difference between GPS and NAV) can be calculated in a manner similar to formula (1).

[0047] After obtaining the differences between various positions, the GPS position consistency index and the BDS position consistency index can be calculated respectively. For example, the GPS position consistency index can be determined by the difference between the GPS position and the BDS position, the difference between the GPS position and the IRS position, and the difference between the GPS position and the NAV position. In one example, the sum of the three position differences can be calculated to determine the GPS position consistency index. In another example, the weighted sum of the three position differences can also be calculated to determine the GPS position consistency index. Similarly, the BDS position consistency index can be determined by the difference between the BDS position and the GPS position, the difference between the BDS position and the IRS position, and the difference between the BDS position and the NAV position. Then, the GPS position consistency index and the BDS position consistency index can be compared to determine which one is better (for example, which one has a smaller sum of position differences). In addition, in order to avoid GNSS navigation source deception, the following formula (2) can be used to compare each position difference with a deception threshold:

[0048] wherein TV represents an abnormality judgment threshold, represents the GPS and pure inertial navigation position difference value at time t, represents the GPS and radio navigation position difference value at time t, represents the difference between BDS and pure inertial navigation position at time t, represents the difference between BDS and pure inertial navigation position at time t,

[0049] Thus, if the GPS position consistency index is better than the BDS position consistency index, and the GPS position consistency index is less than the spoofing threshold, then the GPS is maintained or switched to, otherwise the navigation is degraded. If the BDS position consistency index is better than the GPS position consistency index, and the BDS position consistency index is less than the spoofing threshold, then the BDS is maintained or switched to, otherwise the navigation is degraded.

[0050] FIG. 5 illustrates a schematic block diagram of a GNSS navigation data source switching management system according to one embodiment of the present application. This particular embodiment mainly includes two GPS receivers and two BDS receivers, two GNSS data source switching devices, a GNSS control panel and a user system, wherein the GNSS data source switching device is a computing function onboard card device (such as an ARINC 600 standard computer) with internal GNSS navigation source comparison software. The GNSS control panel includes indicator lights and multi-segment knob selection switches.

[0051] The implementation steps of this embodiment are described as follows:

[0052] Two Beidou navigation receivers are independently connected to two GNSS data source switching devices through ARINC 429 buses. The lines connected to other user systems on the two GPS receivers are disconnected, and then the two GPS receivers are independently connected to the two GNSS data source switching devices through ARINC 429 buses. In at least one embodiment, the GNSS data source switching device includes a plurality of hardware interfaces, including but not limited to ARINC 429 interfaces, Ethernet interfaces, etc. Other GNSS user systems can directly connect to the GNSS data source switching device through ARINC 429 interfaces, etc. to directly obtain GPS / BDS data.

[0053] The GNSS user system cannot directly connect to the BDS / GPS receiver, but obtains GNSS data through the GNSS data source switching device. The GNSS data can be BDS or GPS, and the specific navigation source data sent externally depends on the result given by the internal module of the GNSS data source switching device. At the same time, the GNSS data source switching device only sends single satellite navigation source data (such as BDS or GPS, etc.) externally.

[0054] The GNSS navigation data source switching management system includes an automatic switching mode and a manual switching mode. When a multi-segment switch on a GNSS data source control panel is rotated to the AUTO position, the GNSS navigation source switching device enters the automatic switching mode; when the multi-segment switch on the GNSS data source control panel is rotated to the BDS position, the manual switching mode is entered, and the current GNSS navigation source is set to BDS; when the multi-segment switch on the GNSS data source control panel is rotated to the GPS position, the manual switching mode is entered, and the current GNSS navigation source is set to GPS.

[0055] The GNSS navigation data source switching management system takes GPS data in a multi-mode receiver and BDS data in a Beidou navigation receiver, IRS navigation data, and radio integrated navigation (including DME / VOR / LOC) as signal sources, and the data contains the current position, track angle, ground speed, time, integrity, and other information of the aircraft.

[0056] The GNSS data preprocessing module performs the following operations on the GPS and BDS data obtained in the foregoing steps: (a) coordinate conversion is performed on the BDS; and (b) position registration is performed on the GNSS position and the radio navigation position to provide comparable position data for the position consistency module.

