阅读说明：本技术 导航系统的完好性监测方法、完好性监测装置及电子设备 (Integrity monitoring method and integrity monitoring device of navigation system and electronic equipment ) 是由 孟骞 许立达 于 2020-05-09 设计创作，主要内容包括：本申请适用于导航领域,提供了一种导航系统的完好性监测方法、完好性监测装置、电子设备及计算机可读存储介质,该方法包括：获取信号模拟器输出的与载体运动过程相关联的轨迹真值及导航信号；获取信号模拟器的漏仿概率,该漏仿概率用于指示与真实的载体运动过程相比,信号模拟器遗漏输出导航信号的概率；将导航信号输入至待检验的导航系统,得到导航系统输出的轨迹估计值；将轨迹估计值与轨迹真值进行比对,得到误差定位数；基于漏仿概率、误差定位数、轨迹估计值的总定位数及预设的完好性风险总和,计算得到导航系统的完好性监测结果。通过本申请方案,由信号模拟器承担大部分完好性风险,降低了导航系统在线进行完好性监测的压力和复杂度。(The application is applicable to the field of navigation, and provides an integrity monitoring method, an integrity monitoring device, electronic equipment and a computer readable storage medium of a navigation system, wherein the method comprises the following steps: acquiring a track true value and a navigation signal which are output by a signal simulator and are associated with a carrier motion process; acquiring a simulation missing probability of the signal simulator, wherein the simulation missing probability is used for indicating the probability of the signal simulator missing the output of the navigation signal compared with the real carrier motion process; inputting the navigation signal into a navigation system to be checked to obtain a track estimation value output by the navigation system; comparing the track estimation value with the track true value to obtain an error positioning number; and calculating to obtain an integrity monitoring result of the navigation system based on the miss-imitation probability, the error positioning number, the total positioning number of the track estimation value and the preset integrity risk sum. According to the scheme, most integrity risks are borne by the signal simulator, and the pressure and the complexity of the navigation system for carrying out integrity monitoring on line are reduced.)

1. A method for integrity monitoring of a navigation system, comprising:

acquiring a track truth value and a navigation signal output by a signal simulator, wherein the navigation signal and the track truth value are associated with a carrier motion process;

acquiring a missing simulation probability of the signal simulator, wherein the missing simulation probability is used for indicating the probability of the signal simulator missing the output navigation signal compared with the real carrier motion process;

inputting the navigation signal into a navigation system to be checked to obtain a track estimation value output by the navigation system;

comparing the track estimation value with the track true value to obtain an error positioning number, wherein the error positioning number is the number of positioning points with errors when the track estimation value is compared with the track true value;

and calculating to obtain an integrity monitoring result of the navigation system based on the simulation missing probability, the error positioning number, the total positioning number of the track estimation value and a preset integrity risk sum, wherein the total positioning number is the number of positioning points contained in the track estimation value.

2. The method of claim 1, wherein comparing the estimated trajectory value to the true trajectory value to obtain an error locator number comprises:

recording positioning points in the track estimation value as positioning estimation points, and determining positioning true values corresponding to the positioning estimation points in the track true values aiming at each positioning estimation point in the track estimation value, and detecting whether errors exist between the positioning estimation points and the corresponding positioning true values;

and determining the number of the positioning estimation points with errors corresponding to the positioning true value points as the error positioning number.

3. The integrity monitoring method of claim 2, wherein said detecting whether the location estimate point is in error with the corresponding location true point comprises:

calculating component difference values of the positioning estimation points and the corresponding positioning true value points under a target coordinate axis, wherein the target coordinate axis is any coordinate axis associated with integrity monitoring;

and if the component difference value is greater than a preset alarm threshold, determining that an error exists between the positioning estimation point and the corresponding positioning true value point, wherein the alarm threshold is associated with the target coordinate axis.

4. The integrity monitoring method of claim 1, wherein the obtaining the false-negative probability of the signal simulator comprises:

determining the integrity risk of each subsystem in the signal simulator according to a preset integrity risk distribution tree model;

and calculating to obtain the false missing probability of the signal simulator based on the preset integrity risk sum and the integrity risk of each subsystem in the signal simulator.

