卫星导航用户端自主完好性监测理论问题研究
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摘要
用户端自主完好性监测(ReceiverAutonomous Integrity Monitoring，RAIM)，是利用用户端接收机内部的冗余度信息，或借助飞机上的其它辅助信息，来实现卫星故障检测和故障识别。用户端自主完好性监测技术是为用户提供完好性监测和快速报警的响应能力的有效方法。其核心是利用全球导航卫星系统（Global Navigation Satellite System，GNSS）卫星的冗余信息，对多个导航解进行一致性检验，从而达到完好性监测的目的。本论文较全面地分析了RAIM的历史发展和最新研究成果；根据卫星故障数目分类，从RAIM算法、计算保护限值和RAIM的可用性三个方面对RAIM展开了深入的研究；根据环境噪声分类，从RAIM算法和RAIM的可用性两个方面对RAIM展开了深入的研究。为航空飞行安全管理与应用提供了科学合理的理论依据。
本论文阐述了RAIM算法中的所需性能参数，包括精度、完好性、可用性、连续性等主要概念，分析了各个概念之间的相互关系。剖析了RAIM的理论方法、功能与流程，依据伪距观测模型，分析了故障检验与故障识别的方法、完好性保证的方法、可用性分析方法。
针对单卫星故障下RAIM，采用总体最小二乘残差方法对量测方程模型进行改进与优化，获得了故障检验与识别及其相应的完好性保证的模型。基于总体最小二乘残差法的RAIM改进算法与基于最小二乘残差法的RAIM算法，在定位估算解、残差和数据矩阵三个方面进行分析与比较。结合航段的RNP定位误差保护限值，考虑卫星几何分布以及不同测量噪声的影响，提出了基于最大定位误差的完好性风险方法进行故障检测与识别，同时进行可用性分析，借此来判断不同航段RAIM可用性，并对上述方法进行了仿真验证。
针对多卫星故障下RAIM，建立了加入多星座下多个卫星故障因素的基于总体最小二乘残差法的RAIM算法。重点分析了多星座下卫星故障RAIM的可用性：用最大定位误差的完好性风险方法进行故障检测与识别，并作可用性分析，给出其相应的完好性保证，借此来判断不同航段RAIM可用性，并对上述方法进行了仿真验证。
针对高斯噪声下RAIM，将概率极限状态分析方法引入到RAIM算法中。建立了RAIM完好性评估系统，包括风险评估和风险评价，前者是对完好性的分析过程，而后者是把可靠系数与可靠概率相结合折减后进行对比从而得出完好性安全与否的结论。在风险评估中，建立了基于概率状态极限模型，提出了基于概率状态极限的RAIM算法，设计了故障检测的完好性保证，提供了相关系数法识别并排除故障卫星。在风险评价中，创建了安全系数与可靠系数相结合的RAIM完好性二元评价体系，设计了RAIM完好性二元评价体系评价准则，并对该评价体系进行仿真分析。
针对非高斯噪声环境下RAIM，介绍了粒子滤波算法的基本原理及算法流程。在深入剖析标准粒子滤波算法的缺陷之后，将基于马尔柯夫蒙特卡罗的粒子滤波引入到RAIM算法中，分析了粒子滤波器的收敛性与实时性问题。随后，采用粒子滤波与似然比方法相结合的方法，描述该方法用于故障检测与故障识别准则与实施过程，给出了该算法的实验结果。
本文对RAIM进行了比较全面、系统的研究，所提出的高斯噪声下RAIM算法与评价体系丰富和完善了RAIM理论，具有创新性，是设计思想和设计理论的探索与尝试。所提出的非高斯噪声下RAIM算法针对性强且易于实现，弥补了我国在该领域研究基础薄弱的不足，推动完善卫星导航完好性监测的理论体系，为今后具体实施作了必要的理论准备。研究结果表明基于概率状态极限的RAIM算法和基于安全系数与可靠系数相结合的RAIM完好性二元评价体系进行RAIM完好性评估中是合理的。基于马尔柯夫蒙特卡罗的粒子滤波应用到RAIM是可行的。
Receiver autonomous integrity monitoring (RAIM) technology is an effective method to provideintegrity monitoring and rapid alarm response capabilities. Its core is mainly based on statisticalmeasurement consistency checks as the use of GNSS satellites redundant information, so as to fulfillintegrity monitoring. In this paper the history of RAIM and the recent research results were morecomprehensively reviewed. According to the number of satellite failures, RAIM in the relate fieldwere lucubrated in this dissertation, including RAIM algorithm, protection limits and the availability.According to the environmental noise classification, RAIM in the relate field were studied deeply,including RAIM algorithm and protection limits. The research in this dissertation provides the theorybasis for aviation safety management and scientific applications.
This paper focuses on the required performance parameters (RNP) in RAIM, including accuracy,integrity, availability, continuity, and analysis of the relationship among this concepts. In addition,an analysis of the theoretical methods on RAIM were performed, including function and processes,the fault detection and identification method, the method to ensure integrity, the availability analysisbased on pseudo-range observation model.
