GNSS receiver state scheduling method and GNSS receiver
阅读说明：本技术 一种gnss接收机状态调度方法及其接收机 (GNSS receiver state scheduling method and GNSS receiver ) 是由 朱青永 于 2021-08-09 设计创作，主要内容包括：本发明公开了一种GNSS接收机状态调度方法及其接收机,包括以下步骤：步骤S1、判定处于异常运行状态的GPS接收通道、BDS接收通道、GLONASS接收通道和Galileo接收通道；步骤S2、分析得出处于异常运行状态的GPS接收通道、BDS接收通道、GLONASS接收通道和Galileo接收通道的异常类别；步骤S3、基于所述异常类别对处于异常运行状态的GPS接收通道、BDS接收通道、GLONASS接收通道和Galileo接收通道进行运行调度。本发明利用接收同一类别卫星信号的接收通道之间理应具有相似运行状态的原则,通过同一类别卫星信号的接收通道运行数据的互比较了解接收通道间运行差异性,无需先验知识,能迅速判断哪个接收通道处于异常状态,且异常判定准确率高。(The invention discloses a GNSS receiver state scheduling method and a receiver thereof, comprising the following steps: step S1, judging that the GPS receiving channel, the BDS receiving channel, the GLONASS receiving channel and the Galileo receiving channel are in an abnormal operation state; step S2, analyzing and obtaining the abnormal types of the GPS receiving channel, the BDS receiving channel, the GLONASS receiving channel and the Galileo receiving channel which are in the abnormal operation state; and step S3, performing operation scheduling on the GPS receiving channel, the BDS receiving channel, the GLONASS receiving channel and the Galileo receiving channel in the abnormal operation state based on the abnormal category. The invention utilizes the principle that the receiving channels for receiving the satellite signals of the same category are supposed to have similar operation states, obtains the operation difference among the receiving channels by comparing the operation data of the receiving channels for receiving the satellite signals of the same category, does not need prior knowledge, can quickly judge which receiving channel is in an abnormal state, and has high accuracy rate of abnormal judgment.)
1. A GNSS receiver state scheduling method is characterized in that: the method comprises the following steps:
step S1, sequentially setting a plurality of GPS receiving channels, a plurality of BDS receiving channels, a plurality of GLONASS receiving channels and a plurality of Galileo receiving channels for receiving GPS satellite signals, BDS satellite signals, GLONASS satellite signals and Galileo satellite signals in the GNSS receiver into a GPS channel state monitoring group, a BDS channel state monitoring group, a GLONASS channel state monitoring group and a Galileo channel state monitoring group according to the types of the received signals, and comparing the state similarity of the GPS channel state monitoring group, the BDS channel state monitoring group, the GLONASS channel state monitoring group and the Galileo channel state monitoring group to judge that the GPS receiving channel, the BDS receiving channel, the GLONASS receiving channel and the Galileo receiving channel are in abnormal operation states;
step S2, extracting abnormal nodes of the GPS receiving channel, the BDS receiving channel, the GLONASS receiving channel and the Galileo receiving channel which are in the abnormal operation state in sequence, and analyzing and obtaining the abnormal types of the GPS receiving channel, the BDS receiving channel, the GLONASS receiving channel and the Galileo receiving channel which are in the abnormal operation state according to the abnormal nodes;
and step S3, performing operation scheduling on the GPS receiving channel, the BDS receiving channel, the GLONASS receiving channel and the Galileo receiving channel in the abnormal operation state based on the abnormal category so as to enable the GPS receiving channel, the BDS receiving channel, the GLONASS receiving channel and the Galileo receiving channel in the abnormal operation state to be recovered to the normal operation state and to be continuously put into use to guarantee reasonable channel resource configuration.
2. The GNSS receiver state scheduling method of claim 1, wherein: in the step S1, the method further includes collecting operation data [ data ] of a plurality of GPS receiving channels, a plurality of BDS receiving channels, a plurality of GLONASS receiving channels, and a plurality of Galileo receiving channels respectivelyGPS [1，2， .. .，k1]，dataBDS [1，2，...，k2]，dataGLONASS [1，2，...，k3]，dataGalileo [1，2，...，k4]]Wherein, in the step (A),[1，2，...，k1]，[1，2，...，k2]，[1，2，...，k3]，[1，2，...，k4]characterized by the numbered arrays of all GPS, BDS, GLONASS and Galileo receiving channels, respectively, k1, k2, k3, k4 are the total number of the GPS, BDS, GLONASS and Galileo receiving channels, respectively.
