广域差分GPS完好性监测研究
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摘要
为了确保飞行器的飞行安全，使GPS真正成为民用航空导航可用的单一导航系统，需要解决的关键问题是其完好性的问题。本文系统研究了GPS系统完好性监测的接收机自主完好性监测(RAIM)和广域增强系统(WAAS)完好性监测技术，探讨了相应的原理和算法实现等问题。
本文介绍了WAAS系统完好性监测设计的基本思路，重点阐述了其中的两个主要部分：用户差分伪距(UDRE)和格网点电离层垂直误差(GIVE)算法，UDRE与卫星状况有关，主要包括卫星钟差和星历误差，表达的是在用广域差分改正信息消除电离层误差、对流层误差等误差影响后，测量伪距和计算伪距的差异：RURA则表达的是在不使用广域差分改正信息，而是用模型消除电离层误差、对流层误差等误差影响后，测量伪距和计算伪距的差异。GIVE主要是关于电离层误差，反映的是用广域差分格网点电离层计算出的与用双频计算出的穿透点电离层误差之间的差异。最后用一天的数据进行了具体UDRE、RURA和GIVE的计算。
本文还分析了接收机自主完好性监测(RAIM)算法的完好性监测，它是基于接收机的冗余观测量的监测算法。理论基础是巴尔达数据探测法的单粗差假设。分别探讨了基于最小二乘残差的RAIM算法和奇偶矢量的RAIM算法，推导了相应的故障检测和故障识别的模型，又从理论上证明这两种方法是相等的，最后用实际算例验证了这两种算法。
在文章最后介绍了伽利略系统的完好性监测模型和卫星自主完好性监测的思想，它们与目前的监测算法大不相同，是导航系统监测发展的新方向。
Integrity performance is the key to assure the stringent safety requirements of flight, and to take GPS as the sole-means of civil aviation navigation. This paper focuses on the GPS integrity monitoring techniques, including Reciever Autonomous Integrity Monitoring (RAIM), Wide Area Augmentation System (WAAS) Integrity Monitoring. The problem relating to these techniques, such as system designation, theory, algorithms and so on, are studied systematically.
The princinple of the integrity monitoring structure for WAAS is introduced. The core is focusd on the algorithms for User Differential Range Error (UDRE) and Grid Ionosphere Vertical Error (GIVE). UDRE is related to the status of satellites, including clock errors of satellites and ephemeris errors.And GIVE is mainly about ionospheric errors. Then the algorithm is tested by data of one day. For the lack of WAAS data, the algorithm is just studied to some extent.
The extensive used RAIM algorithm is analysed in detail. There are two methods: least-square residual errors RAIM and parity vector RAIM. The corresponding failure-detecting and failure- excluding models are deduced. These two methods are testified to be equivalent in theory. Also, both methods are checked by actual data.
In the end of this paper, Galileo integrity monitoring model and the theory of satellite automatic integrity monitoring are introduced. They are very different with current monitoring algorithms and are the goal of the new development.
本文介绍了WAAS系统完好性监测设计的基本思路，重点阐述了其中的两个主要部分：用户差分伪距(UDRE)和格网点电离层垂直误差(GIVE)算法，UDRE与卫星状况有关，主要包括卫星钟差和星历误差，表达的是在用广域差分改正信息消除电离层误差、对流层误差等误差影响后，测量伪距和计算伪距的差异：RURA则表达的是在不使用广域差分改正信息，而是用模型消除电离层误差、对流层误差等误差影响后，测量伪距和计算伪距的差异。GIVE主要是关于电离层误差，反映的是用广域差分格网点电离层计算出的与用双频计算出的穿透点电离层误差之间的差异。最后用一天的数据进行了具体UDRE、RURA和GIVE的计算。
本文还分析了接收机自主完好性监测(RAIM)算法的完好性监测，它是基于接收机的冗余观测量的监测算法。理论基础是巴尔达数据探测法的单粗差假设。分别探讨了基于最小二乘残差的RAIM算法和奇偶矢量的RAIM算法，推导了相应的故障检测和故障识别的模型，又从理论上证明这两种方法是相等的，最后用实际算例验证了这两种算法。
在文章最后介绍了伽利略系统的完好性监测模型和卫星自主完好性监测的思想，它们与目前的监测算法大不相同，是导航系统监测发展的新方向。
Integrity performance is the key to assure the stringent safety requirements of flight, and to take GPS as the sole-means of civil aviation navigation. This paper focuses on the GPS integrity monitoring techniques, including Reciever Autonomous Integrity Monitoring (RAIM), Wide Area Augmentation System (WAAS) Integrity Monitoring. The problem relating to these techniques, such as system designation, theory, algorithms and so on, are studied systematically.
