面向大众导航应用的精密单点定位完好性监测方法

doi:10.7527/S1000-6893.2022.27904

Abstract

Abstract:

High precision and high reliability positioning for general-purpose mass navigation applications has become a research hotspot. Integrity monitoring of Precise Point Positioning (PPP) can provide tightly integrity guaranteed absolute position error bounds for safety-critical applications. However, due to the observation quality of low-cost receivers and the effects of local occlusion in the general-purpose navigation application environment, hazard misleading information will challenge the reliability of PPP and reduce the availability of integrity monitoring. In this paper, a solution separation-based integrity monitoring algorithm is proposed based on a single and dual frequency undifferenced and uncombined PPP model. By establishing a threat model for general-purpose navigation application scenarios to suppress dangerous misleading information. Meanwhile, observation data are used to improve satellite geometric distribution, so as to improve the availability of integrity monitoring. Finally, the static experiment based on low-cost ublox receiver and dynamic experiment under local occlusion environments are designed. The results show that the proposed algorithm can produce adequate protection level, which can form the tightly guaranteed position error bounds. Moreover, the proposed algorithm can effectively suppress misleading information in the dynamic local occlusion environment, and has higher availability.

Key words: precise point positioning, integrity, general-purpose navigation application, threat model, ublox receiver

CLC Number:

V249.3

Jie ZHANG, Lin ZHAO, Fuxin YANG, Zhiguo SUN, Liang LI. PPP integrity monitoring algorithm for general-purpose navigation applications[J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(13): 327904-327904.