5. The integrity monitoring method of claim 1, wherein the calculating an integrity monitoring result of the navigation system based on the false dismissal probability, the error location number, the total location number of the trajectory estimation value, and a preset integrity risk sum comprises:

according to a preset integrity calculation formula, calculating and obtaining an integrity monitoring result of the navigation system based on the simulation missing probability, the error positioning number, the total positioning number of the track estimation value and the integrity risk sum, wherein the integrity calculation formula is as follows:

wherein, the P_prior,riskAs a result of the integrity monitoring, the N_riskFor the error location number, N_totalFor the total number of positions, the P_MSIs the miss probability, P_riskIs the integrity risk sum.

6. The integrity monitoring method of claim 1, wherein the obtaining of the trajectory truth value and the navigation signal output by the signal simulator comprises:

and acquiring a track true value and a navigation signal output by the signal simulator through a replay function or a simulation function.

7. An integrity monitoring device of a navigation system, comprising:

the system comprises a first acquisition unit, a second acquisition unit and a third acquisition unit, wherein the first acquisition unit is used for acquiring a track true value and a navigation signal output by a signal simulator, and the navigation signal and the track true value are associated with a carrier motion process;

the second acquisition unit is used for acquiring the simulation missing probability of the signal simulator, wherein the simulation missing probability is used for indicating the probability that the signal simulator misses the output navigation signal compared with the real carrier motion process;

the navigation output unit is used for inputting the navigation signal to a navigation system to be checked to obtain a track estimation value output by the navigation system;

the track comparison unit is used for comparing the track estimation value with the track true value to obtain an error positioning number, wherein the error positioning number is the number of positioning points with errors when the track estimation value is compared with the track true value;

and the result calculation unit is used for calculating and obtaining the integrity monitoring result of the navigation system based on the miss-imitation probability, the error positioning number, the total positioning number of the track estimation value and the preset integrity risk sum, wherein the total positioning number is the number of positioning points contained in the track estimation value.

8. The integrity monitoring device of claim 7, wherein the locating points in the track estimation values are locating estimation points, the locating points in the track truth values are locating truth points, and the track comparison unit comprises:

an error detection subunit, configured to determine, in the track true value, a positioning true value point corresponding to the positioning estimation point for each positioning estimation point in the track estimation value, and detect whether there is an error between the positioning estimation point and the corresponding positioning true value point;

and the quantity counting subunit is used for determining the quantity of the positioning estimation points with errors corresponding to the positioning true value points as the error positioning quantity.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method of any of claims 1 to 6 when executing the computer program.

10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 6.

Technical Field

The present application relates to the field of navigation technologies, and in particular, to an integrity monitoring method and an integrity monitoring apparatus for a navigation system, an electronic device, and a computer-readable storage medium.

Background

Integrity (Integrity) is a quantitative index for the confidence of positioning information provided by a navigation system, and comprises the capability of giving an alarm to a user in time when the system cannot meet the navigation requirement, and is a representative index for evaluating the navigation safety. Integrity monitoring is initially applied to performance evaluation of a Global Navigation Satellite System (GNSS), and is mature to be applied and popularized in the field of civil aviation. However, the current integrity monitoring depends heavily on the online calculation of the navigation system, and considering that the online calculation process of the navigation system is often complicated, the difficulty of the integrity monitoring of the current navigation system is large.

Disclosure of Invention

The application provides an integrity monitoring method, an integrity monitoring device, electronic equipment and a computer readable storage medium of a navigation system, which can reduce the difficulty of integrity monitoring of the navigation system.

In a first aspect, the present application provides a method for integrity monitoring of a navigation system, comprising:

acquiring a track truth value and a navigation signal output by a signal simulator, wherein the navigation signal and the track truth value are associated with a carrier motion process;

acquiring a missing simulation probability of the signal simulator, wherein the missing simulation probability is used for indicating the probability of the signal simulator missing the output navigation signal compared with the real carrier motion process;

inputting the navigation signal into a navigation system to be checked to obtain a track estimation value output by the navigation system;

comparing the track estimation value with the track true value to obtain an error positioning number, wherein the error positioning number is the number of positioning points with errors when the track estimation value is compared with the track true value;

and calculating to obtain an integrity monitoring result of the navigation system based on the miss-imitation probability, the error positioning number, the total positioning number of the track estimation value and a preset integrity risk sum, wherein the total positioning number is the number of positioning points included in the track estimation value.

