GNSS完备性监测方法、技术与应用
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摘要
现有导航系统包括GPS, GLONASS, GALILEO以及中国北斗系统,统称为GNSS (Global Navigation Satellite System)全球导航卫星系统,随着GPS导航系统技术升级以及GLONASS/GALILEO导航系统的全面建设,卫星导航用户定位精度得到了显著提高,但是无论是导航系统本身,还是导航系统增强系统以及保障动态用户可靠性的完备性还远不能满足实用需要。从用户安全的角度,导航系统的完备性要有着比精度更加重要的意义。
当前,无论是在系统建设,算法研究,还是标准规范、用户应用模式等方面,国内外GNSS卫星导航系统的完备性监测还处在进一步深化阶段,没有完全进入实用阶段,导航系统的完备性还无法满足实用需要。为了解决GNSS完备性监测的一系列理论、方法、关键技术、核心算法,本文系统研究了完备性监测的理论、方法和关键技术,提出了一种完备性监测分级体系,在此基础上,建立了较为完善的完备性监测的算法和模型,通过对GPS/GALILEO的数据处理实践,论证技术体系的可行性和科学性。
本文从GNSS卫星导航系统特点出发,在系统的研究信号发射误差,信号传输误差和信号接收误差的基础上,通过对信号数据的观测和误差分析,来实现不同类型的完备性监测,建立了完备性监测分级体系。完备性监测分级体系将GNSS完备性监测由空间段到地面段划分为：GNSS系统级完备性监测；GNSS监测站级完备性监测；GNSS用户站级完备性监测。
在GNSS系统级完备性监测方面,从GNSS误差分析的角度出发,重点研究卫星轨道误差和卫星钟差。利用IGS精密星历,根据卫星轨道积分理论和时间序列分析理论,实现卫星轨道完备性监测；利用地面CORS网络,进行卫星钟差估计,根据卫星钟差残差及其精度对卫星钟差粗差进行识别和探测,实现卫星钟差完备性监测；根据GALILEO系统提出的完备性监测概念,分析GNSS系统各类完备性监测的指标参数,对空间信号误差SISE,空间信号精度SISA,空间信号监测精度SISMA,以及最差用户位置WUL指标等重要的完备性指标进行了概念解析和数学模型建立,通过对中国和全球的地面遥测站GSS以及GPS数据和仿真GALILEO数据的数据处理与分析,提出了GNSS系统级完备性监测算法。
在GNSS监测站级完备性监测方面,将GNSS监测站级完备性监测分解为两个层次,第一层次是指利用增强系统内自设的监测站实时监测差分信息的可用性,对差分信息的可靠性进行判别；另一层次是指增强系统内的监测站自身的可用性,对监测站自身的可靠性进行判别。在进行监测站级完备性监测之前,需要利用L2C信号对信噪比进行分析,判断数据质量。本文结合河北省CORS网络RTK增强模式,判断增强信号质量,识别故障卫星,确定完备性监测重要指标的示警限值和示警耗时,实现了监测站的差分信息完备性监测。同时,针对CORS网络的实时精密定位需求,提出CORS网络监测站自主监测的概念,并以河北省CORS网络数据,识别故障监测站,验证监测站自主完备性监测方法。
在GNSS用户站级完备性监测方面,利用河北CORS网络数据,实现用户保护水平XPL的数据处理；在多元统计分析理论和向量相似度指标的基础上,提出基于向量相似距离方法的新型RAIM算法以及基于聚类分析的新型RAIM算法；利用河北省CORS站的静态数据,自采集的动态数据和仿真的GALILEO数据,分别对GPS单点定位,GPS网络RTK定位,GPS精密单点定位PPP, GPS/GALILEO精密单点定位PPP进行了数据处理和系统分析,验证了本文在解决多个故障卫星识别问题的能力。
Based on the existing navigation system, GNSS is a general designation of GPS, GLONASS, GALILEO and the COMPASS. With the technology upgrading of GPS and the comprehensively launches of GLONASS/GALILEO, the positioning precision was greatly improved, but navigation system integrity doesn't achieve the demand of syetem and user. Thinking of the user safety,the integrity of the navigation system is more important than the precision.
However, at present, although GNSS system has become gradually perfect and the integrity monitoring of GNSS has been proposed, integrity monitoring of GNSS is still at a initial stage. System construction, algorithm research and standard specification of integrity monitoring are not developed into unified mode. In this paper, in order to solve a series of GNSS integrity monitoring theory, method, key technology, and the core algorithm, the theory, algorithm and key technologies of integrity monitoring were deeply studied,theoretical system of integrity monitoring was proposed,integrity monitoring algorithm and model was founded, and was applied in data processing of GPS/GALILEO system.