Figures/Tables 13

Table 1

Fig.1

Table 2

Fig.2

Fig.3

Fig.4

Table 3

Fig.5

Fig.6

Fig.7

Fig.8

Fig.9

Fig.10

References 25

1	YANG F X， ZHAO L， LI L， et al. Performance evaluation of kinematic BDS/GNSS real-time precise point positioning for maritime positioning［J］. Journal of Navigation， 2019， 72（1）： 34-52.
2	WEINBACH U， BRANDL M， CHEN X M， et al. Integrity of the Trimble@CenterPoint RTX correction service［C］∥ Proceedings of the 31st International Technical Meeting of the Satellite Division of the Institute of Navigation （ION GNSS+ 2018）. Manassas： ION， 2018： 1902-1909.
3	DU Y J， WANG J L， RIZOS C， et al. Vulnerabilities and integrity of precise point positioning for intelligent transport systems： Overview and analysis［J］. Satellite Navigation， 2021， 2（1）： 3.
4	LI L， WANG H， JIA C， et al. Integrity and continuity allocation for the RAIM with multiple constellations［J］. GPS Solutions， 2017， 21（4）： 1503-1513.
5	INNAC A， GAGLIONE S， TROISI S， et al. A proposed fault detection and exclusion method applied to multi-GNSS single-frequency PPP［C］∥ 2018 European Navigation Conference （ENC）. Piscataway： IEEE Press， 2018： 129-139.
6	GUNNING K， BLANCH J， WALTER T， et al. Design and evaluation of integrity algorithms for PPP in kinematic applications［C］∥ Proceedings of the 31st International Technical Meeting of The Satellite Division of the Institute of Navigation （ION GNSS+2018）. Manassas： ION， 2018： 1910-1939.
7	BLANCH J， GUNNING K， WALTER T， et al. Reducing computational load in solution separation for Kalman filters and an application to PPP integrity［C］∥ The International Technical Meeting of the The Institute of Navigation. Manassas： ION， 2019： 720-729.
8	BLANCH J， WALTER T， NORMAN L， et al. Solution separation-based FD to mitigate the effects of local threats on PPP integrity［C］∥ 2020 IEEE/ION Position， Location and Navigation Symposium （PLANS）. Piscataway： IEEE Press， 2020： 1085-1092.
9	ZHANG J， ZHAO L， YANG F X， et al. Integrity monitoring for undifferenced and uncombined PPP under local environmental conditions［J］. Measurement Science and Technology， 2022， 33（6）： 065010.
10	CAI C S， LIU Z Z， LUO X M. Single-frequency ionosphere-free precise point positioning using combined GPS and GLONASS observations［J］. Journal of Navigation， 2013， 66（3）： 417-434.
11	STERLE O， STOPAR B， PAVLOVČIČ PREŠEREN P. Single-frequency precise point positioning： An analytical approach［J］.Journal of Geodesy， 2015， 89（8）： 793-810.
12	LI Q， LI L， YANG F X， et al. Research on precise point positioning method of BDS-2/BDS-3 mixed-frequency based on low-cost u-blox［M］∥Lecture Notes in Electrical Engineering. Berlin： Springer， 2021： 367-378.
13	2021 Federal Radionavigation plan： DOT-VNTSC-OST-R-15-01［R］. Washington， D.C.： United States Department of Defense， United States Department of Homeland Security， United States Department of Transportation， 2022.
14	KOUBA J， HÉROUX P. Precise point positioning using IGS orbit and clock products［J］. GPS Solutions， 2001， 5（2）： 12-28.
15	张小红，左翔，李盼. 非组合与组合PPP模型比较及定位性能分析［J］. 武汉大学学报（信息科学版）， 2013， 38（5）： 561-565.
	ZHANG X H， ZUO X， LI P. Mathematic model and performance comparison between ionosphere-free combined and uncombined precise point positioning［J］. Geomatics and Information Science of Wuhan University， 2013， 38（5）： 561-565 （in Chinese）.
16	张宝成，欧吉坤，袁运斌，等. 基于GPS双频原始观测值的精密单点定位算法及应用［J］. 测绘学报， 2010， 39（5）： 478-483.
	ZHANG B C， OU J K， YUAN Y B， et al. Precise point positioning algorithm based on original dual-frequency GPS code and carrier-phase observations and its application［J］. Acta Geodaetica et Cartographica Sinica， 2010， 39（5）： 478-483 （in Chinese）.
17	ZHANG H P， GAO Z Z， GE M R， et al. On the convergence of ionospheric constrained precise point positioning （IC-PPP） based on undifferential uncombined raw GNSS observations［J］. Sensors， 2013， 13（11）： 15708-15725.
18	ZHOU F， DONG D N， LI W W， et al. GAMP： An open-source software of multi-GNSS precise point positioning using undifferenced and uncombined observations［J］. GPS Solutions， 2018， 22（2）： 33.
19	BLANCH J， WALTER T， ENGE P. RAIM with optimal integrity and continuity allocations under multiple failures［J］. IEEE Transactions on Aerospace and Electronic Systems， 2010， 46（3）： 1235-1247.
20	DEFRAIGNE P， BRUYNINX C. On the link between GPS pseudorange noise and day-boundary discontinuities in geodetic time transfer solutions［J］. GPS Solutions， 2007， 11（4）： 239-249.
21	RIFE J， PULLEN S， ENGE P， et al. Paired overbounding for nonideal LAAS and WAAS error distributions［J］. IEEE Transactions on Aerospace and Electronic Systems， 2006， 42（4）： 1386-1395.
22	ZHAO L， ZHANG J， LI L， et al. Position-domain non-Gaussian error overbounding for ARAIM［J］. Remote Sensing， 2020， 12（12）： 1992.
23	BLANCH J， WALTER T， ENGE P. Gaussian bounds of sample distributions for integrity analysis［J］. IEEE Transactions on Aerospace and Electronic Systems， 2019， 55（4）： 1806-1815.
24	BLANCH J， WALTER T， ENGE P. A MATLAB toolset to determine strict Gaussian bounding distributions of a sample distribution［C］∥ Proceedings of the 30th International Technical Meeting of The Satellite Division of the Institute of Navigation （ION GNSS+ 2017）. Manassas： ION， 2017： 4236-4247.
25	NORMAN L， INFANTE E， DE GROOT L. Integrity performance for precise positioning in automotive［C］∥ Proceedings of the 32nd International Technical Meeting of the Satellite Division of The Institute of Navigation （ION GNSS+ 2019）. Manassas： ION， 2019： 1653-1663.

