CN102346255A - Satellite navigation data reasonableness test method - Google Patents
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Abstract
The invention aims at providing a satellite navigation data reasonableness test method which is simple and convenient to operate. The method comprises the three contents of: (1) self reasonableness discrimination of satellite navigation data; (2) reasonableness discrimination of two continuous seconds of satellite navigation data; and (3) divergence factor detection of the satellite navigation data. Th method disclosed by the invention is suitable for satellite navigation data screening of an inertia/satellite combined navigation system; meanwhile, the content (1) and the content (2) in the method are also suitable for independent screening of the satellite navigation data.
Description
Technical field
The invention belongs to field of navigation technology, relate to a kind of inertia/used satellite navigation data rationality detection method of combinations of satellites navigation that is used for.
Background technology
At present; Rationality for the satellite navigation data of airborne inertia/satellite navigation integrated navigation system is differentiated; Generally be in satellite navigation receiver, satellite navigation data to be done integrity to detect, these class methods are specially in the DVB set inside, and calculating is comparatively complicated, the realization difficulty is bigger.Document [1] RTCA/DO-208 MINIMUM OPERATIONAL PERFORMANCE STANDARDS FOR AIRBORNE SUPPLEMENTAL NAVIGATION EQUIPMENT USING GLOBAL POSITIONING SYSTEM (GPS) .RTCA.Inc.1993.CHANGE NO.1TO RTCA/DO-208; (RTCA/DO-208 uses the Minimum Operational Performance Standards of the airborne assisting navigation equipment of GPS (GPS) to September 21,1993.Change for the first time on RTCA.Inc.1993.1993 September 21.RTCA is that the aeronautics of U.S. government and industrial sector is organized association; Be devoted to solve the problem that electronics and radio communication in the aviation services occurs in using; Its target is to reach an agreement through its organizational member to solve these problems, and the decision of RTCA has the character of recommendation for its all linked groups.Document [1] has been introduced the content of RAIM method in detail in " appendix F least square residual error RAIM (Receiver Autonomous Integrity Monitoring; receiver-autonomous integrity monitoring) method "; Its main thought is the pseudo-range measurements that continuous detecting has remaining, will have the pseudo-range measurements of 5 Navsats just can quote fault at least.Because calculation procedure comparatively complicacy is not listed here one by one.Document [2] [U.S.A] Elliott D.Kaplan and Christopher J.Hegarty chief editor; Bandit's bright red is translated, GPS principle and application (second edition), Electronic Industry Press; In January, 2007; Beijing is then described RAIM and FDE (fault detect and eliminating) method in detail, except the content relevant with document [1] in " 7.5GPS integrity "; Also described with the pseudo-range measurements of at least 6 Navsats and confirmed fault satellites and the method for the satellite of from navigational solution, fixing a breakdown and since the method method comparatively complicacy do not list one by one here.
The present invention directly does detection to satellite navigation data, compares with aforesaid integrity detection method, has reduced the difficulty that realizes, can make more effectively saltus step, fluctuation and the exceptional value of satellite navigation data and detecting.
