摘要
传统的伪距残差检测接收机自主完好性监测算法在无法获得较为准确的接收机先验位置信息时,先验位置偏差往往会对各颗卫星的伪距残差造成严重影响,从而导致故障检测与识别出错。因此可能将含有粗差的观测值用来定位,而剔除了高质量的观测值。特别是在多颗卫星观测值受粗差影响的情况下,定位精度将严重恶化。为了解决此问题,本文提出了一种基于部分可见星定位结果的鲁棒接收机自主完好性监测算法,算法首先利用了部分可见卫星观测值进行最小二乘的粗略定位,并用此定位结果来计算伪距残差量。同时为了保证此粗略定位结果的精度满足后续伪距残差检测的要求,本文还提出了一种鲁棒性的基于最小平方中值的方法对其进行精度估计。此外,本文也从理论上推导与分析了所提出的接收机自主完好性监测算法的门限值。最后利用仿真与实测数据对所提出的方法与传统最小二乘伪距残差检测法进行了性能对比测试实验,结果表明:本文所提出的方法在复杂环境下对故障卫星的漏排除率比最小二乘伪距残差检测方法有明显的降低(实验中降低了7.77%),定位结果的精度也比传统最小二乘伪距残差检测方法有明显的改善。
The conventional receiver autonomous integrity monitoring algorithm of pseudo-range residual causes large residual error without a relatively accurate priori receiver position,which may lead to fault detection and identification.Therefore,measurements with gross errors may be used in positioning instead of high quality ones,especially when there are more than one measurement being distorted by gross errors.Meanwhile,the accuracy of the positioning result will be seriously deteriorated.In order to solve this problem,a new robust receiver autonomous integrity monitoring algorithm with positioning result based on the proportion of visible satellites is proposed in this paper.Using the proportion of visible satellites,the new algorithm produces a coarse position by the least squares method to calculate the pseudo-range residual.Accordingly,a robust approach to evaluate the accuracy of the coarse position based on the least median square is also proposed to make sure the position can meet the requirements of the following fault detection.In addition,the threshold mentioned in the new algorithm is derived theoretically.Finally,the performance of the new algorithm is good in simulations and real-data-tests,compared with conventional approaches.Results show that under the complicated scenarios the new algorithm can provide a considerable reduction of the probability of miss detection（7.89%in this test）,and improve the positioning accuracy remarkably.
出处
《导航定位学报》
2016年第1期25-32,共8页
Journal of Navigation and Positioning
基金
厦门市卫星导航研发中试基地资助项目(3502Z20121010)
关键词
接收机自主完好性监测
接收机先验位置
伪距残差
故障检测与识别
鲁棒
最小平方中值
部分可见卫星
receiver autonomous integrity monitoring
priori receiver position
pseudo-range residual
fault detection and fault identification
robust
least median square
proportion of visible satellites
