【摘要】：隨著衛(wèi)星導航相關理論研究的深入和全球衛(wèi)星導航系統(tǒng)（Global NavigationSatellite System, GNSS）的快速發(fā)展，GNSS接收機作為實時的十參數傳感器（三維位置、速度、姿態(tài)和一維時間）的導航服務性能（精度、可用性、完好性、連續(xù)性）得到了極大的提高，衛(wèi)星導航應用領域也不斷拓展，在國民經濟和社會發(fā)展中發(fā)揮的作用更加明顯。但由于GNSS固有脆弱性、差錯存在的普遍性和不確定性及信號易受遮蔽等不足，使很多用戶對GNSS所提供服務的信任程度大大降低。如果沒有完好性的服務性能作保障，GNSS只能充當輔助導航角色，也就是說GNSS作為主用導航設備必須跨越完好性這道門檻。GNSS完好性監(jiān)測相關領域的研究已經成為國際國內GNSS研究熱點之一。 本文針對當前國內外GNSS完好性監(jiān)測和性能增強技術研究中存在的一些弱點和盲點問題，依托國家高技術研究發(fā)展計劃（863計劃）課題“GNSS脆弱性分析及信號傳輸環(huán)境研究”等項目研究內容，全面分析了GNSS完好性的根源和本質；深入研究了解決GNSS完好性問題的途徑和方法；從全局高度提出了三級GNSS完好性監(jiān)測的完整理論體系，構建了GNSS完好性監(jiān)測綜合評估系統(tǒng)架構，分別應用質量控制理論、信號分析理論和一致性檢測理論實現全球系統(tǒng)級星座完好性監(jiān)測、區(qū)域增強級信息完好性監(jiān)測和終端應用級用戶完好性監(jiān)測；提出了基于質量控制的GNSS星座完好性綜合評估方法；設計和實現了GNSS信號質量伺服天線跟蹤監(jiān)測系統(tǒng)；改進了快速隨機抽樣一致完好性監(jiān)測方法；在GNSS完好性監(jiān)測性能增強技術研究方面著重分析了終端用戶接收機在有其他冗余信息可進行差分時的GNSS完好性監(jiān)測方法及輔助性能增強技術；同時也開展了GNSS姿態(tài)測量領域的完好性監(jiān)測研究。本文通過GNSS仿真和實際完好性監(jiān)測數據驗證了上述研究結果，可以為GNSS完好性監(jiān)測和性能增強提供參考，具有重要的理論意義和工程實用價值。這種層次分析方法和結論對其他衛(wèi)星系統(tǒng)（如通信、遙感、氣象、資源、偵察）的各種服務性能監(jiān)測和增強也有一定借鑒價值。 本文主體結構可分為“GNSS完好性基本理論”、“GNSS完好性監(jiān)測體系”和“GNSS完好性輔助性能增強”三個主題。本文4個主要創(chuàng)新點簡述如下： （1）全面分析了GNSS完好性問題的產生機理和內涵及外延，按施行完好性監(jiān)測的主體所在位置和特性，依據對應的分析方法理論分層次提出了三級GNSS完好性監(jiān)測的完整理論體系，并構建了GNSS完好性監(jiān)測綜合評估系統(tǒng)架構，可以為GNSS完好性監(jiān)測的研究和實施提供參考，這種層次分析方法和結論對其他衛(wèi)星系統(tǒng)的各種服務性能監(jiān)測和增強也有一定的借鑒價值。 （2）構造完好性最小可用性（MAI）和最小檢測效果黑洞比（MDEHR）兩個全球系統(tǒng)級星座完好性監(jiān)測評測指標，提出了一種涉及GNSS星座狀態(tài)、觀測條件、量測噪聲和應用需求等多種因素，基于質量控制的GNSS星座完好性綜合評估方法，從時空兩個維度去預測和實時評估星座完好性。通過大量仿真分析了BDS、GPS、QZSS和IRNSS等單個或混合星座在包括城市峽谷等極端條件下的完好性性能，得到很多量化的星座完好性評估結果。該完好性評估方法及仿真結果對導航星座配置和實際GNSS應用中的完好性預測有參考價值。 （3）按照用戶接收機的射頻、基帶和量測解算三個監(jiān)測位置分別從射頻環(huán)境、基帶處理和一致性判斷詳盡分析了各個階段的終端應用級用戶完好性監(jiān)測，在隨機抽樣一致完好性監(jiān)測（RANSAC-RAIM）的基礎上進行改進，提出了對衛(wèi)星子集進行基于GDOP預檢驗排除法和動態(tài)無閥值LOS矢量預檢驗篩選的快速FRANSAC-RAIM方法，根據真實的民航飛行場景下仿真結果表明，改進的FRANSAC-RAIM方法不但具備檢測多差錯和小差錯的能力，而且運算效率提高了1倍以上，縮短了告警時間，對于RAIM完好性告警需求意義重大。 （4）改進姿態(tài)精度因子（ADOP）求解方式，提出基于ADOP選擇衛(wèi)星組的方法，分析ADOP與基線長度及衛(wèi)星仰角關系，，提出GNSS姿態(tài)測量（GNSS-AD）完好性監(jiān)測中以姿態(tài)角為度量的姿態(tài)角告警限值（AAL）標準，給出將告警限值從距離域轉換到姿態(tài)角域的近似方程，從而將定位中的完好性方法引入到GNSS測姿中，實現GNSS測姿完好性監(jiān)測方法。利用更多種差分輔助，提出GNSS-AD完好性監(jiān)測方法，構造兩類單差在相鄰時間歷元間的差分（Delta SD-1S2A和Delta SD-2S1A）分別輔助增強檢測和排除不同誤差源引起的完好性問題，最終通過綜合兩者優(yōu)勢提出差分輔助完好性監(jiān)測方法，實現完好性增強目的。