Summary of the invention
The objective of the invention is to propose a kind of satellite navigation data rationality detection method easy and simple to handle.Technical solution of the present invention is:
(1) satellite navigation data self rationality is differentiated
1. according to the inertial navigation request for utilization, confirm the unreasonable value region of carrier longitude, latitude;
2. according to the inertial navigation request for utilization, confirm the unreasonable value region of carrier sea level elevation;
3. according to the inertial navigation request for utilization, confirm carrier level and the unreasonable value region of sky to speed;
4. to the satellite navigation data that receives respectively according to 1. differentiating to the 3. order of criterion;
5. have only all to satisfy and differentiate requirement, confirm as through self rationality and differentiate, send this second satellite navigation data information available, get back to 4. wait and judge next second satellite navigation data;
If the discontented sufficient requirement of differentiating of 6. wherein any numerical value is confirmed as not through self rationality differentiation, send the disabled information of this second satellite navigation data, get back to and 4. wait for judgement next second satellite navigation data;
(2) rationality of continuous two seconds data of satellite navigation is differentiated
Select to be provided with alternate position spike absolute value criterion, velocity contrast absolute value criterion and mistiming criterion respectively.Detect according to the following step:
I) judge whether this second satellite data status word is effective, if status word is invalid, then do not store this second data, wait for again and judge whether next second satellite data status word is effective; If status word is effective, then from the Position, Velocity and Time data of satellite navigation, select and in internal storage location, store data designated;
II) if the status word of second second navigation data is invalid, then do not store data, and with the data dump of storing last one second; Again wait for and judge whether next second satellite data status word is effective;
III) if continuous 2 seconds data are effective, then with the 2nd second respective data storage in internal storage location;
IV) with continuous 2 seconds data that deposit in the internal memory, homogeneous data subtracts each other and asks absolute value;
Several absolute values that V) will obtain are made comparisons with the criterion of every type of data that are provided with in advance respectively;
VI) if there is any 1 absolute value to surpass criterion; Send the disabled information of this second satellite navigation data; Fall the continuous two seconds satellite navigation data of having stored in the internal storage location clearly, get back to I), wait for again and judge whether next second satellite data status word is effective;
VII) if all absolute value is through criterion, then current satellite navigation data is differentiated through continuous two seconds rationality, sends this second satellite navigation data information available;
VIII) if preceding two seconds satellite navigation data passes through judgement, satellite navigation data was effective in following 1 second, then deposited internal storage location in, pushed away the 1st second the satellite navigation data that deposits at first, forwarded IV again to);
IX) if preceding two seconds satellite navigation data through judging, satellite navigation data was invalid in following 1 second, the data full scale clearance that then will store in continuous two seconds forwards I again to), wait for again and judge whether next second satellite data status word effective.
(3) satellite navigation data " dispersion " detects
Select respectively the dispersion criterion of position and speed is set, and be provided with interior effective satellite navigation data of each cycle correction time total second number criterion.Detect according to the following step:
< 1>in the time cycle of closed loop correction or open loop correction, in internal storage location, from the data of position and speed, selects storage inertial navigation and the corresponding synchrodata of satellite navigation respectively;
< 2>the effective satellite navigation data in this cycle correction time total second number whether reach criterion.Not; Send the interior underproof information of satellite navigation data of time cycle of this correction; Fall the whole inertial navigations and the corresponding synchrodata of satellite navigation of the time cycle stored of this correction of having stored clearly, get back to < 1 >, wait for and the data in next cycle correction time of judgement; Be then to do following processing:
(a) calculate the inertial navigation of storage and the difference of the corresponding synchrodata of satellite navigation respectively, will determine a maximal value and a minimum value through comparing in twos with a kind of difference of data;
(b) take absolute value again after subtracting each other with a kind of maximal value of data and minimum value, just obtain the dispersion of this data;
(c) each data is all pressed above-mentioned steps calculating, obtains corresponding dispersion respectively;
(d) dispersion with each data makes a decision with predefined dispersion criterion respectively; If have at least a kind of dispersion of data not reach requirement; The dispersion of then confirming satellite navigation data in correction of this closed loop or cycle open loop correction time exceeds standard; Can not be used for integrated navigation, send the interior disabled information of satellite navigation data of time cycle of this correction; If all reach requirement, confirm that then satellite navigation data satisfies the dispersion requirement in correction of this closed loop or cycle open loop correction time, send the interior satellite navigation data information available of time cycle of this correction;
< 3>fall the corresponding synchrodata of whole inertial navigations and satellite navigation of the time cycle stored of this correction of having stored clearly, get back to < 1 >, wait for and judge the data in next cycle correction time.
Advantage that the present invention has and beneficial effect, satellite navigation data rationality differentiation measure of the present invention proposes according to actual needs, and is simple and easy to do, and effect is preferably arranged.Self rationality method of discrimination to the satellite navigation data abnormal problem proposes is simple and practical, more efficiently finds and has got rid of obviously unusual problem of satellite navigation data; And, all have practical value by force to continuous two seconds satellite navigation data detection methods of satellite navigation data saltus step and fluctuation problem proposition, to the dispersion method of discrimination of satellite navigation data saltus step in cycle correction time and fluctuation problem proposition.Because the residing dynamic environment of satellite navigation receiver is very complicated; Even if methods such as RAIM and FDE have been adopted in satellite navigation receiver inside; Owing to relate to detection threshold difficulty many-sided reason is set etc., can't detect all problems of satellite navigation data, adopt method of the present invention; Be that satellite navigation receiver inside detection method is more effectively replenished, actual application has proved its validity.
