GNSS完好性监测体系及辅助性能增强技术研究

发布时间：2018-08-10 17:57

【摘要】：随着卫星导航相关理论研究的深入和全球卫星导航系统（Global NavigationSatellite System, GNSS）的快速发展，GNSS接收机作为实时的十参数传感器（三维位置、速度、姿态和一维时间）的导航服务性能（精度、可用性、完好性、连续性）得到了极大的提高，卫星导航应用领域也不断拓展，在国民经济和社会发展中发挥的作用更加明显。但由于GNSS固有脆弱性、差错存在的普遍性和不确定性及信号易受遮蔽等不足，使很多用户对GNSS所提供服务的信任程度大大降低。如果没有完好性的服务性能作保障，GNSS只能充当辅助导航角色，也就是说GNSS作为主用导航设备必须跨越完好性这道门槛。GNSS完好性监测相关领域的研究已经成为国际国内GNSS研究热点之一。本文针对当前国内外GNSS完好性监测和性能增强技术研究中存在的一些弱点和盲点问题，依托国家高技术研究发展计划（863计划）课题“GNSS脆弱性分析及信号传输环境研究”等项目研究内容，全面分析了GNSS完好性的根源和本质；深入研究了解决GNSS完好性问题的途径和方法；从全局高度提出了三级GNSS完好性监测的完整理论体系，构建了GNSS完好性监测综合评估系统架构，分别应用质量控制理论、信号分析理论和一致性检测理论实现全球系统级星座完好性监测、区域增强级信息完好性监测和终端应用级用户完好性监测；提出了基于质量控制的GNSS星座完好性综合评估方法；设计和实现了GNSS信号质量伺服天线跟踪监测系统；改进了快速随机抽样一致完好性监测方法；在GNSS完好性监测性能增强技术研究方面着重分析了终端用户接收机在有其他冗余信息可进行差分时的GNSS完好性监测方法及辅助性能增强技术；同时也开展了GNSS姿态测量领域的完好性监测研究。本文通过GNSS仿真和实际完好性监测数据验证了上述研究结果，可以为GNSS完好性监测和性能增强提供参考，具有重要的理论意义和工程实用价值。这种层次分析方法和结论对其他卫星系统（如通信、遥感、气象、资源、侦察）的各种服务性能监测和增强也有一定借鉴价值。本文主体结构可分为“GNSS完好性基本理论”、“GNSS完好性监测体系”和“GNSS完好性辅助性能增强”三个主题。本文4个主要创新点简述如下：（1）全面分析了GNSS完好性问题的产生机理和内涵及外延，按施行完好性监测的主体所在位置和特性，依据对应的分析方法理论分层次提出了三级GNSS完好性监测的完整理论体系，并构建了GNSS完好性监测综合评估系统架构，可以为GNSS完好性监测的研究和实施提供参考，这种层次分析方法和结论对其他卫星系统的各种服务性能监测和增强也有一定的借鉴价值。（2）构造完好性最小可用性（MAI）和最小检测效果黑洞比（MDEHR）两个全球系统级星座完好性监测评测指标，提出了一种涉及GNSS星座状态、观测条件、量测噪声和应用需求等多种因素，基于质量控制的GNSS星座完好性综合评估方法，从时空两个维度去预测和实时评估星座完好性。通过大量仿真分析了BDS、GPS、QZSS和IRNSS等单个或混合星座在包括城市峡谷等极端条件下的完好性性能，得到很多量化的星座完好性评估结果。该完好性评估方法及仿真结果对导航星座配置和实际GNSS应用中的完好性预测有参考价值。（3）按照用户接收机的射频、基带和量测解算三个监测位置分别从射频环境、基带处理和一致性判断详尽分析了各个阶段的终端应用级用户完好性监测，在随机抽样一致完好性监测（RANSAC-RAIM）的基础上进行改进，提出了对卫星子集进行基于GDOP预检验排除法和动态无阀值LOS矢量预检验筛选的快速FRANSAC-RAIM方法，根据真实的民航飞行场景下仿真结果表明，改进的FRANSAC-RAIM方法不但具备检测多差错和小差错的能力，而且运算效率提高了1倍以上，缩短了告警时间，对于RAIM完好性告警需求意义重大。（4）改进姿态精度因子（ADOP）求解方式，提出基于ADOP选择卫星组的方法，分析ADOP与基线长度及卫星仰角关系，，提出GNSS姿态测量（GNSS-AD）完好性监测中以姿态角为度量的姿态角告警限值（AAL）标准，给出将告警限值从距离域转换到姿态角域的近似方程，从而将定位中的完好性方法引入到GNSS测姿中，实现GNSS测姿完好性监测方法。利用更多种差分辅助，提出GNSS-AD完好性监测方法，构造两类单差在相邻时间历元间的差分（Delta SD-1S2A和Delta SD-2S1A）分别辅助增强检测和排除不同误差源引起的完好性问题，最终通过综合两者优势提出差分辅助完好性监测方法，实现完好性增强目的。
[Abstract]:With the in-depth study of satellite navigation related theories and the rapid development of global navigation satellite system (GNSS), GNSS receiver as a real-time ten-parameter sensor (three-dimensional position, speed, attitude and one-dimensional time) navigation service performance (accuracy, availability, integrity, continuity) has been greatly improved. However, due to the inherent vulnerability of GNSS, the universality and uncertainty of errors, and the vulnerability of signal masking, many users'trust in GNSS services is greatly reduced. GNSS can only serve as an assistant navigation device, which means that GNSS as a main navigation device must cross the threshold of integrity. The research on GNSS integrity monitoring has become one of the hotspots of GNSS research at home and abroad.
Aiming at the weaknesses and blind spots in GNSS integrity monitoring and performance enhancement technology research at home and abroad, relying on the national high-tech research and development plan (863 plan) project "GNSS vulnerability analysis and signal transmission environment research", this paper comprehensively analyzes the root and essence of GNSS integrity. This paper studies the approaches and methods to solve the integrity problem of GNSS, puts forward a complete theoretical system of three-level GNSS integrity monitoring from a global point of view, constructs a comprehensive evaluation system framework of GNSS integrity monitoring, and implements global system-level constellation integrity monitoring by applying quality control theory, signal analysis theory and consistency testing theory, respectively. Domain enhancement level information integrity monitoring and terminal application level user integrity monitoring; proposed GNSS constellation integrity comprehensive evaluation method based on quality control; designed and implemented GNSS signal quality servo antenna tracking monitoring system; improved the rapid random sampling consistent integrity monitoring method; in GNSS integrity monitoring performance In the aspect of enhancement technology, the GNSS integrity monitoring method and auxiliary performance enhancement technology are