陆基增强系统定位与完好性监测技术研究
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摘要
为使陆基增强系统作用范围内的航空用户能够满足垂直引导进近及以上等级所需导航性能要求，有必要提高用户端和地面站系统的完好性监测性能，即从精度、完好性、可用性和连续性四个方面改进陆基增强系统的完好性监测性能。由于完好性监测本质上是对影响用户定位潜在误差源的置信度分析，而陆基增强系统是以差分定位技术为基础，因此从定位技术到完好性监测技术，论文都是围绕如何抑制和监测地面站系统和用户端主要误差源展开论述。
由于航空用户和地面站系统所处导航环境的差异性，即使同种误差对用户端和地面站系统的干扰原理也不尽相同，因此有必要从用户端和地面站系统分别进行论述。根据陆基增强系统所需实现的目的，本文在定位技术和完好性监测技术两个方面深入研究和改进，以努力满足高等级的所需导航性能。论文主要研究内容如下：
1.分析了单点定位模式下多误差源对载波相位平滑伪距平滑误差的影响，将Kalman滤波引入到载波相位平滑伪距中，利用极大似然准则推导了一种新的应用于载波相位平滑伪距的自适应Kalman滤波算法，这种滤波算法利用新息方差分别对系统过程噪声方差和量测噪声方差实时自适应估计和调整，研究在保证系统滤波稳定性的前提下，得到适用于动态单点定位载波相位平滑伪距所需的最优平滑时间。
2.研究电离层延迟误差和多径误差的空时效应对差分模式下载波相位平滑伪距的影响，提出一种新的自适应载波相位平滑伪距算法，以抑制差分修正量中的非共性误差。该算法通过分析差分修正量的误差方差，利用极值理论得到地面基站和动态用户的自适应平滑时间，以抑制非共性误差中的电离层延迟误差和多径误差，实现提高差分修正量精度的目的。飞行测试实验证明了所提出算法对非共性误差的优化作用。
3.采用基于多普勒观测量的“滑动窗”自适应钟差预测模型和解分离算法相结合辅助传统接收机自主完好性监测算法，通过调节钟差预测模型的平滑时间可有效提高定位精度及可用性水平。为进一步满足航空用户对垂直方向导航性能的需求，采用基于地图匹配辅助的GPS/DR/DEM紧组合导航系统。为检测来自于地图误匹配产生的小幅值故障，采用可变误警率的算法提高故障检测的性能。车载实验证明，基于自主插值完好性监测算法的系统可用性水平可以满足垂直引导I类所需导航性能需求。
4.由于传统基于识别门限的卫星故障识别算法存在漏检和误警致使识别率较低，为此提出一种可用于识别双星故障的接收机自主完好性监测算法。该算法通过构造新的奇偶矢量与故障特征平面，利用奇偶矢量与故障特征平面之间的几何关系来识别卫星故障，使得算法不再受限于识别门限的影响，从而有效地避免了由于识别门限引起的识别效率较低的问题。
5.由于修正误差的非理想性，即当修正误差包含非零均值高斯误差和非高斯误差时，传统sigma膨胀算法难以满足陆基增强系统高可用性水平的要求。在满足误差覆盖的约束条件下，将sigma膨胀、均值膨胀和非高斯膨胀结合起来，通过选取最优膨胀系数集，最大限度地提高系统的可用性水平。仿真实验证明即使在关键卫星发生故障的情况下，基于膨胀系数集的Sigma膨胀算法能够将系统可用性至少提高至95%。
6.针对传统测距域基于极大使然准则的B值在多参考一致性检测应用时完好性监测性能较低的缺点，设计基于Kalman滤波的位置域特征检测值取代传统B值以提高地面多参考站故障检测与识别性能。构建基于多考接收机故障假设的系统完好性风险模型，在Kalman滤波中引入自适应衰减调节因子以维持滤波稳定性和完好性风险之间的平衡。户外实验证明在输入各类型故障时，在可用性损失可接受的范围内，基于Kalman滤波的多参考一致性检测算法可有效提升故障检测与识别性能。
It is of highly necessity to enhance the integrity monitoring performance of both the civilaviation user and local ground facility (LGF), in order to enable the user satisfy the requirednavigation performance (RNP) in the phase of vertical guidance (APV) or even higherperformance required based phases. In other words, the integrity performance of ground basedaugmentation system (GBAS) should be enhanced in terms of accuracy, integrity, availabilityand continuity. Since essence of integrity monitoring is to provide a measure of confidencethat come along with all possible potential fault sources, and GBAS is based on thedifferential positioning technology, the thesis is mainly about how to mitigate and monitor themainly existing error sources originate from GBAS positioning process.