Description of drawings
Fig. 1 is a process flow diagram of the present invention;
Fig. 2 is that the present invention self rationality is differentiated process flow diagram;
Fig. 3 is that continuous two seconds rationality of the present invention are differentiated process flow diagram;
Fig. 4 is satellite navigation data dispersion testing process figure of the present invention.
Embodiment
(1) satellite navigation data self rationality is differentiated
1. according to the inertial navigation request for utilization, confirm the unreasonable value region of carrier longitude, latitude;
2. according to the inertial navigation request for utilization, confirm the unreasonable value region of carrier sea level elevation;
3. according to the inertial navigation request for utilization, confirm carrier level and the unreasonable value region of sky to speed;
Explain: above three kinds of criterions are set in program in advance, and concrete numerical value was both curable in program, also can be arranged in the nonvolatile memory.
4. to the satellite navigation data that receives respectively according to 1. differentiating to the 3. order of criterion;
5. have only all to satisfy and differentiate requirement, confirm as through self rationality and differentiate, send this second satellite navigation data information available, get back to 4. wait and judge next second satellite navigation data;
Explain: all through 1. to 3. criterion, can not change the self-defining banner word that the satellite navigation data of original acquiescence can be used, be that satellite navigation data can be used (A=0 is unavailable) such as A=1.
If the discontented sufficient requirement of differentiating of 6. wherein any numerical value is confirmed as not through self rationality differentiation, send the disabled information of this second satellite navigation data, get back to and 4. wait for judgement next second satellite navigation data;
Explain: as long as 1. have at least one not satisfy to 3. criterion, will with this second satellite navigation data self-defining banner word be changed to unavailable, such as putting A=0.
(2) rationality of continuous two seconds data of satellite navigation is differentiated
Select to be provided with alternate position spike absolute value criterion, velocity contrast absolute value criterion and mistiming criterion respectively.(explain: these criterions can select some kinds in program, to set in advance, and concrete numerical value was both curable in program, also can be arranged in the nonvolatile memory.) detect according to the following step:
I) judge whether this second satellite data status word is effective, if status word is invalid, then do not store this second data, wait for again and judge whether next second satellite data status word is effective; If status word is effective, then from the Position, Velocity and Time data of satellite navigation, select and in internal storage location, store data designated;
Explain: the internal storage location of two seconds satellite navigation datas of special storage is set in program in advance, carry out specific sign, deposit different internal storage locations respectively in second second data in first second.
II) if the status word of second second navigation data is invalid, then do not store data, and with the data dump of storing last one second; Get back to I), wait for again and judge whether next second satellite data status word is effective;
Explain: the data of storage in a second will be thoroughly removed in attention.
III) if continuous 2 seconds data are effective, then with second second respective data storage in internal storage location;
Explain: second second data will deposit the internal storage location of appointment in.
IV) with continuous 2 seconds data that deposit in the internal memory, homogeneous data subtracts each other and asks absolute value;
Explain: the latitude such as first second latitude and second second subtracts each other, and first second east orientation speed and second second east orientation speed are subtracted each other.
Several absolute values that V) will obtain are made comparisons with the criterion of every type of data that are provided with in advance respectively;
Explain: such as first second and second second alternate position spike absolute value of the corresponding satellite navigation of 3 dimension alternate position spike criterions.
VI) if there is any 1 absolute value to surpass criterion; Send the disabled information of this second satellite navigation data; Fall the continuous two seconds satellite navigation data of having stored in the internal storage location clearly, get back to I), wait for again and judge whether next second satellite data status word is effective;
Explain: if this second, satellite navigation data was unavailable, even if the satellite data status word of next second effectively can not provide available information, the satellite data of having only again next second possibly be useful.
VII) if all absolute value is through criterion, then current satellite navigation data is differentiated through continuous two seconds rationality, sends this second satellite navigation data information available;
Explain: just satellite navigation data can be used this second.