3. The GNSS receiver state scheduling method of claim 2, wherein: in the step S1, the specific method for comparing the state similarities of the GPS channel state monitoring group, the BDS channel state monitoring group, the GLONASS channel state monitoring group, and the Galileo channel state monitoring group to determine the GPS receiving channel, the BDS receiving channel, the GLONASS receiving channel, and the Galileo receiving channel in the abnormal operation state includes:
operating data of all receiving channels in the GPS channel state monitoring group, the BDS channel state monitoring group, the GLONASS channel state monitoring group and the Galileo channel state monitoring groupS w＝[dataGPS [1，2，...，k1]，dataBDS [1，2，...，k2]，dataGLoNASS [1，2，...，k3]，dataGalileo [1，2，...，k4]]Respectively carrying out normalization processing and converting the normalization processing into the same standard format to eliminate dimension errors, wherein the formula of the normalization processing is as follows:
wherein, the dataS w＝[pw1，pw2，...，pwn]，w＝[[1，2，...，k1]，[1，2，...，k2]，[1，2，...，k3]，[1，2，...，k4]]，n＝[n1，n2，n3，n4]，S＝[GPS，BDS，GLONASS，Galileo]，z∈[1，n]，dataS wOperational data, p, of the w-th receiving channel, denoted as S-channel State monitoring groupwzClass z entry data, p, in operational data of the w-th receive channel, denoted as S-channel State monitoring groupwzIs' a pwzThe normalized values, n1, n2, n3 and n4 are the total number of categories of the operation data of the GPS, BDS, GLONASS and Galileo receiving channels respectively;
respectively quantifying the running state similarity of all receiving channels in the GPS channel state monitoring group, the BDS channel state monitoring group, the GLONASS channel state monitoring group and the Galileo channel state monitoring group, wherein the calculation formula of the state similarity is as follows:
wherein the content of the first and second substances,monitoring group of receiving channels y for S channel state1And a receiving channel y2The degree of similarity of the states of (a),respectively denoted as receiving channel y1And a receiving channel y2Z category item data in the operation data;
presetting a state similarity threshold, and judging that the GPS receiving channel, the BDS receiving channel, the GLONASS receiving channel and the Galileo receiving channel which are in abnormal operation states exist in the GPS channel state monitoring group, the BDS channel state monitoring group, the GLONASS channel state monitoring group and the Galileo channel state monitoring group based on the state similarity threshold, specifically:
respectively counting the number of receiving channels of which the state similarity between each GPS receiving channel, BDS receiving channel, GLONASS receiving channel and Galileo receiving channel in the GPS channel state monitoring group, the BDS channel state monitoring group, the GLONASS channel state monitoring group and the Galileo channel state monitoring group and the state similarity between the remaining receiving channels and the state similarity threshold;
if the number of the receiving channels with the state similarity between the GPS receiving channel, the BDS receiving channel, the GLONASS receiving channel and the Galileo receiving channel and the state similarity between the remaining receiving channels and the state similarity threshold respectively exceeds 80% of the number of all the receiving channels in the GPS channel state monitoring group, the BDS channel state monitoring group, the GLONASS channel state monitoring group and the Galileo channel state monitoring group, the GPS receiving channel, the BDS receiving channel, the GLONASS receiving channel and the Galileo receiving channel are judged to be in the abnormal operation state.
4. The GNSS receiver state scheduling method of claim 3, wherein: in step S2, the specific method for extracting the abnormal node includes:
sequentially extracting running data of the GPS receiving channel, the BDS receiving channel, the GLONASS receiving channel and the Galileo receiving channel which are in abnormal running state and linked in time sequence within preset time lengthS iT＝[dataGPS [i1]T，dataBDS [i2]T，dataGLONASS [i3]T，dataGalileo [i4]T]Wherein i 1E [1, 2]，i2∈[1，2，...，k2]，i3∈[1，2，...，k3]，i4∈[1，2，...，k4]I1, i2, i3 and i4 respectively represent numbers of the GPS receiving channel, BDS receiving channel, GLONASS receiving channel and Galileo receiving channel in abnormal operation state, dataS iT＝[pi1T，pi2T，...，pinT]，T＝[t1，t2，..，tm]，i＝[i1，i2，i3，i4]，n＝[n1，n2，n3，n4]，S＝[GPS，BDS，GLONASS，Galileo]，dataS iT represents the running data of the receiving channel with the number i in the abnormal running state S and linked according to the time sequence, pinT represents the nth category item data in the running data linked by the receiving channel with the number i in the S receiving channel in the abnormal running state according to the time sequence, and m is the total length of the time sequence;
sequentially converting the dataS iT＝[dataGPS [i1]T，dataBDS [i2]T，dataGLONASS [i3]T，dataGalileo [i4]T]Performing fluctuation analysis on the running data of the middle adjacent time sequence to obtain a fluctuation node chain,the formula of the fluctuation analysis is as follows:
wherein x isj，xj+1Is datas 1tj，datas 1tj+1，q(xj，xj+1) Is xj，xj+1Of the joint probability distribution function of, and q (x)j) And q (x)j+1) Are each xj，xj+1The edge probability distribution function of (1);
calibrating all fluctuation nodes on the fluctuation node chain according to a preset fluctuation threshold value, and selecting operation data positioned on time sequences at two sides of all fluctuation nodes to reserve and form an abnormal node data chain for representing the abnormal characteristics of the receiving channel;
the fluctuation node refers to a data node of which the difference between the numerical values of adjacent nodes on the fluctuation node chain exceeds a preset fluctuation threshold value.
5. The GNSS receiver state scheduling method of claim 4, wherein: in step S2, the specific method for determining the abnormality type includes:
and performing principal component analysis on the operating data of all nodes in the abnormal node data chain to extract abnormal features, and performing abnormal category matching according to the abnormal features to determine the abnormal category of the receiving channel in the abnormal operating state.
6. The GNSS receiver state scheduling method of claim 3, wherein: in step S3, the specific method of operating scheduling includes:
constructing an abnormal scheduling path of the receiving channel according to the operation state category of the receiving channel;
and selecting a scheduling scheme for the receiving channel in the abnormal operation state in the abnormal scheduling path according to the abnormal category so as to recover to the normal operation state.
7. A receiver of a GNSS receiver state scheduling method according to any of claims 1-6, characterized by comprising a multi-system correlator module (1), a multi-system data acquisition module (2) and a multi-system operation scheduling module (3), wherein,
the multi-system correlator module (1) is used for respectively and singly receiving a GPS satellite signal, a BDS satellite signal, a GLONASS satellite signal and a Galileo satellite signal of a GNSS satellite signal;
the multisystem data acquisition module (2) is used for acquiring the operation data of the GPS receiving channel, the operation data of the BDS receiving channel, the operation data of the GLONASS receiving channel and the operation data of the Galileo receiving channel;
the multi-system operation scheduling module (3) is used for performing abnormal operation analysis and operation scheduling on the receiving channel by using the operation data of the GPS receiving channel, the operation data of the BDS receiving channel, the operation data of the GLONASS receiving channel and the operation data of the Galileo receiving channel so that the GPS receiving channel, the BDS receiving channel, the GLONASS receiving channel and the Galileo receiving channel which are in abnormal operation states are recovered to normal operation states to be continuously put into use, and channel resources are guaranteed to be reasonably configured.