Since the navigation environment difference between the civil aviation user and the LGF,furthermore, even the same kind of error will impose different effect to the user and the LGF,it is therefore necessary to design the integrity methods in terms of the user and the LGF,respectively. As GBAS is try to enable the user within reach to satisfy the RNP of differentcivil aviation phases, the thesis managed to give an insight into the positioning technologyand integrity monitoring algorithms. The outline of the thesis is as follows:
Firstly, with the purpose of suppressing the smoothed error that comes from carriersmoothing process in the single-point positioning mode, an Kalman filter is combined withthe carrier-smoothed-code algorithm, i.e., the adaptive Kalman filter based on the maximumlikelihood criterion was proposed to compensate the deficiency of traditionalcarrier-smoothed-code algorithm. The innovation sequences were utilized to estimate andadjust the variance of system noise and measurement noise in real-time, respectively, and thenan optimal smoothing-time constant in the dynamic positioning were derived from theadaptive algorithm.
Second, through analyzing the time-space effect of ionosphere delay and multipath onthe differential positioning based carrier-smoothed-code, a novel adaptivecarrier-smoothed-code algorithm is proposed to minimize the non-common errors containedin the differential pseudorange corrections broadcasted from the LGF. Through the errorvariance analysis of the differential pseudorange corrections, the optimal smoothing timeconstants for the user and the LGF are obtained from the extreme value theory (EVT) tomitigate the non-common errors, which mainly induced by ionosphere delay and multipath, with the purpose of improving the accuracy of the differential pseudorange corrections. Theflight test verified the effect of the proposed algorithm on minimizing the non-common errors.
Third, the Doppler measurement based adaptive clock-bias prediction model withsmoothing-window and solution separation were combined to aid the traditional receiverautonomous integrity monitoring (RAIM). With the adjustment of smoothing time window inthe adaptive clock-bias estimation model, both the positioning accuracy and the availabilitylevel of the RAIM in the horizontal direction can be enhanced as more redundancy can beobtained from the Doppler measurements. In order to satisfy the stricter RNP in the verticaldirection, the map-matching aided tightly coupled GPS/DR/DEM integrated navigationsystem is applied. A variable false alarm rate (as opposed to a constant false alarm rate in thetraditional RAIM) is considered to improve the fault detection performance in selecting thecorrect link, especially near junctions. The vehicle on-board experiment shows that the systemavailability level derived from autonomous integrity monitoring extrapolation (AIME) couldsatisfy the APV I based RNP.
Forth, since the traditional identification threshold based satellite fault detection andidentification algorithm led to missed detection and false alarm, which reduced the correctidentification rate, a new RAIM algorithm was proposed for identifying double-satellitessimultaneously. The geometry relationship between the parity vector and fault feature planewas used to identify the faulty satellites. The proposed algorithm was therefore immune to theproblem caused by identification threshold and improved the correct identification rate.
Fifth, as the non-perfect distribution of pseudorange correction error, i.e., the non-zeromean Gaussian error and non-Gaussian error in the correction error, the traditional sigmainflation was difficult to satisfy the stricter availability level requirement (e.g., CAT II/III).With satisfying the error-tail overbound requirement, the mean inflation and non-Gaussianinflation were combined to improve the traditional sigma inflation. By selecting the optimalinflation vector, which include Gaussian the proposed method was not only able to overboundthe predefined non-ideal error but also enhance effectively the system availability. Thesimulation result reveals that the inflation vector based sigma inflation could improve theavailability to at least95%even under the case of critical satellite failure.
Sixth, since the traditional maximum-likelihood estimation criterion based B-value,which generated from multiple reference consistency check (MRCC) in range-domain haslimitations in satisfying the integrity requirement of CAT II/III for civil aviation, a Kalmanfilter-based position-domain test statistics has been developed for improving the faultdetection and isolation of multiple reference receivers. Based on the integrity risk model of multiple receivers’ failure hypothesis, the adaptive fading factor was applied in the Kalmanfilter process to keep a balance between filtering stability and integrity risk. The outdoorexperiment demonstrates that, even if different kinds of fault types are considered under thesingle-fault case, the adaptive Kalman filter could improve the fault detection and isolationperformance with an acceptable availability loss.