[0057] The GPS position consistency index and the BDS position consistency index are determined through the above-mentioned formula (1) and formula (2); and whether the switching of the GNSS navigation data source is to be performed is determined based on a comparison of the GPS position consistency index and the BDS position consistency index, a comparison of the GPS position consistency index and a spoofing threshold, and / or a comparison of the BDS position consistency index and the spoofing threshold. In an embodiment, the GNSS data switching system has a default navigation source priority, such as preferentially selecting GPS and then Beidou. In the automatic switching mode, the GNSS data source switching works as follows: after receiving the data of GPS, BDS, DME, and IRU, (a) the RAIM integrity information output by the GPS and BDS receivers is judged; (b) if the GPS and BDS integrity is normal, the position consistency evaluation is entered to judge whether the GPS and BDS exist navigation source spoofing; if the GPS and BDS do not exist data spoofing, the GPS is used; if the GPS is spoofed, the BDS is used; (c) if the GPS integrity is normal and the BDS integrity is abnormal, the GPS is used; (d) if the GPS and BDS integrity are both abnormal, the data is marked as abnormal; (e) if the GPS integrity is abnormal and the BDS integrity is normal, the BDS data is sent externally.

[0058] The GNSS data source switching device will generate a current GNSS navigation source usage suggestion after judging the received GPS and Beidou navigation data by the built-in GNSS data switching module. In the automatic switching mode, it will automatically switch to the aforementioned suggested GNSS navigation source, and then send the satellite navigation source (GPS or Beidou) data selected by the current system to each GNSS user system. When the automatic switching of the in-use GNSS navigation source occurs, the satellite navigation source display module will display a switching result prompt information to the pilot for a period of time, informing the pilot that the in-use GNSS source has been changed. In the manual switching mode, the GNSS data source switching device sends the current GNSS navigation source usage suggestion to the GNSS data source control panel and the external system such as the display alarm system, and informs the pilot that the current navigation source switching operation can be performed through light alarm, sound alarm or display screen prompt information. The pilot can select the GNSS navigation source, and the GNSS data source switching device receives the selection operation signal from the GNSS data source control panel, and then outputs the satellite navigation source (GPS or BDS) data selected by the pilot to each GNSS user system.

[0059] In addition, the pilot can press the mute switch on the GNSS data source switching device to turn off the switching prompt of the satellite navigation source display module.

[0060] FIG. 6 illustrates a flowchart of a method 600 for switching GNSS navigation data sources, which can include at least a first satellite navigation system and a second satellite navigation system, according to one embodiment of the present application. In one embodiment, the method 600 can be performed by the system 100 described above with reference to FIG. 1. In another embodiment, the method 600 can also be performed by a computer program stored on a computer readable medium. Of course, the method 600 can also be performed by any other suitable software, hardware, or combination of software and hardware.

[0061] At block 610, the method 600 can include receiving first information from a first satellite navigation system (e.g., GPS) and determining a first position (e.g., GPS position) based on the first information.

[0062] At block 620, the method 600 can include receiving second information from a second satellite navigation system (e.g., BDS) and determining a second position (e.g., BDS position) based on the second information.

[0063] At block 630, the method 600 can include obtaining first RAIM information for the first satellite navigation system and second RAIM information for the second satellite navigation system. For example, the first RAIM information can be obtained from a GPS receiver and the second RAIM information can be obtained from a BDS receiver.

[0064] At block 640, the method 600 can include determining whether to perform a switch of GNSS navigation data sources based on the first RAIM information of the first satellite navigation system, the second RAIM information of the second satellite navigation system, and a position consistency comparison of the first position and the second position. For example, as described above with reference to FIG. 4, if the first RAIM information is normal and the second RAIM information is abnormal, then GPS data can be used or switched to be used; if the first RAIM information is abnormal and the second RAIM information is normal, then BDS data can be used or switched to be used; if both the first RAIM information and the second RAIM information are abnormal, then the data can be marked as abnormal and the use of GPS data and BDS data can be stopped; and if both the first RAIM information and the second RAIM information are normal, then a position consistency determination can be further made.