8. The receiver according to claim 7, wherein the multi-system correlator module (1) comprises a GPS satellite system correlator channel set comprising a receive channel for separately receiving a plurality of GPS satellite signals, a BDS satellite system correlator channel set comprising a receive channel for separately receiving a plurality of BDS satellite signals, a GLONASS satellite system correlator channel set comprising a receive channel for separately receiving a plurality of GLONASS satellite signals, and a Galileo satellite system correlator channel set comprising a receive channel for separately receiving a plurality of Galileo satellite signals.
9. The receiver according to claim 8, wherein the multi-system data acquisition module (2) comprises a GPS receiving channel acquisition module, a BDS receiving channel acquisition module, a GLONASS receiving channel acquisition module and a Galileo receiving channel acquisition module respectively disposed at signal outputs of the GPS satellite system correlator channel group, the BDS satellite system correlator channel group, the GLONASS satellite system correlator channel group and the Galileo satellite system correlator channel group to respectively acquire operation data of the GPS receiving channel, the BDS receiving channel, the GLONASS receiving channel and the Galileo receiving channel.
10. The receiver according to claim 9, wherein the multi-system operation scheduling module (3) comprises a GPS data processing module, a BDS data processing module, a GLONASS data processing module and a Galileo data processing module, which are respectively connected with the GPS receiving channel acquisition module, the BDS receiving channel acquisition module, the GLONASS receiving channel acquisition module and the Galileo receiving channel acquisition module in a communication manner, and are used for performing abnormal operation analysis on the receiving channel by using the operation data and formulating an operation scheduling scheme.
Technical Field
The invention relates to the technical field of satellite ranging, in particular to a GNSS receiver state scheduling method and a GNSS receiver.
Background
Global Navigation Satellite Systems (GNSS) generally refer to systems that allow a position fix (positionfix) to be determined based on GNSS signals received from a plurality of GNSS satellites. Each GNSS satellite transmits a GNSS signal that identifies the satellite and the time of signal transmission. The GNSS antenna/receiver is configured to receive each of the GNSS signals transmitted by the visible GNSS satellites and to determine a pseudorange or range from the GNSS antenna/receiver to the respective GNSS satellite using a time of flight of each GNSS signal and a known position of each GNSS satellite. The plurality of calculated pseudoranges are used to trilaterate a position of the GNSS antenna/receiver in three dimensional space. Types of GNSS systems include Global Positioning System (GPS), GLONASS (GLONASS), Galileo (Galileo), Beidou (BDS), and the like.
Prior art cn201610231396.x discloses a GNSS receiver state scheduling method and a GNSS receiver, step 1, setting a receiving channel matched satellite processing state table for recording receiving channel matched satellite processing state information in the GNSS receiver, the receiving channel matched satellite processing state information including a receiving channel matched satellite processing state; step 2, starting a processing cycle, and enabling a channel of the GNSS receiver to work according to an initial preset state; step 3, after the processing cycle is finished, detecting the current state of a channel, and according to the satellite processing state table matched with the receiving channel and the current state of the channel or determining the initial preset state of the channel in the next processing cycle and the satellite processing state matched with the receiving channel, returning to the step 2 until the initial preset state of the channel in the next processing cycle is set to be idle, so that a proper scheduling method can be provided for scheduling channel resources, firstly, the channel resources are reasonably distributed to the satellite, and the channel is ensured not to be wasted; and secondly, the channel state of the satellite signal is adjusted in time, so that the receiver can always effectively process the satellite signal.
Although the above existing solutions can reasonably allocate channel resources of a receiver to a certain extent, there are still certain disadvantages, such as: the processing state of satellite information in a channel needs to be recorded in real time, a state table is constructed for exception identification and operation scheduling, so that exception identification is extremely dependent on prior recording, and once the prior recording is wrong, the reliability of a subsequent exception identification result is invalid, so that the accuracy of exception identification is low.
Disclosure of Invention
The invention aims to provide a GNSS receiver state scheduling method and a GNSS receiver state scheduling method, and aims to solve the technical problem that in the prior art, the prior record is extremely relied on for abnormal recognition, and once the prior record is wrong, the credibility of a subsequent abnormal recognition result is invalid, so that the abnormal recognition precision is low.
In order to solve the technical problems, the invention specifically provides the following technical scheme:
a GNSS receiver state scheduling method comprises the following steps:
step S1, sequentially setting a plurality of GPS receiving channels, a plurality of BDS receiving channels, a plurality of GLONASS receiving channels and a plurality of Galileo receiving channels for receiving GPS satellite signals, BDS satellite signals, GLONASS satellite signals and Galileo satellite signals in the GNSS receiver into a GPS channel state monitoring group, a BDS channel state monitoring group, a GLONASS channel state monitoring group and a Galileo channel state monitoring group according to the types of the received signals, and comparing the state similarity of the GPS channel state monitoring group, the BDS channel state monitoring group, the GLONASS channel state monitoring group and the Galileo channel state monitoring group to judge that the GPS receiving channel, the BDS receiving channel, the GLONASS receiving channel and the Galileo receiving channel are in abnormal operation states;
step S2, extracting abnormal nodes of the GPS receiving channel, the BDS receiving channel, the GLONASS receiving channel and the Galileo receiving channel which are in the abnormal operation state in sequence, and analyzing and obtaining the abnormal types of the GPS receiving channel, the BDS receiving channel, the GLONASS receiving channel and the Galileo receiving channel which are in the abnormal operation state according to the abnormal nodes;
and step S3, performing operation scheduling on the GPS receiving channel, the BDS receiving channel, the GLONASS receiving channel and the Galileo receiving channel in the abnormal operation state based on the abnormal category so as to enable the GPS receiving channel, the BDS receiving channel, the GLONASS receiving channel and the Galileo receiving channel in the abnormal operation state to be recovered to the normal operation state and to be continuously put into use to guarantee reasonable channel resource configuration.