analyzed when the end-user receiver has other redundant information to differentiate. At the same time, the integrity monitoring research in GNSS attitude measurement field is carried out. The above research is verified by GNSS simulation and actual integrity monitoring data. The results can provide a reference for GNSS integrity monitoring and performance enhancement, which has important theoretical significance and engineering practical value. The AHP and conclusions can also be used for other satellite systems (such as communications, remote sensing, meteorology, resources, reconnaissance) to monitor and enhance their service performance.
The main structure of this paper can be divided into three themes: "GNSS intact basic theory", "GNSS intact monitoring system" and "GNSS intact auxiliary performance enhancement".
(1) The mechanism, connotation and extension of GNSS integrity problem are analyzed comprehensively. According to the location and characteristics of the main body of GNSS integrity monitoring, a complete theoretical system of three-level GNSS integrity monitoring is put forward according to the corresponding analytical method theory, and a comprehensive evaluation system framework of GNSS integrity monitoring is constructed. The research and implementation of sex monitoring can provide a reference, and the analytic hierarchy process and conclusions can also be used for other satellite systems to monitor and enhance their service performance.
(2) The minimum availability of structural integrity (MAI) and the minimum detection effect black hole ratio (MDEHR) are two global system-level constellation integrity monitoring and evaluation indicators. A comprehensive assessment method of GNSS constellation integrity based on quality control is proposed, which involves GNSS constellation status, observation conditions, measurement noise and application requirements. Dimensions are used to predict and evaluate constellation integrity in real time. The integrity performance of BDS, GPS, QZSS and IRNSS constellations under extreme conditions including urban canyons is analyzed by a large number of simulations. Many quantitative constellation integrity evaluation results are obtained. The integrity evaluation method and simulation results are used to evaluate the configuration of navigation constellations and the actual GNSS. The prediction of integrity in application has reference value.
(3) According to the receiver's radio frequency, baseband and measurement, the terminal application-level user integrity monitoring is analyzed in detail from the radio frequency environment, baseband processing and consistency judgment. Based on RANSAC-RAIM (Random Sampling Consistent Integrity Monitoring), the baseline of satellite subset is proposed. A fast FRANSAC-RAIM method based on GDOP pre-test exclusion and dynamic threshold-free LOS vector pre-test screening is proposed. Simulation results in real civil aviation flight scenarios show that the improved FRANSAC-RAIM method not only has the ability to detect multiple errors and minor errors, but also improves the operation efficiency by more than one time, shortens the alarm time and completes RAIM. The demand for good alarm is of great significance.
(4) The method of selecting satellite group based on ADOP is proposed. The relationship between ADOP and baseline length and satellite elevation angle is analyzed. The attitude angle alarm limit (AAL) standard, which is measured by attitude angle in GNSS-AD attitude integrity monitoring, is proposed. The alarm limit is converted from range domain to attitude angle domain. The GNSS-AD integrity monitoring method is proposed by using more kinds of difference aids. The difference between two types of single difference in adjacent time epochs (Delta SD-1S2A and Delta SD-2S1A) is constructed to assist in enhancing detection and eliminating different errors respectively. The integrity problem caused by the difference source is finally improved by combining the advantages of the two methods.
【学位授予单位】：上海交通大学
【学位级别】：博士
【学位授予年份】：2013
【分类号】：P228.4

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