[0065] In particular, the position consistency determination can include determining a position consistency indicator of the first position and a position consistency indicator of the second position based on the first position, the second position, a third position determined by an inertial navigation system, and a fourth position determined by a radio navigation system. The method 600 can further include determining whether to perform a switch of GNSS navigation data sources based on a comparison of the position consistency indicator of the first position and the position consistency indicator of the second position, a comparison of the position consistency indicator of the first position to a spoofing threshold, and / or a comparison of the position consistency indicator of the second position to the spoofing threshold. For example, as described above with reference to FIG. 4, if the position consistency indicator of the first position is better than the position consistency indicator of the second position and the position consistency indicator of the first position is less than a spoofing threshold, then GPS can be maintained or switched to. If the position consistency indicator of the second position is better than the position consistency indicator of the first position and the position consistency indicator of the second position is less than the spoofing threshold, then BDS can be maintained or switched to.

[0066] FIG. 7 illustrates a general hardware device 700 that can perform the methods of the present disclosure, according to example embodiments of the present disclosure.

[0067] Referring to FIG. 7, a hardware device 700, which is an example of a hardware device that can be applied to aspects of the present disclosure, will now be described. The hardware device 700 can be any machine configured to perform processing and / or computations, can be, but is not limited to, a workstation, a server, a desktop computer, a laptop computer, a tablet computer, a personal digital assistant, a smart phone, an on-board device, or any combination thereof.

[0068] The hardware device 700 can include elements, possibly via one or more buses, that can be connected or in communication with the bus 702. For example, the hardware device 700 can include the bus 702, and one or more processors 704, one or more input devices 706, and one or more output devices 708. The one or more processors 704 can be any type of processors, and can include, but are not limited to, one or more general- purpose processors and / or one or more special-purpose processors, such as dedicated chips. The input device 706 can be any type of device that can input information into the hardware device, and can include, but are not limited to, a mouse, a keyboard, a touchscreen, a microphone, and / or a remote control. The output device 708 can be any type of device that can present information, and can include, but are not limited to, a display, a speaker, a video / audio output terminal, a vibrator, and / or a printer. The hardware device 700 can also include or be connected with a non-transitory storage device 710, which can be any storage device that is non-transitory and that can enable data storage, and can include, but are not limited to, a disk drive, an optical storage device, a solid-state storage, a floppy disk, a flexible disk, a hard disk, a magnetic tape or any other magnetic medium, an optical disk or any other optical medium, a ROM (read only memory), a RAM (random access memory), a cache memory, and / or any other memory chip or cartridge, and / or any other medium from which the computer can read data, instructions, and / or code. The non-transitory storage device 710 can be separate from the interface. The non-transitory storage device 710 can have data / instructions / code for implementing the methods and steps described above. The hardware device 700 can also include a communication device 712. The communication device 712 can be any type of device or system that can enable communication with external devices and / or networks, and can include, but are not limited to, a modem, a network card, an infrared communication device, such as a Bluetooth TM device, a 1302.11 device, a WiFi device, a WiMax device, a cellular communication facility, a wireless communication device and / or chipset, such as a Bluetooth® device, a 1302.11 device, a WiFi device, a WiMax device, a cellular communication facility, and / or the like.

[0069] The bus 702 can include, but is not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MCA) bus, an Enhanced ISA (EISA) bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0070] The hardware device 700 can also include a working memory 714, which can be any type of working memory that can store instructions and / or data useful for the working of the processor 704, and can include, but are not limited to, a random access memory and / or a read only memory device.

[0071] Software elements can be located within a working memory 714, including an operating system 716, one or more application programs 718, other code, and / or data. Instructions for the operating system 716, the one or more application programs 718, and / or other code can be

[0072] From the above embodiments, it is clear to a person skilled in the art that the present disclosure can be implemented by software having the necessary hardware, or by hardware, firmware, etc. Based on such an understanding, embodiments of the present disclosure can be implemented in part in software. Computer software can be stored in a readable storage medium such as a floppy disk, a hard disk, an optical disk, or a flash memory, etc. of a computer. The computer software includes a series of instructions to cause a computer (e.g., a personal computer, a service station, or a network terminal) to execute a method according to a corresponding embodiment of the present disclosure or a part thereof.

[0073] Throughout this specification, reference has been made to "one example" or "an example." Such phrases mean that a particular feature, structure, or characteristic described is included in at least one example. Thus, such phrases in context can refer to one or more examples. Further, the described features, structures, or characteristics can be combined in any suitable manner in one or more examples.