As a preferred embodiment of the present invention, in step S1, the method further includes collecting operation data [ data ] of a plurality of GPS receiving channels, a plurality of BDS receiving channels, a plurality of GLONASS receiving channels, and a plurality of Galileo receiving channels respectivelyGPS [1 ，2，...，k1]，dataBDS [1，2，...，k2]，dataGLONASS [1，2，...，k3]，dataGalileo [1，2，...，k4]]Wherein [1, 2., k1]，[1，2，...，k2]，[1，2，...，k3]，[1，2，...，k4]Characterized by the numbered arrays of all GPS, BDS, GLONASS and Galileo receiving channels, respectively, k1, k2, k3, k4 are the total number of the GPS, BDS, GLONASS and Galileo receiving channels, respectively.
As a preferable embodiment of the present invention, in step S1, the specific method for comparing the state similarity of the GPS channel state monitoring group, the BDS channel state monitoring group, the GLONASS channel state monitoring group, and the Galileo channel state monitoring group to determine the GPS receiving channel, the BDS receiving channel, the GLONASS receiving channel, and the Galileo receiving channel in the abnormal operation state includes:
operating data of all receiving channels in the GPS channel state monitoring group, the BDS channel state monitoring group, the GLONASS channel state monitoring group and the Galileo channel state monitoring groups w＝[dataGPs [1，2，...，k1]，dataBDS [1，2，...，k2]，dataGLONASS [1，2，...，k3]，dataGalileo [1，2，...，k4]]Respectively carrying out normalization processing and converting the normalization processing into the same standard format to eliminate dimension errors, wherein the formula of the normalization processing is as follows:
wherein, the dataS w＝[pw1，pw2，...，pwn]，w＝[[1，2，...，k1]，[1，2，…，k2]，[1，2，...，k3]，[1，2，...，k4]]，n＝[n1，n2，n3，n4]，S＝[GPS，BDS，GLONASS，Galileo]，z∈[1，n]，dataS wOperational data, p, of the w-th receiving channel, denoted as S-channel State monitoring groupwzClass z entry data, p, in operational data of the w-th receive channel, denoted as S-channel State monitoring groupwzIs' a pwzThe normalized values, n1, n2, n3 and n4 are the total number of categories of the operation data of the GPS, BDS, GLONASS and Galileo receiving channels respectively;
respectively quantifying the running state similarity of all receiving channels in the GPS channel state monitoring group, the BDS channel state monitoring group, the GLONASS channel state monitoring group and the Galileo channel state monitoring group, wherein the calculation formula of the state similarity is as follows:
wherein the content of the first and second substances,monitoring group of receiving channels y for S channel state1And a receiving channel y2The degree of similarity of the states of (a),respectively denoted as receiving channel y1And a receiving channel y2Z category item data in the operation data;
presetting a state similarity threshold, and judging that the GPS receiving channel, the BDS receiving channel, the GLONASS receiving channel and the Galileo receiving channel which are in abnormal operation states exist in the GPS channel state monitoring group, the BDS channel state monitoring group, the GLONASS channel state monitoring group and the Galileo channel state monitoring group based on the state similarity threshold, specifically:
respectively counting the number of receiving channels of which the state similarity between each GPS receiving channel, BDS receiving channel, GLONASS receiving channel and Galileo receiving channel in the GPS channel state monitoring group, the BDS channel state monitoring group, the GLONASS channel state monitoring group and the Galileo channel state monitoring group and the state similarity between the remaining receiving channels and the state similarity threshold;
if the number of the receiving channels with the state similarity between the GPS receiving channel, the BDS receiving channel, the GLONASS receiving channel and the Galileo receiving channel and the state similarity between the remaining receiving channels and the state similarity threshold respectively exceeds 80% of the number of all the receiving channels in the GPS channel state monitoring group, the BDS channel state monitoring group, the GLONASS channel state monitoring group and the Galileo channel state monitoring group, the GPS receiving channel, the BDS receiving channel, the GLONASS receiving channel and the Galileo receiving channel are judged to be in the abnormal operation state.
As a preferable scheme of the present invention, in step S2, the specific method for extracting the abnormal node includes:
sequentially extracting running data of the GPS receiving channel, the BDS receiving channel, the GLONASS receiving channel and the Galileo receiving channel which are in abnormal running state and linked in time sequence within preset time lengthS iT＝[dataGPS [i1]T，dataBDS [i2]T，dataGLONASS [i3]T，dataGalileo [i4]T]Wherein i 1E [1, 2]，i2∈[1，2，...，k2]，i3∈[1，2，...，k3]，i4∈[1，2，…，k4]I1, i2, i3 and i4 respectively represent numbers of the GPS receiving channel, BDS receiving channel, GLONASS receiving channel and Galileo receiving channel in abnormal operation state, dataS iT＝[pi1T，pi2T，...，pinT]，T＝[t1，t2，..，tm]，i＝[i1，i2，i3，i4]，n＝[n1，n2，n3，n4]，S＝[GPS，BDS，GLONASS，Galileo]，dataS iT represents the running data of the receiving channel with the number i in the abnormal running state S and linked according to the time sequence, pinT represents the nth category item data in the running data linked by the receiving channel with the number i in the S receiving channel in the abnormal running state according to the time sequence, and m is the total length of the time sequence;
sequentially converting the dataS iT＝[dataGPS [i1]T，dataBDS [i2]T，dataGLONASS [i3]T，dataGalileo [i4]T]Performing fluctuation analysis on the running data of the middle adjacent time sequence to obtain a fluctuation node chain, wherein the formula of the fluctuation analysis is as follows:
wherein x isj，xj+1Is dataSitj，dataSitj+1，q(xj，xj+1) Is xj，xj+1Of the joint probability distribution function of, and q (x)j) And q (x)j+1) Are each xj，xj+1The edge probability distribution function of (1);
calibrating all fluctuation nodes on the fluctuation node chain according to a preset fluctuation threshold value, and selecting operation data positioned on time sequences at two sides of all fluctuation nodes to reserve and form an abnormal node data chain for representing the abnormal characteristics of the receiving channel;
the fluctuation node refers to a data node of which the difference between the numerical values of adjacent nodes on the fluctuation node chain exceeds a preset fluctuation threshold value.