VIII) if preceding two seconds satellite navigation data through judging, next second satellite navigation data effective, then deposit internal storage location in, push away the first second satellite navigation data that deposits at first, forward IV again to);
Explain: attention is to fall the first second satellite navigation data that deposits at first clearly; Move the second second satellite navigation data that has deposited in the internal storage location of first second satellite data correspondence to, current second satellite data then deposits in the internal storage location of second second satellite data correspondence again.
IX) if preceding two seconds satellite navigation data through judging, satellite navigation data was invalid in following 1 second, the data full scale clearance that then will store in continuous two seconds forwards I again to), wait for again and judge whether next second satellite data status word effective.
(3) satellite navigation data " dispersion " detects
Select to be provided with the dispersion criterion of position and speed respectively, (explain: such as selecting to be provided with longitude, latitude, east orientation speed, north orientation speed criterion, concrete numerical value was both curable in program, also can be arranged in the nonvolatile memory.), and be provided with effective satellite navigation data in each cycle correction time total second number criterion.Detect according to the following step:
< 1>in the time cycle of closed loop correction or open loop correction, in internal storage location, from the data of position and speed, selects storage inertial navigation and the corresponding synchrodata of satellite navigation respectively;
Explain: preferably press the corresponding data of synchronous inertial navigation of DVB pulse per second (PPS) and satellite navigation, such as longitude, latitude, east orientation speed, north orientation speed.
< 2>the effective satellite navigation data in this cycle correction time total second number whether reach criterion.Not; Send the interior underproof information of satellite navigation data of time cycle of this correction; Fall the whole inertial navigations and the corresponding synchrodata of satellite navigation of the time cycle stored of this correction of having stored clearly, get back to < 1 >, wait for and the data in next cycle correction time of judgement; Be then to do following processing:
Explain: judge effective satellite navigation data in this cycle correction time total second number, be the satellite data that provides according to the DVB per second whether effectively status word judge and accumulate meter number second.
(a) calculate the inertial navigation of storage and the difference of the corresponding synchrodata of satellite navigation respectively, will determine a maximal value and a minimum value through comparing in twos with a kind of difference of data;
Explain: the synchronous latitude data such as inertial navigation and satellite navigation are subtracted each other, and the order of subtracting each other will be fixed, and like inertial navigation latitude-satellite navigation latitude, relatively each organizes the difference of synchrodata again, consider sign.
(b) take absolute value again after subtracting each other with a kind of maximal value of data and minimum value, obtain the dispersion of this data;
Explain: the absolute value that is actually the peak-to-peak value of asking data fluctuations.
(c) each data is all pressed above-mentioned steps calculating, obtains corresponding dispersion respectively;
(d) dispersion with each data makes a decision with predefined dispersion criterion respectively; If have at least a kind of dispersion of data not reach requirement; The dispersion of then confirming satellite navigation data in correction of this closed loop or cycle open loop correction time exceeds standard; Can not be used for integrated navigation, send the interior disabled information of satellite navigation data of time cycle of this correction; If all reach requirement, confirm that then satellite navigation data satisfies the dispersion requirement in correction of this closed loop or cycle open loop correction time, send the interior satellite navigation data information available of time cycle of this correction;
< 3>fall the corresponding synchrodata of whole inertial navigations and satellite navigation of the time cycle stored of this correction of having stored clearly, get back to < 1 >, wait for and judge the data in next cycle correction time.
Embodiment:
(1) satellite navigation data self rationality is differentiated
Three types of criterions are set earlier:
1. latitude-20 '～+ 20 ' (+be north latitude ,-be south latitude) as unreasonable data field;
2. outside sea level elevation-200m～20000m as unreasonable data field;
3. three-dimensional aggregate velocity absolute value＞600m/s is as unreasonable data field, and the sky is unreasonable data field to speed absolute value＞300m/s.
The satellite navigation data of known second is latitude N30 °, longitude E109 °, and east orientation speed Ve=430m/s, north orientation speed Vn=-370m/s, the sky is to speed Vu=280m/s, and sea level elevation is h=9000m.