Under a single satellite failure at a time for RAIM, the total least squares residual method formeasuring improvement and optimization of the model to obtain the fault detection and identificationand ensure the integrity. The analysis and comparison were performed between the total least squaresand the least squares, including location estimation solution, residuals, and data matrix. Comparingthe positioning error protection limits of flight sector with RNP, considering satellite geometry andmeasurement noise, the maximum positioning error integrity risk algorithm was proposed to faultdetection and identification, and simulation for the availability analysis to determine RAIMavailability on flight sector.
Under multiple satellite failure at a time for RAIM, joining multiple satellite failures under themultiple constellations, the total least squares algorithm was established. The technique focused onanalyzing the multi-constellation RAIM availability of satellite failure. The maximum positioningerror integrity risk algorithm was proposed to fault detection and identification, and simulation for theavailability analysis to determine RAIM availability on flight sector by applying RAIM to multiplesatellite failures under the multi-constellation.
Under Gaussian noise environment for RAIM, the probabilistic limit state analysis method was established and introduced to the receiver autonomous integrity monitoring algorithm. RAIM integrityassessment system was established, including integrity risk assessment and integrity risk evaluation.The former is the integrity of the analysis process, and the latter is a combination of the reliabilitycoefficient and the reliable probability for reduction compared to determine integrity and safety. Inintegrity risk assessment, a probabilistic limit state model was established, and the probabilistic limitstate algorithm was completed to design the integrity guarantee of fault detection, provide acorrelation coefficient method to identify and exclude satellite fault. In integrity risk evaluation, basedon safety factor and its representative reliability，RAIM integrity dual index valuation system wereestablished and the criteria based on RAIM integrity dual index valuation system was designed.Simulation results show that it is feasible and reliable for valuating the integrity risk management ofRAIM.
Under non-Gaussian noise environment for RAIM, focusing on the basic principles of particlefilter and the algorithmic process, analyzing on the standard particle filter algorithm of defects, thealgorithm comparing Monte carlo based particle filter with markov chain was established andpresented to RAIM. After Analyzing on the particle filter convergence and real-time issues,comparing particle filtering with likelihood ratio method, the criteria for fault detection andidentification was designed and the implementation process was described. Simulation results showthat it is feasible and reliable.
The dissertation is a deep research on models and algorithms in RAIM. The proposed methodshave strong pertinency and proacticability to be implemented. The RAIM algorithm under Gaussiannoise environment greatly enriched and improved the RAIM theory and methods, and is morepioneering and innovative method with major exploration and try. In addition, the RAIM algorithmunder Non-Gaussian noise environment greatly has strong pertinence, and is easy to be realized. Thealgorithm of this dissertation is not only conducive to make up the basis our country’s research in thisfield, but also attributes to consummate RAIM theory and methods. It provides the theory preparationfor the further specific implementation of RAIM theory and methods.
Research results show that RAIM based on probabilistic limit state algorithm is reasonable andthat RAIM integrity dual index valuation system based on combination of the safety coefficient andthe reliable coefficient is reasonable. Simulation results show that RAIM based on based markovchain Monte carlo method is feasible.
本论文阐述了RAIM算法中的所需性能参数，包括精度、完好性、可用性、连续性等主要概念，分析了各个概念之间的相互关系。剖析了RAIM的理论方法、功能与流程，依据伪距观测模型，分析了故障检验与故障识别的方法、完好性保证的方法、可用性分析方法。
针对单卫星故障下RAIM，采用总体最小二乘残差方法对量测方程模型进行改进与优化，获得了故障检验与识别及其相应的完好性保证的模型。基于总体最小二乘残差法的RAIM改进算法与基于最小二乘残差法的RAIM算法，在定位估算解、残差和数据矩阵三个方面进行分析与比较。结合航段的RNP定位误差保护限值，考虑卫星几何分布以及不同测量噪声的影响，提出了基于最大定位误差的完好性风险方法进行故障检测与识别，同时进行可用性分析，借此来判断不同航段RAIM可用性，并对上述方法进行了仿真验证。
针对多卫星故障下RAIM，建立了加入多星座下多个卫星故障因素的基于总体最小二乘残差法的RAIM算法。重点分析了多星座下卫星故障RAIM的可用性：用最大定位误差的完好性风险方法进行故障检测与识别，并作可用性分析，给出其相应的完好性保证，借此来判断不同航段RAIM可用性，并对上述方法进行了仿真验证。
针对高斯噪声下RAIM，将概率极限状态分析方法引入到RAIM算法中。建立了RAIM完好性评估系统，包括风险评估和风险评价，前者是对完好性的分析过程，而后者是把可靠系数与可靠概率相结合折减后进行对比从而得出完好性安全与否的结论。在风险评估中，建立了基于概率状态极限模型，提出了基于概率状态极限的RAIM算法，设计了故障检测的完好性保证，提供了相关系数法识别并排除故障卫星。在风险评价中，创建了安全系数与可靠系数相结合的RAIM完好性二元评价体系，设计了RAIM完好性二元评价体系评价准则，并对该评价体系进行仿真分析。
针对非高斯噪声环境下RAIM，介绍了粒子滤波算法的基本原理及算法流程。在深入剖析标准粒子滤波算法的缺陷之后，将基于马尔柯夫蒙特卡罗的粒子滤波引入到RAIM算法中，分析了粒子滤波器的收敛性与实时性问题。随后，采用粒子滤波与似然比方法相结合的方法，描述该方法用于故障检测与故障识别准则与实施过程，给出了该算法的实验结果。
本文对RAIM进行了比较全面、系统的研究，所提出的高斯噪声下RAIM算法与评价体系丰富和完善了RAIM理论，具有创新性，是设计思想和设计理论的探索与尝试。所提出的非高斯噪声下RAIM算法针对性强且易于实现，弥补了我国在该领域研究基础薄弱的不足，推动完善卫星导航完好性监测的理论体系，为今后具体实施作了必要的理论准备。研究结果表明基于概率状态极限的RAIM算法和基于安全系数与可靠系数相结合的RAIM完好性二元评价体系进行RAIM完好性评估中是合理的。基于马尔柯夫蒙特卡罗的粒子滤波应用到RAIM是可行的。