As a preferable aspect of the present invention, in step S2, the specific method for determining the abnormality type includes:
and performing principal component analysis on the operating data of all nodes in the abnormal node data chain to extract abnormal features, and performing abnormal category matching according to the abnormal features to determine the abnormal category of the receiving channel in the abnormal operating state.
As a preferred aspect of the present invention, in step S3, the specific method for operating scheduling includes:
constructing an abnormal scheduling path of the receiving channel according to the operation state category of the receiving channel;
and selecting a scheduling scheme for the receiving channel in the abnormal operation state in the abnormal scheduling path according to the abnormal category so as to recover to the normal operation state.
As a preferred aspect of the present invention, the present invention provides a receiver according to the GNSS receiver state scheduling method, including a multi-system correlator module, a multi-system data acquisition module, and a multi-system operation scheduling module, wherein,
the multi-system correlator module is used for respectively and singly receiving a GPS satellite signal, a BDS satellite signal, a GLONASS satellite signal and a Galileo satellite signal of a GNSS satellite signal;
the multisystem data acquisition module is used for acquiring the operation data of the GPS receiving channel, the operation data of the BDS receiving channel, the operation data of the GLONASS receiving channel and the operation data of the Galileo receiving channel;
the multi-system operation scheduling module is used for performing abnormal operation analysis and operation scheduling on the receiving channel by using the operation data of the GPS receiving channel, the operation data of the BDS receiving channel, the operation data of the GLONASS receiving channel and the operation data of the Galileo receiving channel so that the GPS receiving channel, the BDS receiving channel, the GLONASS receiving channel and the Galileo receiving channel which are in abnormal operation states are recovered to normal operation states to be continuously used, and channel resources are guaranteed to be reasonably configured.
As a preferred embodiment of the present invention, the multi-system correlator module includes a GPS satellite system correlator channel group, a BDS satellite system correlator channel group, a GLONASS satellite system correlator channel group, and a Galileo satellite system correlator channel group, the GPS satellite system correlator channel group includes a receiving channel for separately receiving a plurality of GPS satellite signals, the BDS satellite system receiving channel group includes a receiving channel for separately receiving a plurality of BDS satellite signals, the GLONASS satellite system correlator channel group includes a receiving channel for separately receiving a plurality of GLONASS satellite signals, and the Galileo satellite system correlator channel group includes a receiving channel for separately receiving a plurality of Galileo satellite signals.
As a preferred embodiment of the present invention, the multi-system data acquisition module includes a GPS receiving channel acquisition component, a BDS receiving channel acquisition component, a GLONASS receiving channel acquisition component and a Galileo receiving channel acquisition component respectively disposed at signal output ends of the GPS satellite system correlator channel group, the BDS satellite system correlator channel group, the GLONASS satellite system correlator channel group and the Galileo satellite system correlator channel group to respectively acquire operation data of the GPS receiving channel, the BDS receiving channel, the GLONASS receiving channel and the Galileo receiving channel.
As a preferred scheme of the present invention, the multi-system operation scheduling module includes a GPS data processing component, a BDS data processing component, a GLONASS data processing component, and a Galileo data processing component, which are respectively connected to the GPS receiving channel collecting component, the BDS receiving channel collecting component, the GLONASS receiving channel collecting component, and the Galileo receiving channel collecting component in a communication manner, and are configured to perform abnormal operation analysis on the receiving channel by using the operation data and to formulate an operation scheduling scheme.
Compared with the prior art, the invention has the following beneficial effects:
the invention utilizes the principle that the receiving channels for receiving the satellite signals of the same category are supposed to have similar operation states, obtains the operation difference among the receiving channels by comparing the operation data of the receiving channels of the satellite signals of the same category with each other, does not need prior knowledge, can quickly judge which receiving channel is in an abnormal state, has high accuracy of abnormal judgment, utilizes the operation data on the continuous time sequence of the receiving channel in the abnormal operation state to carry out fluctuation analysis to obtain an abnormal node data chain representing the abnormal characteristics of the receiving channel, obtains the abnormal category of the receiving channel in the abnormal operation state by analyzing the characteristics of the abnormal node data chain and works out an operation scheduling scheme to ensure that the receiving channel is recovered from the abnormal operation state to the normal operation state to be continuously put into use to ensure reasonable configuration of channel resources.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
FIG. 1 is a flowchart of a GNSS receiver state scheduling method according to an embodiment of the present invention;
FIG. 2 is a schematic view of a chain of wave nodes provided by an embodiment of the present invention;
fig. 3 is a block diagram of a receiver according to an embodiment of the present invention.