The princinple of the integrity monitoring structure for WAAS is introduced. The core is focusd on the algorithms for User Differential Range Error (UDRE) and Grid Ionosphere Vertical Error (GIVE). UDRE is related to the status of satellites, including clock errors of satellites and ephemeris errors.And GIVE is mainly about ionospheric errors. Then the algorithm is tested by data of one day. For the lack of WAAS data, the algorithm is just studied to some extent.
The extensive used RAIM algorithm is analysed in detail. There are two methods: least-square residual errors RAIM and parity vector RAIM. The corresponding failure-detecting and failure- excluding models are deduced. These two methods are testified to be equivalent in theory. Also, both methods are checked by actual data.
In the end of this paper, Galileo integrity monitoring model and the theory of satellite automatic integrity monitoring are introduced. They are very different with current monitoring algorithms and are the goal of the new development.
引文
[1] 刘经南等．广域差分GPS原理和方法．北京：测绘出版社，1999．1，1～1
[2] Elliott D Kaplan．GPS原理与应用，邱致和等译．北京：电子工业出版社，2002．8
[3] Andrew J. Hansen. Tomograohic Estimation of the Ionosphere Using Terrestrial GPS Sensors: [dissertation]. San Francisco: Stanford University, 2002
[4] A. K. Brow, Civil Aviation Integrity Requirements for the Global Positioning System, Navigation, Journal of the Institute of Navigation, Vol.35 No.1, Spring 1988
[5] 陈金平．GPS完善性增强研究：[博士论文]．郑州：中国人民解放军信息工程大学测绘学院，2001．4
[6] R.G.Brown and P.Hwang. GPS Failure Detection by Autonomous Means Within The Cockpit. Proceedings of ION 42nd Annual Meeting, 1986
[7] Y.Lee. Analysis of Range and Position Comparison Methods as a Means to Provide GPS Integrity in the User Receiver. Proceeding of the 42nd Annual Meeting, 1986
[8] Walter, T., Enge, P., and DeCleene, B.. Integrity Lessons from the WIPP. in Proceedings of the National Technical Meeting of the Institute of Navigation, Anaheim, January 2003
[9] 黄智，袁洪，万卫星．WAAS电离层格网改正算法在中国地区部分站点的试算精度．全球定化系统，2003．3
[10] GNSS Tools Team. PEGASUS*Plus Technical Notes on SBAS, 2003.4.9,p73
[11] 孙桦，牛力丕．WAAS电离层延迟网格校正中的用户算法研究．宇航计测技术，2001，Vol．21(4)
[12] 范胜林，胡国辉，袁信，GPS广域增强系统(WAAS)建模及数宁仿真，南京航空航天大学学报，1998，Vol．30 No．1
[13] 王解先．GPS精密定轨定位．上海：同济大学出版社，1997．5
[14] 刘大杰，施一民，过静珺．全球定位系统(GPS)的原理与数据处理．上海：同济大学出版社，1996．8，p66～69
[15] 刘红新．低轨卫星精密定轨定位研究：[博士论文]．上海：同济大学，2006．4
[16] 陈义．低轨卫星精密定轨定何研究：[博士论文]．上海：同济大学，2006．4
[17] 孙桦，何树海．WAAS完好性监测结构设计．通信技术，2001．2
[18] 魏子卿，葛茂荣．GPS相对定位的数学模型．北京：测绘出版社，1998．2
[19] 刘基金，李征航等．全球定位系统原理及其应用．北京：测绘出版社，1993．10
[20] 谢世杰，潘宝玉．GPS测量的对流层误差．地矿测绘，2004．20(2)，p1～3
[21] 叶世榕．GPS菲差相位精密单点定位理论与实现：[博士论文]．武汉，武汉大学，2002．4
[22] http://www.neis.gov.cn/home/index.jsp