由于航空用户和地面站系统所处导航环境的差异性，即使同种误差对用户端和地面站系统的干扰原理也不尽相同，因此有必要从用户端和地面站系统分别进行论述。根据陆基增强系统所需实现的目的，本文在定位技术和完好性监测技术两个方面深入研究和改进，以努力满足高等级的所需导航性能。论文主要研究内容如下：
1.分析了单点定位模式下多误差源对载波相位平滑伪距平滑误差的影响，将Kalman滤波引入到载波相位平滑伪距中，利用极大似然准则推导了一种新的应用于载波相位平滑伪距的自适应Kalman滤波算法，这种滤波算法利用新息方差分别对系统过程噪声方差和量测噪声方差实时自适应估计和调整，研究在保证系统滤波稳定性的前提下，得到适用于动态单点定位载波相位平滑伪距所需的最优平滑时间。
2.研究电离层延迟误差和多径误差的空时效应对差分模式下载波相位平滑伪距的影响，提出一种新的自适应载波相位平滑伪距算法，以抑制差分修正量中的非共性误差。该算法通过分析差分修正量的误差方差，利用极值理论得到地面基站和动态用户的自适应平滑时间，以抑制非共性误差中的电离层延迟误差和多径误差，实现提高差分修正量精度的目的。飞行测试实验证明了所提出算法对非共性误差的优化作用。
3.采用基于多普勒观测量的“滑动窗”自适应钟差预测模型和解分离算法相结合辅助传统接收机自主完好性监测算法，通过调节钟差预测模型的平滑时间可有效提高定位精度及可用性水平。为进一步满足航空用户对垂直方向导航性能的需求，采用基于地图匹配辅助的GPS/DR/DEM紧组合导航系统。为检测来自于地图误匹配产生的小幅值故障，采用可变误警率的算法提高故障检测的性能。车载实验证明，基于自主插值完好性监测算法的系统可用性水平可以满足垂直引导I类所需导航性能需求。
4.由于传统基于识别门限的卫星故障识别算法存在漏检和误警致使识别率较低，为此提出一种可用于识别双星故障的接收机自主完好性监测算法。该算法通过构造新的奇偶矢量与故障特征平面，利用奇偶矢量与故障特征平面之间的几何关系来识别卫星故障，使得算法不再受限于识别门限的影响，从而有效地避免了由于识别门限引起的识别效率较低的问题。
5.由于修正误差的非理想性，即当修正误差包含非零均值高斯误差和非高斯误差时，传统sigma膨胀算法难以满足陆基增强系统高可用性水平的要求。在满足误差覆盖的约束条件下，将sigma膨胀、均值膨胀和非高斯膨胀结合起来，通过选取最优膨胀系数集，最大限度地提高系统的可用性水平。仿真实验证明即使在关键卫星发生故障的情况下，基于膨胀系数集的Sigma膨胀算法能够将系统可用性至少提高至95%。
6.针对传统测距域基于极大使然准则的B值在多参考一致性检测应用时完好性监测性能较低的缺点，设计基于Kalman滤波的位置域特征检测值取代传统B值以提高地面多参考站故障检测与识别性能。构建基于多考接收机故障假设的系统完好性风险模型，在Kalman滤波中引入自适应衰减调节因子以维持滤波稳定性和完好性风险之间的平衡。户外实验证明在输入各类型故障时，在可用性损失可接受的范围内，基于Kalman滤波的多参考一致性检测算法可有效提升故障检测与识别性能。
It is of highly necessity to enhance the integrity monitoring performance of both the civilaviation user and local ground facility (LGF), in order to enable the user satisfy the requirednavigation performance (RNP) in the phase of vertical guidance (APV) or even higherperformance required based phases. In other words, the integrity performance of ground basedaugmentation system (GBAS) should be enhanced in terms of accuracy, integrity, availabilityand continuity. Since essence of integrity monitoring is to provide a measure of confidencethat come along with all possible potential fault sources, and GBAS is based on thedifferential positioning technology, the thesis is mainly about how to mitigate and monitor themainly existing error sources originate from GBAS positioning process.