类别	SF PPP	DF PPP	SDF PPP
观测量数量	2n	4m	4m+2（n-m）
估计参数数量	2n+5	3m+5	3m+2（n-m）+5
自由度	-5	m-5	m-5
所需最小卫星数	秩亏	≥5颗双频卫星	≥5颗双频卫星

配置参数	数值
数据类型	GPS（L1/L2） BDS（B1/B2）
时间长度/h	约5
采样间隔/Hz	1
完好性风险/（10^-4 h^-1）	1
连续性风险/（10^-3 h^-1）	1
先验故障概率/10^-4	3.3

配置参数	数值
数据类型	GPS（L1/L2） BDS（B1/B2）
采样间隔/Hz	1
完好性风险/（10^-4 h^-1）	1
连续性风险/（10^-3 h^-1）	1
先验故障概率/10^-4	3.3

[1]	Jiaxiang LI, Jianhua CHENG, Liang LI, Zhibo NA, Chun JIA. Troposphere anomaly integrity monitoring parameters for GBAS [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(7): 328817-328817.
[2]	Yanyan LUO, Shuo YANG, Xiaosong PAN, Xuhuai ZHAO, Li ZHANG. Signal reflection suppression and optimized design of high⁃speed connectors for aerospace applications [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(7): 328937-328937.
[3]	Jing ZHAO, Dan SONG. Integrity monitoring method for GNSS/IMU integrated navigation system of UAV [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(7): 328943-328943.
[4]	Ruijie LI, Liang LI, Jiachang JIANG, Li CHENG, Liuqi WANG. RAIM integrity risk estimation method based on worst multi⁃satellite faults searching [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(2): 328684-328684.
[5]	YU Dalei, CUI Xining, LI Chengwen, LIU Tingting, ZHOU Yong. Multi-core computing and processing platform based on CPCIe high speed bus in airborne applications [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(5): 325238-325238.
[6]	PENG Zhenlong, ZHANG Xiangyu, ZHANG Deyuan. High-speed ultrasonic vibration cutting for difficult-to-machine materials in aerospace field [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(4): 525587-525587.
[7]	CUI Degang, BAO Rui, ZHANG Rui, LIU Binchao, OUYANG Tian. Development of aircraft structural fatigue and structural integrity: Review [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(5): 524394-524394.
[8]	SUN Xiasheng, SU Shaopu, SUN Hanbin, DONG Dengke. Current status and prospect of overseas research on aeronautical fatigue [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(5): 524791-524791.
[9]	ZHAO Bo, JIANG Yan, BIE Wenbo. Ultrasonic rolling technology in surface strengthening: Progress in research and applications [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2020, 41(10): 23685-023685.
[10]	HUANG Yun, XIAO Guijian, ZOU Lai. Current situation and development trend of robot precise belt grinding for aero-engine blade [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2019, 40(3): 22508-022508.
[11]	YU Siqi, ZHANG Xiaohong, GUO Fei, LI Xin, PAN Lin, MA Fujian. Recent advances in precision approach based on GNSS [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2019, 40(3): 22200-022200.
[12]	SUN Xiasheng, XIAO Yingchun. Opportunities and Challenges of Aircraft Structural Health Monitoring [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2014, 35(12): 3199-3212.
[13]	XU Xiaohao, YANG Chuansen, LIU Ruihua. Review and Prospect of GNSS Receiver Autonomous Integrity Monitoring [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2013, 34(3): 451-463.
[14]	WU Weijia, WU Dewei, QI Junyi. Research on User Integrity Monitor Mechanism with GNSS Dual-frequency Navigation Signals [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2012, 33(12): 2246-2252.
[15]	DU Suigeng, WANG Zhibin, LU Chao, JU Jiangtao, ZHANG Jing. Study on High-speed Milling Surface Microstructure of Superalloy [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2011, 32(6): 1156-1163.

PPP integrity monitoring algorithm for general-purpose navigation applications

RichHTML

PDF (PC)

Knowledge

Abstract

Cite this article

share this article

Figures/Tables 13

References 25

Related Articles 15

Recommended Articles

Metrics

Comments