[23] Susan Skone. Wide Area Ionosphere Grid Modeling in the Auroral Region: [dissertation]. Calgary: University of Calgary, 1998. 116～117
[24] Walter, T. Hansen, A., and Enge, E, "Message Type 28," in Proceedings of the National Technical Meeting of the Institute of Navigation, Long Beach, CA, January 2001
[25] STEVE HEWITSON, JINLING WANG. GPS/GLONASS/Galileo Receiver Autonomous Integrity Monitoring (RAIM) Performance Analysis, http://www.gmat.unsw.edu/～ausnap/publication/shewitson_etal/2005a.pdf.pdf
[26] 陈金平，许其风，刘广军．GPS RAIM水平定位误差保护限值算法分析．测绘学院学报，2001．9，Vol．18 Supplement
[27] 游祖吉，樊功瑜．测量平差教程．北京：测绘出版社，1991．5，263～266
[28] 孙淑光．GPS接收机自主完整性监视(RAIM)最小二乘算法研究．测控技术，2004，Vol．23，242～243
[29] Todd Walter, Per Enge. Weighted RAIM for Precision Approach. Stanford University, http://waas.stan ford.edu/～wwu/papers/gps/ABS/wraim_tfw95.html
[30] 刘大杰，陶本藻．实用测量数据处理方法．北京：测绘出版社，2000．7，66～71
[31] 黄晓瑞，田巍，李波．GPS接收机的自主完善性监测算法研究．遥测遥控，2003．1
[32] 陈家斌，袁信．GPS完善性监测研究．航空电子技术，1996(1)：28～33
[33] 廖向前，黄顺吉．奇偶矢量法用于GPS的故障检测和隔离．电子科技大学学报，1997．6
[34] 王永超，黄智刚，孙国良．三种导航卫星故障识别方法的等价性研究．遥控遥测，2006．1，Vol．27(1)
[35] 秘金钟，李毓麟．卫星导航完备性监测的最新进展．测绘科学，2004，Vol．29(1)
[36] LOGI V, SAM P, GAYLORD G, PER E.. Satellite Autonomous Integrity Monitoring and its Role in Enhancing GPS User Performance. In: Proceeding of ION GPS-2001 [C],2001
[37] 王淑芳，孙妍．卫星自主完好性监测技术．测绘学院学报，2005．12，Vol．22 No．4
[38] 吕志伟，郝金明，陈明剑．伽利略系统的完好性．全球定位系统，2005，Vol．5，10～13
[39] 陈智，张其善．Galileo系统完好性处理的方法研究．飞行器测控学报，2005，Vol．24 No．1，1～5
[40] 姚宜斌．GPS精密定位定轨后处理算法与实现：[博士论文]．武汉：武汉大学，2004．4
[41] 樊功瑜．误差理论与测量平差．上海：同济大学出版社，1998．4
[42] 蔡艳辉，程鹏飞，李夕银．卫星坐标的内捅和拟合．全球定位系统，2003．3
[43] 唐卫明，刘智敏，GPS载波相位平滑伪距精度分析与应用探计，测绘信息与工程，2005．6
[44] Wide Area Augmentation System Signal Specification. 1995.9
[45] Yeou-Jyh Tsai. Wide Area Differential Operation of the Global Positioning System: Ephemeris and Clock Algorithms: [dissertation]. San Francisco: Stanford University, 1999.
[46] 蔡艳辉等．GPS伪距改正及精密动态单点定位精度分析．全球定位系统，2004．2
[2] Elliott D Kaplan．GPS原理与应用，邱致和等译．北京：电子工业出版社，2002．8
[3] Andrew J. Hansen. Tomograohic Estimation of the Ionosphere Using Terrestrial GPS Sensors: [dissertation]. San Francisco: Stanford University, 2002
[4] A. K. Brow, Civil Aviation Integrity Requirements for the Global Positioning System, Navigation, Journal of the Institute of Navigation, Vol.35 No.1, Spring 1988
[5] 陈金平．GPS完善性增强研究：[博士论文]．郑州：中国人民解放军信息工程大学测绘学院，2001．4
[6] R.G.Brown and P.Hwang. GPS Failure Detection by Autonomous Means Within The Cockpit. Proceedings of ION 42nd Annual Meeting, 1986
[7] Y.Lee. Analysis of Range and Position Comparison Methods as a Means to Provide GPS Integrity in the User Receiver. Proceeding of the 42nd Annual Meeting, 1986
[8] Walter, T., Enge, P., and DeCleene, B.. Integrity Lessons from the WIPP. in Proceedings of the National Technical Meeting of the Institute of Navigation, Anaheim, January 2003