Since the navigation environment difference between the civil aviation user and the LGF,furthermore, even the same kind of error will impose different effect to the user and the LGF,it is therefore necessary to design the integrity methods in terms of the user and the LGF,respectively. As GBAS is try to enable the user within reach to satisfy the RNP of differentcivil aviation phases, the thesis managed to give an insight into the positioning technologyand integrity monitoring algorithms. The outline of the thesis is as follows:
Firstly, with the purpose of suppressing the smoothed error that comes from carriersmoothing process in the single-point positioning mode, an Kalman filter is combined withthe carrier-smoothed-code algorithm, i.e., the adaptive Kalman filter based on the maximumlikelihood criterion was proposed to compensate the deficiency of traditionalcarrier-smoothed-code algorithm. The innovation sequences were utilized to estimate andadjust the variance of system noise and measurement noise in real-time, respectively, and thenan optimal smoothing-time constant in the dynamic positioning were derived from theadaptive algorithm.
Second, through analyzing the time-space effect of ionosphere delay and multipath onthe differential positioning based carrier-smoothed-code, a novel adaptivecarrier-smoothed-code algorithm is proposed to minimize the non-common errors containedin the differential pseudorange corrections broadcasted from the LGF. Through the errorvariance analysis of the differential pseudorange corrections, the optimal smoothing timeconstants for the user and the LGF are obtained from the extreme value theory (EVT) tomitigate the non-common errors, which mainly induced by ionosphere delay and multipath, with the purpose of improving the accuracy of the differential pseudorange corrections. Theflight test verified the effect of the proposed algorithm on minimizing the non-common errors.
Third, the Doppler measurement based adaptive clock-bias prediction model withsmoothing-window and solution separation were combined to aid the traditional receiverautonomous integrity monitoring (RAIM). With the adjustment of smoothing time window inthe adaptive clock-bias estimation model, both the positioning accuracy and the availabilitylevel of the RAIM in the horizontal direction can be enhanced as more redundancy can beobtained from the Doppler measurements. In order to satisfy the stricter RNP in the verticaldirection, the map-matching aided tightly coupled GPS/DR/DEM integrated navigationsystem is applied. A variable false alarm rate (as opposed to a constant false alarm rate in thetraditional RAIM) is considered to improve the fault detection performance in selecting thecorrect link, especially near junctions. The vehicle on-board experiment shows that the systemavailability level derived from autonomous integrity monitoring extrapolation (AIME) couldsatisfy the APV I based RNP.
Forth, since the traditional identification threshold based satellite fault detection andidentification algorithm led to missed detection and false alarm, which reduced the correctidentification rate, a new RAIM algorithm was proposed for identifying double-satellitessimultaneously. The geometry relationship between the parity vector and fault feature planewas used to identify the faulty satellites. The proposed algorithm was therefore immune to theproblem caused by identification threshold and improved the correct identification rate.
Fifth, as the non-perfect distribution of pseudorange correction error, i.e., the non-zeromean Gaussian error and non-Gaussian error in the correction error, the traditional sigmainflation was difficult to satisfy the stricter availability level requirement (e.g., CAT II/III).With satisfying the error-tail overbound requirement, the mean inflation and non-Gaussianinflation were combined to improve the traditional sigma inflation. By selecting the optimalinflation vector, which include Gaussian the proposed method was not only able to overboundthe predefined non-ideal error but also enhance effectively the system availability. Thesimulation result reveals that the inflation vector based sigma inflation could improve theavailability to at least95%even under the case of critical satellite failure.
Sixth, since the traditional maximum-likelihood estimation criterion based B-value,which generated from multiple reference consistency check (MRCC) in range-domain haslimitations in satisfying the integrity requirement of CAT II/III for civil aviation, a Kalmanfilter-based position-domain test statistics has been developed for improving the faultdetection and isolation of multiple reference receivers. Based on the integrity risk model of multiple receivers’ failure hypothesis, the adaptive fading factor was applied in the Kalmanfilter process to keep a balance between filtering stability and integrity risk. The outdoorexperiment demonstrates that, even if different kinds of fault types are considered under thesingle-fault case, the adaptive Kalman filter could improve the fault detection and isolationperformance with an acceptable availability loss.
引文
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