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Multi‑level autonomous integrity monitoring method for multi‑source PNT resilient fusion navigation

Satellite Navigation 2023年第3期4卷 210-226页

作者： Rui Chen Long Zhao School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China

For the integrity monitoring of a multi-source PNT(Positioning,Navigation,and Timing)resilient fusion navigation system,a theoretical framework of multi-level autonomous integrity monitoring is *** to the mode of multi-source fusion navigation,the framework adopts the top-down logic structure and establishes the navigation source fault detection model based on the multi-combination separation residual method to detect and isolate the fault source at the system level and subsystem *** isolated non-redundant navigation sources,the system level recovery verification model is *** the isolated multi-redundant navigation sources,the sensor fault detection model optimized with the dimension-expanding matrix is used to detect and isolate the fault sensors,and the isolated fault sensors are verified in ***,according to the fault detection and verification results at each level,the observed information in the fusion navigation solution is dynamically *** this basis,the integrity risk dynamic monitoring tree is established to calculate the protection level(PL)and evaluate the integrity of the multi-source integrated navigation *** autonomous integrity monitoring method proposed in this paper is tested using a multi-source navigation system integrated with Inertial Navigation System(INS),Global Navigation Satellite System(GNSS),Long Baseline Location(LBL),and Ultra Short Baseline Location(USBL).The test results show that the proposed method can effectively isolate the fault source within 5 s,and can quickly detect multiple faulty sensors,ensuring that the positioning accuracy of the fusion navigation system is within 5 m,effectively improving the resilience and reliability of the multi-source fusion navigation system.

关键词： Autonomous integrity monitoring Fault detection and isolation Multi-source PNT resilient fusion navigation protection level

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Signal quality analysis and quality check of BDS3 Precise Point Positioning in the Arctic Ocean

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Acta Oceanologica Sinica 2022年第2期41卷 166-179页

作者： Xiaoguo Guan Hongzhou Chai Guorui Xiao Zhenqiang Du Wenlong Qi Xueping Wang College of Urban and Environmental Sciences Xuchang UniversityXuchang 461000China Institute of Geospatial Information Information Engineering UniversityZhengzhou 450001China Department of Civil Engineering Henan Vocational College of Water Conservancy and EnvironmentZhengzhou 450001China

This study analyzes the signal quality and the accuracy of BeiDou 3 rd generation Satellite Navigation System(BDS3) Precise Point Positioning(PPP) in the Arctic Ocean. Assessment of signal quality of BDS3 includes signal to noise ratio(SNR), multipath(MP), dilution of precision(DOP), and code-minus-carrier combination(CC). The results show that, 5 to 13 satellites are visible at any time in the Arctic Ocean area as of September 2018, which are sufficient for positioning. In the mid-latitude oceanic region and in the Arctic Ocean, the SNR is 25–52 dB Hz and the MP ranges from-2 m to 2 m. As the latitude increases, the DOP values show large variation, which may be related to the distribution of BDS satellites. The CC values of signals B1 I and BIC range from-5 m to 5 m in the mid-latitude sea area and the Arctic Ocean, which means the effect of pseudorange noise is small. Moreover, as to obtain the external precise reference value for GNSS positioning in the Arctic Ocean region is difficult, it is hard to evaluate the accuracy of positioning results. An improved isotropy-based protection level method based on Receiver Autonomous Integrity Monitoring is proposed in the paper, which adopts median filter to smooth the gross errors to assess the precision and reliability of PPP in the Arctic Ocean. At first, the improved algorithm is verified with the data from the International GNSS Service Station Tixi. Then the accuracy of BDS3 PPP in the Arctic Ocean is calculated based on the improved algorithm. Which shows that the kinematic accuracy of PPP can reach the decimeter level in both the horizontal and vertical directions, and it meets the precision requirements of maritime navigation.

关键词： BDS3 Arctic Ocean signal quality analysis protection level quality check Precise Point Positioning satellite navigation

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A time-difference RTK model considering ephemeris error

A time-difference RTK model considering ephemeris error

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第十三届中国卫星导航年会

作者： Liu Chunhe Chai Hongzhou Xiang Minzhi Information Engineering University

The time difference RTK（TDRTK） of GNSS can obtain highprecision relative position information, which can be used to constrain the cumulative error of posi-tioning methods such as inertial navigation ***, with the increase of time interval, the cumulative error over time seriously affects the fixed success rate of differential ambiguity and relative positioning accuracy. Through in-depth analysis of the factors affecting TDRTK, it is found that the epoch difference of broadcast ephemeris error can reach the decimeter level, which is the main factor affecting the fixed success rate of differential ambiguity. In this paper, the influ-ence of ephemeris error on the positioning is weakened by three carrier ambiguity resolution and robust Mestimation, and the quality of positioning accuracy con-trolled by the isotropybased protection level. Experimental results show that this method can effectively improve the fixed success rate of differential ambiguity and positioning accuracy.

关键词： time difference RTK protection level robust M-estimation

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Integrity Monitoring of PPP-RTK based on Multiple Hypothesis Solution Separation

Integrity Monitoring of PPP-RTK based on Multiple Hypothesis...

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第十三届中国卫星导航年会

作者： Shizhuang Wang Xingqun Zhan Yingchao Xiao Yawei Zhai Shanghai Jiao Tong University GeeSpace Co.Ltd

Recent progress for high-precision positioning mainly focused on PPP-RTK,which is a precise point positioning(PPP) technique based on a realtime kinematic(RTK) ***-RTK is expected to become the mainstream positioning solution for various intelligent transportation systems(ITS) such as autonomous driving,unmanned aerial vehicles,and urban air *** studies on PPP-RTK mainly focused on improving navigation ***,for safety-critical applications,integrity is also an important performance *** PPP-RTK is usually implemented using a Kalman filter(KF),the well-known integrity monitoring schemes developed for leastsquares-based systems cannot be directly applied to *** considering the time-sequential nature of KF,we propose a user-end integrity monitoring scheme of PPP-RTK based on multiple hypothesis solution separation(MHSS) to offer high-reliability and high-precision position solutions with realtime integrity *** proposed scheme includes two key functions:real-time fault detection and rigorous protection level(PL) *** scheme captures both the faults from PPP-RTK service products and those faults introduced at the user *** are carried out with real data and simulated fault *** results suggest the effectiveness of the proposed scheme and indicate that multi-constellation PPP-RTK can offer position solutions with decimeter-level PLs(integrity risk:10

关键词： PPP-RTK Integrity Monitoring Fault Detection protection level

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