Based on the character of GNSS, emission error, transmission error and reception error of signal were studied mainly from the view of signal error source. Through signal observation data and error analysis, to achieve different types of integrity monitoring, the grading system of integrity monitoring was established. The grading system of GNSS integrity monitoring by the space segment to the ground segment is divided into three levels:system level, monitoring station level and user level.
On the system level of GNSS integrity monitoring, orbit error and clock error were mainly studied. Using IGS Precise ephemeris, satellite orbit integrity monitoring was implement based on satellite orbit integral theory and time series analysis theory. Using Hebei CORS network,satellite clock error was estimated,based on bias and precision of satellite clock error, satellite clock integrity monitoring was studied to detection gross error. Index parameters of integrity monitoring were analyzed.
Under the GALILEO integrity monitoring idea, the concept and mathematical model of several important index parameters including SISE, SIS A, SISMA and WUL were proposed and worked out the corresponding software. Using Chinese and world GSS, GPS data and simulated GALILEO data, the data peorceesing and analysing of SISE,SISA and SISMA were accomplished.
On the monitoring station level of GNSS integrity monitoring,this level of GNSS integrity monitoring is divided into two levels, the first is that refers to the monitoring station within the augmentation system, monitor differential information availability real time, judge the reliability of the differential information; another level is judge the monitoring stations itself availability within the system, identificate the station's own reliability. Before monitoring station level of GNSS integrity monitoring,SNR of L2C was achieved. Using network RTK mode of Hebei CORS as the augmentation measure, the integrity monitoring of difference information was realized based on monitoring station, the estimation of signal quality and the detection of fault satellite were actualized, AL and TTA paratemer were confirmed. The theory and algorithm of monitoring station autonomous integrity monitoring was studied, this theory was used to detect the fault monitoring station by using Hebei CORS network.
On the user level of GNSS integrity monitoring, using the data of Hebei CORS, XPL was calculated. Based on multivariate statistical inference theory and vector similarity index, the new theory of similarity vector distance RAIM was studied, and another new theory of cluster analysis RAIM was studied. Using Hebei CORS network data, own kinematic data, and simulated GALILEO data, based on GPS single position, GPS network RTK position, GPS PPP position and GPS/GALILEO PPP position, the two new RAIM theory were used to detect multiple fault satellites.
当前,无论是在系统建设,算法研究,还是标准规范、用户应用模式等方面,国内外GNSS卫星导航系统的完备性监测还处在进一步深化阶段,没有完全进入实用阶段,导航系统的完备性还无法满足实用需要。为了解决GNSS完备性监测的一系列理论、方法、关键技术、核心算法,本文系统研究了完备性监测的理论、方法和关键技术,提出了一种完备性监测分级体系,在此基础上,建立了较为完善的完备性监测的算法和模型,通过对GPS/GALILEO的数据处理实践,论证技术体系的可行性和科学性。
本文从GNSS卫星导航系统特点出发,在系统的研究信号发射误差,信号传输误差和信号接收误差的基础上,通过对信号数据的观测和误差分析,来实现不同类型的完备性监测,建立了完备性监测分级体系。完备性监测分级体系将GNSS完备性监测由空间段到地面段划分为：GNSS系统级完备性监测；GNSS监测站级完备性监测；GNSS用户站级完备性监测。
在GNSS系统级完备性监测方面,从GNSS误差分析的角度出发,重点研究卫星轨道误差和卫星钟差。利用IGS精密星历,根据卫星轨道积分理论和时间序列分析理论,实现卫星轨道完备性监测；利用地面CORS网络,进行卫星钟差估计,根据卫星钟差残差及其精度对卫星钟差粗差进行识别和探测,实现卫星钟差完备性监测；根据GALILEO系统提出的完备性监测概念,分析GNSS系统各类完备性监测的指标参数,对空间信号误差SISE,空间信号精度SISA,空间信号监测精度SISMA,以及最差用户位置WUL指标等重要的完备性指标进行了概念解析和数学模型建立,通过对中国和全球的地面遥测站GSS以及GPS数据和仿真GALILEO数据的数据处理与分析,提出了GNSS系统级完备性监测算法。
在GNSS监测站级完备性监测方面,将GNSS监测站级完备性监测分解为两个层次,第一层次是指利用增强系统内自设的监测站实时监测差分信息的可用性,对差分信息的可靠性进行判别；另一层次是指增强系统内的监测站自身的可用性,对监测站自身的可靠性进行判别。在进行监测站级完备性监测之前,需要利用L2C信号对信噪比进行分析,判断数据质量。本文结合河北省CORS网络RTK增强模式,判断增强信号质量,识别故障卫星,确定完备性监测重要指标的示警限值和示警耗时,实现了监测站的差分信息完备性监测。同时,针对CORS网络的实时精密定位需求,提出CORS网络监测站自主监测的概念,并以河北省CORS网络数据,识别故障监测站,验证监测站自主完备性监测方法。
在GNSS用户站级完备性监测方面,利用河北CORS网络数据,实现用户保护水平XPL的数据处理；在多元统计分析理论和向量相似度指标的基础上,提出基于向量相似距离方法的新型RAIM算法以及基于聚类分析的新型RAIM算法；利用河北省CORS站的静态数据,自采集的动态数据和仿真的GALILEO数据,分别对GPS单点定位,GPS网络RTK定位,GPS精密单点定位PPP, GPS/GALILEO精密单点定位PPP进行了数据处理和系统分析,验证了本文在解决多个故障卫星识别问题的能力。