The reference numerals in the drawings denote the following, respectively:
1-a multi-system correlator module; 2-multisystem data acquisition module; 3-a multi-system operation scheduling module; 4-a chain of wave nodes; 5-wave node.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1-3, the present invention provides a GNSS receiver state scheduling method, including the following steps:
the GNSS global navigation satellite system generally refers to a system that allows a position fix (positionfix) to be determined based on GNSS signals received from a plurality of GNSS satellites, and the GNSS global navigation satellite system includes satellite systems of the types of GPS satellite system, BDS satellite system, GLONASS satellite system, and Galileo satellite system, and the GPS satellite system, BDS satellite system, GLONASS satellite system, and Galileo satellite system, when performing positioning, may individually use a plurality of GPS satellites, a plurality of BDS satellites, a plurality of GLONASS satellites, and a plurality of Galileo satellites, respectively, to improve accuracy, to perform satellite positioning participation, and thus a receiving channel of a receiver is required to capture satellite signals of the plurality of GPS satellites, the plurality of BDS satellites, the plurality of GLONASS, and the plurality of Galileo satellites in real time, while receiving channels of satellite signals of the same type generally have similar operation states, and thus operation differences between the receiving channels can be known through mutual comparison of receiving channel operation data of satellite signals of the same type of satellite signals, the method can rapidly judge which receiving channel is in an abnormal state without prior knowledge, and comprises the following specific steps:
step S1, sequentially setting a plurality of GPS receiving channels, a plurality of BDS receiving channels, a plurality of GLONASS receiving channels and a plurality of Galileo receiving channels for receiving GPS satellite signals, BDS satellite signals, GLONASS satellite signals and Galileo satellite signals in the GNSS receiver into a GPS channel state monitoring group, a BDS channel state monitoring group, a GLONASS channel state monitoring group and a Galileo channel state monitoring group according to the types of the received signals, and comparing the state similarity of the GPS channel state monitoring group, the BDS channel state monitoring group, the GLONASS channel state monitoring group and the Galileo channel state monitoring group to judge that the GPS receiving channel, the BDS receiving channel, the GLONASS receiving channel and the Galileo receiving channel are in abnormal operation state;
in step S1, the method further includes collecting operation data [ data ] of a plurality of GPS receiving channels, a plurality of BDS receiving channels, a plurality of GLONASS receiving channels, and a plurality of Galileo receiving channels respectivelyGPS [1，2，…，k1]，dataBDS [1，2，…，k2]，dataGLONASS [1 ，2，…，k3]，dataGalileo [1，2，…，k4]]Wherein [1, 2., k1]，[1，2，...，k2]，[1，2，...，k3]，[1，2，...，k4]Characterized by the numbered arrays of all GPS, BDS, GLONASS and Galileo receiving channels, respectively, k1, k2, k3, k4 are the total number of GPS, BDS, GLONASS and Galileo receiving channels, respectively.
In step S1, the specific method for determining the GPS receiving channel, the BDS receiving channel, the GLONASS receiving channel, and the Galileo receiving channel in the abnormal operation state by performing state similarity comparison on the GPS channel state monitoring group, the BDS channel state monitoring group, the GLONASS channel state monitoring group, and the Galileo channel state monitoring group includes:
operating data of all receiving channels in the GPS channel state monitoring group, the BDS channel state monitoring group, the GLONASS channel state monitoring group and the Galileo channel state monitoring groupS w＝[dataGPS [1，2，...，k1]，dataBDS [1，2，...，k2]，dataGLoNASS [1，2，...，k3]，dataGalileo [1，2，...，k4]]Respectively carrying out normalization processing and converting the normalization processing into the same standard format to eliminate dimension errors, wherein the formula of the normalization processing is as follows:
wherein, the dataS w＝[pw1，pw2，...，pwn]，w＝[[1，2，...，k1]，[1，2，...，k2]，[1，2，...，k3]，[1，2，...，k4]]，n＝[n1，n2，n3，n4]，S＝[GPS，BDS，GLONASS，Galileo]，z∈[1，n]，dataS wOperational data, p, of the w-th receiving channel, denoted as S-channel State monitoring groupwzClass z entry data, p, in operational data of the w-th receive channel, denoted as S-channel State monitoring groupwzIs' a pwzThe normalized values, n1, n2, n3 and n4 are the total number of categories of the operation data of the GPS, BDS, GLONASS and Galileo receiving channels respectively;
respectively quantifying the running state similarity of all receiving channels in the GPS channel state monitoring group, the BDS channel state monitoring group, the GLONASS channel state monitoring group and the Galileo channel state monitoring group, wherein the calculation formula of the state similarity is as follows:
wherein the content of the first and second substances,monitoring group of receiving channels y for S channel state1And a receiving channel y2The degree of similarity of the states of (a),respectively denoted as receiving channel y1And a receiving channel y2Z category item data in the operation data;
presetting a state similarity threshold, and judging that a GPS receiving channel, a BDS receiving channel, a GLONASS receiving channel and a Galileo receiving channel which are in abnormal operation states exist in the GPS channel state monitoring group, the BDS channel state monitoring group, the GLONASS channel state monitoring group and the Galileo channel state monitoring group based on the state similarity threshold, specifically:
respectively counting the number of receiving channels of which the state similarity between each GPS receiving channel, BDS receiving channel, GLONASS receiving channel and Galileo receiving channel in the GPS channel state monitoring group, the BDS channel state monitoring group, the GLONASS channel state monitoring group and the Galileo channel state monitoring group and the state similarity between the remaining receiving channels and the state similarity threshold;
if the number of the receiving channels with the state similarity between the GPS receiving channel, the BDS receiving channel, the GLONASS receiving channel and the Galileo receiving channel and the state similarity between the remaining receiving channels and the state similarity threshold value respectively exceeds 80% of the number of all the receiving channels in the GPS channel state monitoring group, the BDS channel state monitoring group, the GLONASS channel state monitoring group and the Galileo channel state monitoring group, the GPS receiving channel, the BDS receiving channel, the GLONASS receiving channel and the Galileo receiving channel are judged to be in the abnormal operation state.
The method for detecting the abnormal operation state of the receiving channel based on the group management mode takes the receiving channels in the state detection groups of the receiving channels of the same type of satellite signals as a reference, judges the states of the receiving channels through mutual comparison, can identify the abnormality of the receiving channels at the early stage when the receiving channel fails, has great significance for ensuring the safe and stable operation of the receiving channels, introduces the concept of group uniform monitoring into the abnormal operation state detection, integrates the receiving channels for receiving the same type of satellite signals to form each channel state monitoring group, and is favorable for the long-term continuous supervision of the receiving channels.