Then:
4. 1. latitude N30 ° and longitude E109 ° passed through criterion;
Sea level elevation is that 2. h=9000m passes through criterion;
2. it pass through criterion to speed Vu=280m/s, but three-dimensional aggregate velocity absolute value does
Therefore 5. the satellite navigation data of this second is not differentiated through self rationality, this second the self-defining banner word of satellite navigation data be changed to unavailable (such as A=1 is available, and A=0 is unavailable, then A=0).
(2) rationality of continuous two seconds data of satellite navigation is differentiated
Space 3D alternate position spike absolute value criterion is set to 600m;
Space 3D velocity contrast absolute value criterion is set to 100m/s.
Satellite navigation data:
First second latitude N30.530 °, longitude E109.251 °, east orientation speed Ve=430m/s, north orientation speed Vn=-370m/s, day to speed Vu=280m/s, sea level elevation is h=9600m, the satellite data status word is effective;
Second second latitude N30.520 °, longitude E109.252 °, east orientation speed Ve=438m/s, north orientation speed Vn=-470m/s, day to speed Vu=260m/s, sea level elevation is h=9680m, the satellite data status word is effective;
The 3rd second latitude N30.524 °, longitude E109.257 °, east orientation speed Ve=368m/s, north orientation speed Vn=-350m/s, day to speed Vu=210m/s, sea level elevation is h=8780m, the satellite data status word is effective;
The 4th second latitude N30.523 °, longitude E109.258 °, east orientation speed Ve=298m/s, north orientation speed Vn=-350m/s, day to speed Vu=240m/s, sea level elevation is h=8890m, the satellite data status word is effective;
The 5th second latitude N30.525 °, longitude E109.259 °, east orientation speed Ve=278m/s, north orientation speed Vn=-340m/s, day to speed Vu=210m/s, sea level elevation is h=8990m, the satellite data status word is effective;
Then:
I) judge: the satellite data status word was effective in first second;
First second satellite navigation data of storage in internal storage location;
Judge: the satellite data status word was effective in second second;
III) second second satellite navigation data of storage in internal storage location;
IV) calculate L=0.01 ° of first second of storing in the internal storage location and second second satellite navigation data difference of latitude absolute value delta; Difference of longitude absolute value delta lambdai=0.001 °; Sea level elevation difference absolute value delta h=80m; East orientation velocity contrast absolute value delta Ve=8m/s, north orientation velocity contrast absolute value delta Vn=100m/s, day to velocity contrast absolute value delta Vu=20m/s:
V) space 3D alternate position spike absolute value is (L is the average of the two seconds latitudes in front and back):
The criterion that has surpassed space 3D alternate position spike absolute value 600m;
VI) send the disabled information of this second satellite navigation data at once,, put A=0 such as banner word A (also can the define banner word B in addition) expression of available customization.) fall the continuous two seconds satellite navigation data of having stored clearly, get back to I);
I) judge again whether next second (the 3rd second) satellite data status word is effective, and the result is " effectively ";
Stored the 3rd second satellite navigation data at first second in the corresponding internal storage location;
Judge whether next second (the 4th second) satellite data status word is effective, and the result is " effectively ";
III) stored next second (the 4th second) satellite navigation data at second second in the corresponding internal storage location;
IV) calculate L=0.004 ° of first second of storing in the internal storage location and second second (promptly the 3rd second and the 4th second) difference of latitude absolute value delta; Difference of longitude absolute value delta lambdai=0.001 °; Sea level elevation difference absolute value delta h=100m; East orientation velocity contrast absolute value delta Ve=30m/s, north orientation velocity contrast absolute value delta Vn=0m/s, the sky is to velocity contrast absolute value delta Vu=30m/s;
V) space 3D alternate position spike absolute value is (L is the average of the two seconds latitudes in front and back)
Passed through the criterion of space 3D alternate position spike absolute value 600m;
Space 3D velocity contrast absolute value is:
Also passed through the criterion of space 3D velocity contrast absolute value 100m/s;
VII) send this second satellite navigation data information available.Such as putting A=1.
Judge whether next second (the 5th second) satellite data status word is effective, and the result is " effectively ";
VIII) directly replace first second of storing in the internal storage location (promptly by this flow sequence the 4th second) satellite navigation data with second second that stores in the internal storage location (promptly by this flow sequence the 4th second) satellite navigation data, be stored in the 5th second satellite data in the internal storage location of original storage second second (promptly by this flow sequence the 4th second) satellite navigation data again.Get back to IV then), continue to calculate and judge.