Based on the existing navigation system, GNSS is a general designation of GPS, GLONASS, GALILEO and the COMPASS. With the technology upgrading of GPS and the comprehensively launches of GLONASS/GALILEO, the positioning precision was greatly improved, but navigation system integrity doesn't achieve the demand of syetem and user. Thinking of the user safety,the integrity of the navigation system is more important than the precision.
However, at present, although GNSS system has become gradually perfect and the integrity monitoring of GNSS has been proposed, integrity monitoring of GNSS is still at a initial stage. System construction, algorithm research and standard specification of integrity monitoring are not developed into unified mode. In this paper, in order to solve a series of GNSS integrity monitoring theory, method, key technology, and the core algorithm, the theory, algorithm and key technologies of integrity monitoring were deeply studied,theoretical system of integrity monitoring was proposed,integrity monitoring algorithm and model was founded, and was applied in data processing of GPS/GALILEO system.
Based on the character of GNSS, emission error, transmission error and reception error of signal were studied mainly from the view of signal error source. Through signal observation data and error analysis, to achieve different types of integrity monitoring, the grading system of integrity monitoring was established. The grading system of GNSS integrity monitoring by the space segment to the ground segment is divided into three levels:system level, monitoring station level and user level.
On the system level of GNSS integrity monitoring, orbit error and clock error were mainly studied. Using IGS Precise ephemeris, satellite orbit integrity monitoring was implement based on satellite orbit integral theory and time series analysis theory. Using Hebei CORS network,satellite clock error was estimated,based on bias and precision of satellite clock error, satellite clock integrity monitoring was studied to detection gross error. Index parameters of integrity monitoring were analyzed.
Under the GALILEO integrity monitoring idea, the concept and mathematical model of several important index parameters including SISE, SIS A, SISMA and WUL were proposed and worked out the corresponding software. Using Chinese and world GSS, GPS data and simulated GALILEO data, the data peorceesing and analysing of SISE,SISA and SISMA were accomplished.
On the monitoring station level of GNSS integrity monitoring,this level of GNSS integrity monitoring is divided into two levels, the first is that refers to the monitoring station within the augmentation system, monitor differential information availability real time, judge the reliability of the differential information; another level is judge the monitoring stations itself availability within the system, identificate the station's own reliability. Before monitoring station level of GNSS integrity monitoring,SNR of L2C was achieved. Using network RTK mode of Hebei CORS as the augmentation measure, the integrity monitoring of difference information was realized based on monitoring station, the estimation of signal quality and the detection of fault satellite were actualized, AL and TTA paratemer were confirmed. The theory and algorithm of monitoring station autonomous integrity monitoring was studied, this theory was used to detect the fault monitoring station by using Hebei CORS network.
On the user level of GNSS integrity monitoring, using the data of Hebei CORS, XPL was calculated. Based on multivariate statistical inference theory and vector similarity index, the new theory of similarity vector distance RAIM was studied, and another new theory of cluster analysis RAIM was studied. Using Hebei CORS network data, own kinematic data, and simulated GALILEO data, based on GPS single position, GPS network RTK position, GPS PPP position and GPS/GALILEO PPP position, the two new RAIM theory were used to detect multiple fault satellites.
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