Step S2, extracting abnormal nodes of the GPS receiving channel, the BDS receiving channel, the GLONASS receiving channel and the Galileo receiving channel which are in abnormal operation states in sequence, and analyzing abnormal types of the GPS receiving channel, the BDS receiving channel, the GLONASS receiving channel and the Galileo receiving channel which are in abnormal operation states according to the abnormal nodes;
in step S2, the specific method for extracting the abnormal node includes:
sequentially extracting running data of the GPS receiving channel, the BDS receiving channel, the GLONASS receiving channel and the Galileo receiving channel which are in abnormal running state and linked in time sequence within preset time lengthS iT＝[dataGPS [i1]T，dataBDS [i2]T，dataGLONASS [i3]T，dataGalileo [i4]T]Wherein i 1E [1, 2]，i2∈[1，2，...，k2]，i3∈[1，2，...，k3]，i4∈[1，2，...，k4]I1, i2, i3 and i4 respectively represent numbers of the GPS receiving channel, BDS receiving channel, GLONASS receiving channel and Galileo receiving channel in abnormal operation state, dataS iT＝[pi1T，pi2T，...，pinT]，T＝[t1，t2，..，tm]，i＝[i1，i2，i3，i4]，n＝[n1，n2，n3，n4]，S＝[GPS，BDS，GLONASS，Galileo]，dataS iT represents the running data of the receiving channel with the number i in the abnormal running state S and linked according to the time sequence, pinT represents the nth category item data in the running data linked by the receiving channel with the number i in the S receiving channel in the abnormal running state according to the time sequence, and m is the total length of the time sequence;
sequentially convert the dataS iT＝[dataGPS [i1]T，dataBDS [i2]T，dataGLONASS [i3]T，dataGalileo [i4]T]Performing fluctuation analysis on the running data of the middle adjacent time sequence to obtain a fluctuation node chain, wherein the formula of the fluctuation analysis is as follows:
wherein x isj，xj+1Is dataS itj，dataS itj+1，q(xj，xj+1) Is xj，xj+1Of the joint probability distribution function of, and q (x)j) And q (x)j+1) Are each xj，xj+1The edge probability distribution function of (1);
calibrating all fluctuation nodes on the fluctuation node chain according to a preset fluctuation threshold value, and selecting operation data positioned on time sequences at two sides of all fluctuation nodes to reserve and form an abnormal node data chain for representing the abnormal characteristics of the receiving channel;
the fluctuation node refers to a data node of which the difference between the numerical values of adjacent nodes on the fluctuation node chain exceeds a preset fluctuation threshold value.
The fluctuation analysis represents the fluctuation degree of the running data of adjacent time sequences, the lower the numerical value is, the higher the fluctuation degree is, so that the fluctuation degree numerical value of the running data of the adjacent time sequences forms a fluctuation node chain, the fluctuation of the running data of the adjacent time sequences corresponding to all data nodes on a gentle curve in the fluctuation node chain is gentle, namely the running state of the receiving channel is stable, the fluctuation of the running data of the adjacent time sequences corresponding to a skip node on the fluctuation node chain is severe, namely the running state of the receiving channel is severely abnormal, therefore, the running data of the adjacent time sequences is reserved as the data representing the abnormal characteristics of the receiving channel and is linked as an abnormal node data chain according to the time sequences, only the monitoring data of the abnormal running of the receiving channel is reflected, and the monitoring data can be used as a basic aid for the subsequent analysis of the abnormal running reasons of the receiving channel.
In step S2, the specific method for determining the abnormality type includes:
and performing principal component analysis on the operating data of all nodes in the abnormal node data chain to extract abnormal features, and performing abnormal category matching according to the abnormal features to determine the abnormal category of the receiving channel in the abnormal operating state.
The principal component analysis method can extract principal characteristic components in the abnormal node data chain data, and principal factors causing abnormal operation of the data can be obtained through the principal characteristic components.
And step S3, performing operation scheduling on the GPS receiving channel, the BDS receiving channel, the GLONASS receiving channel and the Galileo receiving channel in the abnormal operation state based on the abnormal category so as to enable the GPS receiving channel, the BDS receiving channel, the GLONASS receiving channel and the Galileo receiving channel in the abnormal operation state to be recovered to the normal operation state and to be continuously put into use to ensure reasonable allocation of channel resources.
In step S3, the specific method of operation scheduling includes:
constructing an abnormal scheduling path of the receiving channel according to the operation state category of the receiving channel;
and selecting a scheduling scheme for the receiving channel in the abnormal operation state in the abnormal scheduling path according to the abnormal category so as to recover to the normal operation state.
Specifically, the operation states of the receiving channel include, but are not limited to, an idle state, a blind acquisition state, a hot acquisition state, a bit synchronization state, an immigration initialization state, an immigration state, a tracking state, a message receiving state, and a message tracking out-of-lock state, where when the channel is in the bit synchronization state, the immigration initialization state, the immigration state, the tracking state, and the message receiving state, the channel is in a normal operation state, and there is no need to intervene in configuration of the channel resource, and when the channel is in the idle state, the blind acquisition state, the hot acquisition state, and the message tracking out-of-lock state, it may be that a corresponding satellite is blocked or invisible, so that the channel is not in an abnormal operation state, and an operation schedule needs to be performed to recover the channel to the normal operation state.
The abnormal scheduling path specifically includes:
when the operation state of the receiving channel is idle, the processing state of the satellite processing state table matched with the receiving channel is hot acquisition, which indicates that the receiver fails to acquire the satellite signal by using the existing auxiliary information, which indicates that the auxiliary information may be invalid, and the next operation should be switched to blind acquisition to expand the acquisition search range.
When the current running state of the receiving channel is idle, the processing state of a satellite processing state table matched with the receiving channel is blind acquisition, which indicates that a receiver fails to acquire the satellite, at the moment, whether the satellite is in a visible state calculated by almanac information is judged according to the almanac state, if the satellite is visible and the acquisition fails, the satellite is considered to be shielded, the satellite is switched into a waiting processing state, and the satellite is processed again when the channel resources of the receiver are surplus; if the satellite is not visible, the acquisition failure is in accordance with the actual situation, the satellite processing state matched with the receiving channel is switched to wait for processing, and the initial preset state of the next processing period of the channel is switched to be idle.