(3) satellite navigation data " dispersion " detects
Cycle closed loop correction time is set to 10s
" dispersion " criterion of longitude, latitude all is set to 0.1 ';
" dispersion " of height is set to 200m;
" dispersion " criterion of east orientation speed, north orientation speed all is set to 1m/s;
It " dispersion " criterion to speed is set to 10m/s;
Effective satellite navigation data in each cycle correction time total second number criterion be 6.
Inertial navigation in certain cycle correction time and satellite navigation data are shown in table 1 and table 2:
Inertial navigation data in certain cycle correction time of table 1
Certain inter-sync satellite navigation data of cycle correction time of table 2
Then:
< 1>in this cycle correction time, in internal storage location, from the data of position and speed, selects storage inertial navigation and the corresponding synchrodata of satellite navigation respectively.Shown in table 1 and table 2, the synchrodata that the inertial navigation that coexistence stored up for 7 seconds is corresponding with satellite navigation, because the satellite data of second second, the 6th second and the tenth second is invalid, the inertial navigation data of storing by pulse per second (PPS) then do not re-use;
< 2>judge effective satellite navigation data in this cycle correction time total second number whether reach criterion, be 7 seconds according to the result of table 2, reached 6 seconds criterion;
< a>calculates the inertial navigation of storage and the difference of the corresponding synchrodata of satellite navigation respectively.As shown in table 3, calculated the difference of 6 kinds of data respectively;
<b>will determine a maximal value and a minimum value through comparing in twos with a kind of difference of data.As shown in table 3, row second from the bottom and the third line are respectively maximal value, the minimum value of every kind of data.
< c>takes absolute value after subtracting each other with a kind of maximal value of data and minimum value again, obtains the dispersion of this data.As shown in table 3, row last is the dispersion of every kind of data.
< d>judges whether the dispersion of these data reaches whole dispersion criterions.Judge that successively the 5th column data is that the dispersion of north orientation velocity contrast is 1.1m/s as a result, has surpassed the criterion of 1.0m/s.Send the disabled information of satellite navigation data in this cycle correction time,, put C=0 such as banner word C (1 is available, and 0 the is unavailable) expression of available customization;
< 3>fall the whole inertial navigations of this correction time cycle memory storage of having stored and the synchrodata of satellite navigation correspondence clearly, get back to < 1 >, continue to wait for and judge the dispersion of next interior satellite navigation data of cycle correction time.
" dispersion " result of calculation of inertial navigation and satellite navigation data in certain cycle correction time of table 3
Claims (1)
1. a satellite navigation data rationality detection method is characterized in that,
(1) satellite navigation data self rationality is differentiated
1. according to the inertial navigation request for utilization, confirm the unreasonable value region of carrier longitude, latitude;
2. according to the inertial navigation request for utilization, confirm the unreasonable value region of carrier sea level elevation;
3. according to the inertial navigation request for utilization, confirm carrier level and the unreasonable value region of sky to speed;
4. to the satellite navigation data that receives respectively according to 1. differentiating to the 3. order of criterion;
5. have only all to satisfy and differentiate requirement, confirm as through self rationality and differentiate, send this second satellite navigation data information available, get back to 4. wait and judge next second satellite navigation data;
If the discontented sufficient requirement of differentiating of 6. wherein any numerical value is confirmed as not through self rationality differentiation, send the disabled information of this second satellite navigation data, get back to and 4. wait for judgement next second satellite navigation data;
(2) rationality of continuous two seconds data of satellite navigation is differentiated
Select to be provided with alternate position spike absolute value criterion, velocity contrast absolute value criterion and mistiming criterion respectively.Detect according to the following step:
I) judge whether this second satellite data status word is effective, if status word is invalid, then do not store this second data, wait for again and judge whether next second satellite data status word is effective; If status word is effective, then from the Position, Velocity and Time data of satellite navigation, select and in internal storage location, store data designated;
II) if the status word of second second navigation data is invalid, then do not store data, and with the data dump of storing last one second; Again wait for and judge whether next second satellite data status word is effective;
III) if continuous 2 seconds data are effective, then with the 2nd second respective data storage in internal storage location;
IV) with continuous 2 seconds data that deposit in the internal memory, homogeneous data subtracts each other and asks absolute value;
Several absolute values that V) will obtain are made comparisons with the criterion of every type of data that are provided with in advance respectively;
VI) if there is any 1 absolute value to surpass criterion; Send the disabled information of this second satellite navigation data; Fall the continuous two seconds satellite navigation data of having stored in the internal storage location clearly, get back to I), wait for again and judge whether next second satellite data status word is effective;
VII) if all absolute value is through criterion, then current satellite navigation data is differentiated through continuous two seconds rationality, sends this second satellite navigation data information available;
VIII) if preceding two seconds satellite navigation data passes through judgement, satellite navigation data was effective in following 1 second, then deposited internal storage location in, pushed away the 1st second the satellite navigation data that deposits at first, forwarded IV again to);
IX) if preceding two seconds satellite navigation data through judging, satellite navigation data was invalid in following 1 second, the data full scale clearance that then will store in continuous two seconds forwards I again to), wait for again and judge whether next second satellite data status word effective.