[9] 黄智，袁洪，万卫星．WAAS电离层格网改正算法在中国地区部分站点的试算精度．全球定化系统，2003．3
[10] GNSS Tools Team. PEGASUS*Plus Technical Notes on SBAS, 2003.4.9,p73
[11] 孙桦，牛力丕．WAAS电离层延迟网格校正中的用户算法研究．宇航计测技术，2001，Vol．21(4)
[12] 范胜林，胡国辉，袁信，GPS广域增强系统(WAAS)建模及数宁仿真，南京航空航天大学学报，1998，Vol．30 No．1
[13] 王解先．GPS精密定轨定位．上海：同济大学出版社，1997．5
[14] 刘大杰，施一民，过静珺．全球定位系统(GPS)的原理与数据处理．上海：同济大学出版社，1996．8，p66～69
[15] 刘红新．低轨卫星精密定轨定位研究：[博士论文]．上海：同济大学，2006．4
[16] 陈义．低轨卫星精密定轨定何研究：[博士论文]．上海：同济大学，2006．4
[17] 孙桦，何树海．WAAS完好性监测结构设计．通信技术，2001．2
[18] 魏子卿，葛茂荣．GPS相对定位的数学模型．北京：测绘出版社，1998．2
[19] 刘基金，李征航等．全球定位系统原理及其应用．北京：测绘出版社，1993．10
[20] 谢世杰，潘宝玉．GPS测量的对流层误差．地矿测绘，2004．20(2)，p1～3
[21] 叶世榕．GPS菲差相位精密单点定位理论与实现：[博士论文]．武汉，武汉大学，2002．4
[22] http://www.neis.gov.cn/home/index.jsp
[23] Susan Skone. Wide Area Ionosphere Grid Modeling in the Auroral Region: [dissertation]. Calgary: University of Calgary, 1998. 116～117
[24] Walter, T. Hansen, A., and Enge, E, "Message Type 28," in Proceedings of the National Technical Meeting of the Institute of Navigation, Long Beach, CA, January 2001
[25] STEVE HEWITSON, JINLING WANG. GPS/GLONASS/Galileo Receiver Autonomous Integrity Monitoring (RAIM) Performance Analysis, http://www.gmat.unsw.edu/～ausnap/publication/shewitson_etal/2005a.pdf.pdf
[26] 陈金平，许其风，刘广军．GPS RAIM水平定位误差保护限值算法分析．测绘学院学报，2001．9，Vol．18 Supplement
[27] 游祖吉，樊功瑜．测量平差教程．北京：测绘出版社，1991．5，263～266
[28] 孙淑光．GPS接收机自主完整性监视(RAIM)最小二乘算法研究．测控技术，2004，Vol．23，242～243
[29] Todd Walter, Per Enge. Weighted RAIM for Precision Approach. Stanford University, http://waas.stan ford.edu/～wwu/papers/gps/ABS/wraim_tfw95.html
[30] 刘大杰，陶本藻．实用测量数据处理方法．北京：测绘出版社，2000．7，66～71
[31] 黄晓瑞，田巍，李波．GPS接收机的自主完善性监测算法研究．遥测遥控，2003．1
[32] 陈家斌，袁信．GPS完善性监测研究．航空电子技术，1996(1)：28～33
[33] 廖向前，黄顺吉．奇偶矢量法用于GPS的故障检测和隔离．电子科技大学学报，1997．6
[34] 王永超，黄智刚，孙国良．三种导航卫星故障识别方法的等价性研究．遥控遥测，2006．1，Vol．27(1)
[35] 秘金钟，李毓麟．卫星导航完备性监测的最新进展．测绘科学，2004，Vol．29(1)
[36] LOGI V, SAM P, GAYLORD G, PER E.. Satellite Autonomous Integrity Monitoring and its Role in Enhancing GPS User Performance. In: Proceeding of ION GPS-2001 [C],2001
[37] 王淑芳，孙妍．卫星自主完好性监测技术．测绘学院学报，2005．12，Vol．22 No．4
[38] 吕志伟，郝金明，陈明剑．伽利略系统的完好性．全球定位系统，2005，Vol．5，10～13
[39] 陈智，张其善．Galileo系统完好性处理的方法研究．飞行器测控学报，2005，Vol．24 No．1，1～5
[40] 姚宜斌．GPS精密定位定轨后处理算法与实现：[博士论文]．武汉：武汉大学，2004．4
[41] 樊功瑜．误差理论与测量平差．上海：同济大学出版社，1998．4
[42] 蔡艳辉，程鹏飞，李夕银．卫星坐标的内捅和拟合．全球定位系统，2003．3
[43] 唐卫明，刘智敏，GPS载波相位平滑伪距精度分析与应用探计，测绘信息与工程，2005．6
[44] Wide Area Augmentation System Signal Specification. 1995.9
[45] Yeou-Jyh Tsai. Wide Area Differential Operation of the Global Positioning System: Ephemeris and Clock Algorithms: [dissertation]. San Francisco: Stanford University, 1999.
[46] 蔡艳辉等．GPS伪距改正及精密动态单点定位精度分析．全球定位系统，2004．2