When the current operation state of the receiving channel is the immigration state, the processing state of the satellite processing state table matched with the receiving channel is the capture state (blind capture or hot capture, which indicates that the receiver successfully executes the capture program, the satellite signal is normally transferred to the tracking immigration state through capture and bit synchronization, and the processing state of the receiving channel is updated to the immigration state.
When the current running state of the receiving channel is tracking, the receiver is proved to be in a tracking state formally, the transfer path is correct, and the satellite processing state matched with the receiving channel of the receiving channel is updated to be in a tracking state.
When the operation state of the receiving channel is to realize the sub-frame synchronization of the navigation message, the sub-frame synchronization of the satellite signal navigation message by the receiver is completed, the message information can be demodulated, and the satellite processing state matched with the receiving channel and the initial preset state of the channel are updated to realize the sub-frame synchronization of the navigation message.
When the operation state of the receiving channel is a tracking unlocking state, the receiver is indicated to generate signal unlocking in the tracking process of satellite signals, whether the visibility state of the satellite is calculated or not is judged according to the ephemeris or almanac state, if the visibility state of the satellite is visible or not is judged to be visible, the unlocking is considered to be caused by temporary shielding, and the satellite processing state matched with the receiving channel and the initial preset state of the receiving channel are set as a capturing state; if the satellite is invisible, the lock losing is considered to be caused by the fact that the satellite moves to an invisible area with a too low elevation angle, the satellite processing state matched with the receiving channel is set to be waiting for processing, and the initial preset state of the receiving channel is switched to be idle.
When the satellite processing state matched with the receiving channel is a tracking state and the current operation state of the receiving channel is tracking lock losing, namely the tracking state is switched into the lock losing state, and the navigation message subframe synchronization is realized.
As shown in fig. 3, based on the GNSS receiver state scheduling method, the present invention provides a receiver, which includes a multi-system correlator module 1, a multi-system data acquisition module 2, and a multi-system operation scheduling module 3, wherein,
the multi-system correlator module 1 is used for respectively and singly receiving a GPS satellite signal, a BDS satellite signal, a GLONASS satellite signal and a Galileo satellite signal of a GNSS satellite signal;
the multisystem data acquisition module 2 is used for acquiring the operation data of a GPS receiving channel, the operation data of a BDS receiving channel, the operation data of a GLONASS receiving channel and the operation data of a Galileo receiving channel;
the multi-system operation scheduling module 3 is used for performing abnormal operation analysis and operation scheduling on the receiving channel by using the operation data of the GPS receiving channel, the operation data of the BDS receiving channel, the operation data of the GLONASS receiving channel and the operation data of the Galileo receiving channel so that the GPS receiving channel, the BDS receiving channel, the GLONASS receiving channel and the Galileo receiving channel which are in abnormal operation states are recovered to normal operation states to be continuously used and guarantee reasonable channel resource configuration.
The multi-system correlator module 1 comprises a GPS satellite system correlator channel group, a BDS satellite system correlator channel group, a GLONASS satellite system correlator channel group and a Galileo satellite system correlator channel group, wherein the GPS satellite system correlator channel group comprises a receiving channel for separately receiving a plurality of GPS satellite signals, the BDS satellite system receiving channel group comprises a receiving channel for separately receiving a plurality of BDS satellite signals, the GLONASS satellite system correlator channel group comprises a receiving channel for separately receiving a plurality of GLONASS satellite signals, and the Galileo satellite system correlator channel group comprises a receiving channel for separately receiving a plurality of Galileo satellite signals.
The multi-system data acquisition module 2 comprises a GPS receiving channel acquisition component, a BDS receiving channel acquisition component, a GLONASS receiving channel acquisition component and a Galileo receiving channel acquisition component which are respectively arranged at the signal output ends of the GPS satellite system correlator channel group, the BDS satellite system correlator channel group, the GLONASS satellite system correlator channel group and the Galileo satellite system correlator channel group so as to respectively acquire the operation data of the GPS receiving channel, the BDS receiving channel, the GLONASS receiving channel and the Galileo receiving channel.
The multi-system operation scheduling module 3 comprises a GPS data processing component, a BDS data processing component, a GLONASS data processing component and a Galileo data processing component which are respectively in communication connection with the GPS receiving channel acquisition component, the BDS receiving channel acquisition component, the GLONASS receiving channel acquisition component and the Galileo receiving channel acquisition component and are used for carrying out abnormal operation analysis on the receiving channel by utilizing the operation data and formulating an operation scheduling scheme.
The invention utilizes the principle that the receiving channels for receiving the satellite signals of the same category are supposed to have similar operation states, obtains the operation difference among the receiving channels by comparing the operation data of the receiving channels of the satellite signals of the same category with each other, does not need prior knowledge, can quickly judge which receiving channel is in an abnormal state, has high accuracy of abnormal judgment, utilizes the operation data on the continuous time sequence of the receiving channel in the abnormal operation state to carry out fluctuation analysis to obtain an abnormal node data chain representing the abnormal characteristics of the receiving channel, obtains the abnormal category of the receiving channel in the abnormal operation state by analyzing the characteristics of the abnormal node data chain and works out an operation scheduling scheme to ensure that the receiving channel is recovered from the abnormal operation state to the normal operation state to be continuously put into use to ensure reasonable configuration of channel resources.
The above embodiments are only exemplary embodiments of the present application, and are not intended to limit the present application, and the protection scope of the present application is defined by the claims. Various modifications and equivalents may be made by those skilled in the art within the spirit and scope of the present application and such modifications and equivalents should also be considered to be within the scope of the present application.
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