(3) satellite navigation data " dispersion " detects
Select respectively the dispersion criterion of position and speed is set, and be provided with interior effective satellite navigation data of each cycle correction time total second number criterion.Detect according to the following step:
< 1>in the time cycle of closed loop correction or open loop correction, in internal storage location, from the data of position and speed, selects storage inertial navigation and the corresponding synchrodata of satellite navigation respectively;
< 2>the effective satellite navigation data in this cycle correction time total second number whether reach criterion.Not; Send the interior underproof information of satellite navigation data of time cycle of this correction; Fall the whole inertial navigations and the corresponding synchrodata of satellite navigation of the time cycle stored of this correction of having stored clearly, get back to < 1 >, wait for and the data in next cycle correction time of judgement; Be then to do following processing:
(a) calculate the inertial navigation of storage and the difference of the corresponding synchrodata of satellite navigation respectively, will determine a maximal value and a minimum value through comparing in twos with a kind of difference of data;
(b) take absolute value again after subtracting each other with a kind of maximal value of data and minimum value, just obtain the dispersion of this data;
(c) each data is all pressed above-mentioned steps calculating, obtains corresponding dispersion respectively;
(d) dispersion with each data makes a decision with predefined dispersion criterion respectively; If have at least a kind of dispersion of data not reach requirement; The dispersion of then confirming satellite navigation data in correction of this closed loop or cycle open loop correction time exceeds standard; Can not be used for integrated navigation, send the interior disabled information of satellite navigation data of time cycle of this correction; If all reach requirement, confirm that then satellite navigation data satisfies the dispersion requirement in correction of this closed loop or cycle open loop correction time, send the interior satellite navigation data information available of time cycle of this correction;
< 3>fall the corresponding synchrodata of whole inertial navigations and satellite navigation of the time cycle stored of this correction of having stored clearly, get back to < 1 >, wait for and judge the data in next cycle correction time.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106813663A (en) * | 2017-02-24 | 2017-06-09 | 北京航天自动控制研究所 | A kind of inertial navigation data and satellite navigation data synchronous method |
| CN111337963A (en) * | 2020-05-21 | 2020-06-26 | 蓝箭航天空间科技股份有限公司 | Method and device for determining reference information for integrated navigation, and storage medium |
| CN111580139A (en) * | 2020-05-27 | 2020-08-25 | 北京百度网讯科技有限公司 | Satellite navigation data validity judgment method and device and electronic equipment |
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| CN106813663B (en) * | 2017-02-24 | 2020-02-14 | 北京航天自动控制研究所 | Inertial navigation data and satellite navigation data synchronization method |
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| CN111337963B (en) * | 2020-05-21 | 2020-08-25 | 蓝箭航天空间科技股份有限公司 | Method and device for determining reference information for integrated navigation, and storage medium |
| CN111580139A (en) * | 2020-05-27 | 2020-08-25 | 北京百度网讯科技有限公司 | Satellite navigation data validity judgment method and device and electronic equipment |
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