[0074] However, those skilled in the relevant art will recognize that the examples can be practiced without one or more of the specific details, or with other methods, resources, materials, etc. In other instances, well-known structures, resources, or operations have not been shown or described in detail merely to avoid obscuring aspects of the examples.

[0075] While examples and applications have been illustrated and described, it is to be understood that the examples are not limited to the precise configurations and resources described above. Various modifications, changes, and variations apparent to those skilled in the art can be made in the arrangement, operation, and details of the methods and systems disclosed herein without departing from the scope of the claimed examples.

Claims

1. A Global Navigation Satellite System (GNSS) navigation data source switch management system, comprising: a GNSS navigation source comprising at least a first satellite navigation system and a second satellite navigation system; a GNSS data management module configured to determine whether to perform a GNSS navigation source switch based on first receiver autonomous integrity monitoring information of the first satellite navigation system, second receiver autonomous integrity monitoring information of the second satellite navigation system, and a position consistency comparison of a first position determined by the first satellite navigation system and a second position determined by the second satellite navigation system; a GNSS switch control module configured to perform a GNSS navigation source switch based on a result of whether to perform a GNSS navigation source switch made by the GNSS data management module; and a GNSS user system configured to implement navigation using the switched navigation source information.

2. The GNSS navigation data source switch management system of claim 1, wherein the GNSS navigation data source switch management system is implemented as an application software residing on an aircraft computing platform.

3. The GNSS navigation data source switch management system of claim 1, wherein the GNSS navigation data source switch management system is implemented as hardware, wherein the GNSS data management module is implemented using an ARINC 600 form device or other non-standard hardware device with computing functionality.

4. The GNSS navigation data source switch management system of claim 1, wherein the GNSS data management module is further configured to: receive first information from the first satellite navigation system, the first position being determined based on the first information, the first position being associated with a first coordinate system; receive second information from the second satellite navigation system, the second position being determined based on the second information, the second position being associated with a second coordinate system; perform a coordinate conversion of the second position to convert to the first coordinate system; and calculate a position data difference corresponding to a time alignment of the first position and the coordinate converted second position.

5. The GNSS navigation data source switch management system of claim 1, wherein the position consistency comparison further comprises: determining a position consistency indicator of the first position and a position consistency indicator of the second position based on the first position, the second position, a third position determined by an inertial navigation system, and a fourth position determined by a radio navigation system; wherein the GNSS data management module is further configured to: determine whether to perform a GNSS navigation source switch based on a comparison of the position consistency indicator of the first position and the position consistency indicator of the second position. ​ ​ 6. The GNSS navigation data source switching management system of claim 5, wherein the GNSS data management module is further configured to determine whether to perform a GNSS navigation source switch based on a comparison of the position consistency indicator of the first position to a spoofing threshold and / or based on a comparison of the position consistency indicator of the second position to a spoofing threshold.

7. The GNSS navigation data source switching management system of claim 1, wherein the first satellite navigation system is a GPS navigation system and the second satellite navigation system is a Beidou navigation system.

8. The GNSS navigation data source switching management system of claim 1, wherein the first satellite navigation system has a default priority higher than the second satellite navigation system.

9. A method for switching global navigation satellite system (GNSS) navigation data sources, the GNSS navigation data sources comprising at least a first satellite navigation system and a second satellite navigation system, the method comprising: receiving first information from the first satellite navigation system and determining a first position based on the first information; receiving second information from the second satellite navigation system and determining a second position based on the second information; obtaining first receiver autonomous integrity monitoring information of the first satellite navigation system and second receiver autonomous integrity monitoring information of the second satellite navigation system; and determining whether to perform a switch of the GNSS navigation data sources based on the first receiver autonomous integrity monitoring information of the first satellite navigation system, the second receiver autonomous integrity monitoring information of the second satellite navigation system, and a position consistency comparison of the first position and the second position.

10. The method of claim 9, wherein the position consistency comparison further comprises: determining a position consistency indicator of the first position and a position consistency indicator of the second position based on the first position, the second position, a third position determined by an inertial navigation system, and a fourth position determined by a radio navigation system; wherein the method further comprises: determining whether to perform a switch of the GNSS navigation data sources based on a comparison of the position consistency indicator of the first position to the position consistency indicator of the second position, a comparison of the position consistency indicator of the first position to a spoofing threshold, and / or a comparison of the position consistency indicator of the second position to a spoofing threshold. ​

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