In a second aspect, the present application provides an integrity monitoring device of a navigation system, comprising:

the first acquisition unit is used for acquiring a track true value and a navigation signal output by a signal simulator, wherein the navigation signal and the track true value are associated with a carrier motion process;

the second acquisition unit is used for acquiring the simulation missing probability of the signal simulator, wherein the simulation missing probability is used for indicating the probability that the signal simulator misses the output navigation signal compared with the real carrier motion process;

the navigation output unit is used for inputting the navigation signal to a navigation system to be checked to obtain a track estimation value output by the navigation system;

a track comparison unit, configured to compare the track estimation value with the track true value to obtain an error location number, where the error location number is a number of location points where an error exists when the track estimation value is compared with the track true value;

and a result calculating unit, configured to calculate an integrity monitoring result of the navigation system based on the miss probability, the error location number, a total location number of the trajectory estimation value, and a preset integrity risk sum, where the total location number is a number of location points included in the trajectory estimation value.

In a third aspect, the present application provides an electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the steps of the method as in the first aspect being implemented when the computer program is executed by the processor.

In a fourth aspect, the present application provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method according to the first aspect.

In a fifth aspect, the present application provides a computer program product comprising a computer program which, when executed by one or more processors, performs the steps of the method as in the first aspect.

As can be seen from the above, in the present application, firstly, a trace truth value and a navigation signal output by a signal simulator are obtained, and a miss-emulation probability of the signal simulator is obtained, then, the navigation signal is input to a navigation system to be checked to obtain a trace estimation value output by the navigation system, then, the trace estimation value is compared with the trace truth value to obtain an error location number, and finally, an integrity monitoring result of the navigation system is obtained by calculation based on the miss-emulation probability, the error location number, a total location number of the trace estimation value and a preset integrity risk sum. According to the scheme, a part of integrity risks are transferred to the signal simulator, and the pressure and the complexity of the navigation system for carrying out integrity monitoring on line are reduced. It is understood that the beneficial effects of the second aspect to the fifth aspect can be seen from the related description of the first aspect, and are not described herein again.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic implementation flowchart of an integrity monitoring method of a navigation system provided in an embodiment of the present application;

FIG. 2 is an exemplary diagram of an integrity risk assignment tree model provided by an embodiment of the present application;

FIG. 3 is a schematic diagram of integrity analysis optimization provided by an embodiment of the present application;

fig. 4 is a block diagram illustrating an integrity monitoring apparatus of a navigation system according to an embodiment of the present disclosure;

fig. 5 is a schematic structural diagram of an electronic device provided in an embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

In the prior art, the core of GNSS autonomous navigation integrity monitoring is to provide a confidence level satisfying a given probability for the positioning result on line, and the core equation is as follows:

whereinIndicating positioning error, PL indicating protection level, AL indicating alarm threshold, PHMI being risk misleading information probability, i.e. integrity risk. The alarm threshold is set a priori according to safety requirements of each stage of civil aviation flight, and the solution of the protection level needs to mainly solve two problems: first, whether the calculated protection level meets a given integrity risk; and whether the protection level faithfully reflects the absolute physical relationship between the positioning error and the alarm threshold. The calculation of the protection level has two difficulties: firstly, clear knowledge needs to be provided for an error distribution model of a positioning system; the second is to construct a mathematical relationship from the rigorous test statistic to the positioning error. In order to overcome the above difficulties, the protection level is often calculated by using an over-bounding envelope (over-bounding), which causes the obtained protection level to have a large redundancy, and often fails to reflect the true distribution of the positioning error, resulting in the occurrence of false alarm and/or false alarm. Based on the above, the present application provides an integrity monitoring method, an integrity monitoring device, an electronic device, and a computer-readable storage medium for a navigation system, which skip the difficult problem of knowing a protection level, and reduce the pressure and complexity of online autonomous integrity monitoring, so that the determination that the integrity of the navigation system is unavailable can be more accurate. For the purpose of illustrationThe technical solutions proposed in the embodiments of the present application are described below with specific examples.