Receiver autonomous integrity monitoring (RAIM) technology is an effective method to provideintegrity monitoring and rapid alarm response capabilities. Its core is mainly based on statisticalmeasurement consistency checks as the use of GNSS satellites redundant information, so as to fulfillintegrity monitoring. In this paper the history of RAIM and the recent research results were morecomprehensively reviewed. According to the number of satellite failures, RAIM in the relate fieldwere lucubrated in this dissertation, including RAIM algorithm, protection limits and the availability.According to the environmental noise classification, RAIM in the relate field were studied deeply,including RAIM algorithm and protection limits. The research in this dissertation provides the theorybasis for aviation safety management and scientific applications.
This paper focuses on the required performance parameters (RNP) in RAIM, including accuracy,integrity, availability, continuity, and analysis of the relationship among this concepts. In addition,an analysis of the theoretical methods on RAIM were performed, including function and processes,the fault detection and identification method, the method to ensure integrity, the availability analysisbased on pseudo-range observation model.
Under a single satellite failure at a time for RAIM, the total least squares residual method formeasuring improvement and optimization of the model to obtain the fault detection and identificationand ensure the integrity. The analysis and comparison were performed between the total least squaresand the least squares, including location estimation solution, residuals, and data matrix. Comparingthe positioning error protection limits of flight sector with RNP, considering satellite geometry andmeasurement noise, the maximum positioning error integrity risk algorithm was proposed to faultdetection and identification, and simulation for the availability analysis to determine RAIMavailability on flight sector.
Under multiple satellite failure at a time for RAIM, joining multiple satellite failures under themultiple constellations, the total least squares algorithm was established. The technique focused onanalyzing the multi-constellation RAIM availability of satellite failure. The maximum positioningerror integrity risk algorithm was proposed to fault detection and identification, and simulation for theavailability analysis to determine RAIM availability on flight sector by applying RAIM to multiplesatellite failures under the multi-constellation.
Under Gaussian noise environment for RAIM, the probabilistic limit state analysis method was established and introduced to the receiver autonomous integrity monitoring algorithm. RAIM integrityassessment system was established, including integrity risk assessment and integrity risk evaluation.The former is the integrity of the analysis process, and the latter is a combination of the reliabilitycoefficient and the reliable probability for reduction compared to determine integrity and safety. Inintegrity risk assessment, a probabilistic limit state model was established, and the probabilistic limitstate algorithm was completed to design the integrity guarantee of fault detection, provide acorrelation coefficient method to identify and exclude satellite fault. In integrity risk evaluation, basedon safety factor and its representative reliability，RAIM integrity dual index valuation system wereestablished and the criteria based on RAIM integrity dual index valuation system was designed.Simulation results show that it is feasible and reliable for valuating the integrity risk management ofRAIM.
Under non-Gaussian noise environment for RAIM, focusing on the basic principles of particlefilter and the algorithmic process, analyzing on the standard particle filter algorithm of defects, thealgorithm comparing Monte carlo based particle filter with markov chain was established andpresented to RAIM. After Analyzing on the particle filter convergence and real-time issues,comparing particle filtering with likelihood ratio method, the criteria for fault detection andidentification was designed and the implementation process was described. Simulation results showthat it is feasible and reliable.
The dissertation is a deep research on models and algorithms in RAIM. The proposed methodshave strong pertinency and proacticability to be implemented. The RAIM algorithm under Gaussiannoise environment greatly enriched and improved the RAIM theory and methods, and is morepioneering and innovative method with major exploration and try. In addition, the RAIM algorithmunder Non-Gaussian noise environment greatly has strong pertinence, and is easy to be realized. Thealgorithm of this dissertation is not only conducive to make up the basis our country’s research in thisfield, but also attributes to consummate RAIM theory and methods. It provides the theory preparationfor the further specific implementation of RAIM theory and methods.
Research results show that RAIM based on probabilistic limit state algorithm is reasonable andthat RAIM integrity dual index valuation system based on combination of the safety coefficient andthe reliable coefficient is reasonable. Simulation results show that RAIM based on based markovchain Monte carlo method is feasible.
引文
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