[Abstract]:With the in-depth study of satellite navigation related theories and the rapid development of global navigation satellite system (GNSS), GNSS receiver as a real-time ten-parameter sensor (three-dimensional position, speed, attitude and one-dimensional time) navigation service performance (accuracy, availability, integrity, continuity) has been greatly improved. However, due to the inherent vulnerability of GNSS, the universality and uncertainty of errors, and the vulnerability of signal masking, many users'trust in GNSS services is greatly reduced. GNSS can only serve as an assistant navigation device, which means that GNSS as a main navigation device must cross the threshold of integrity. The research on GNSS integrity monitoring has become one of the hotspots of GNSS research at home and abroad.
Aiming at the weaknesses and blind spots in GNSS integrity monitoring and performance enhancement technology research at home and abroad, relying on the national high-tech research and development plan (863 plan) project "GNSS vulnerability analysis and signal transmission environment research", this paper comprehensively analyzes the root and essence of GNSS integrity. This paper studies the approaches and methods to solve the integrity problem of GNSS, puts forward a complete theoretical system of three-level GNSS integrity monitoring from a global point of view, constructs a comprehensive evaluation system framework of GNSS integrity monitoring, and implements global system-level constellation integrity monitoring by applying quality control theory, signal analysis theory and consistency testing theory, respectively. Domain enhancement level information integrity monitoring and terminal application level user integrity monitoring; proposed GNSS constellation integrity comprehensive evaluation method based on quality control; designed and implemented GNSS signal quality servo antenna tracking monitoring system; improved the rapid random sampling consistent integrity monitoring method; in GNSS integrity monitoring performance In the aspect of enhancement technology, the GNSS integrity monitoring method and auxiliary performance enhancement technology are analyzed when the end-user receiver has other redundant information to differentiate. At the same time, the integrity monitoring research in GNSS attitude measurement field is carried out. The above research is verified by GNSS simulation and actual integrity monitoring data. The results can provide a reference for GNSS integrity monitoring and performance enhancement, which has important theoretical significance and engineering practical value. The AHP and conclusions can also be used for other satellite systems (such as communications, remote sensing, meteorology, resources, reconnaissance) to monitor and enhance their service performance.
The main structure of this paper can be divided into three themes: "GNSS intact basic theory", "GNSS intact monitoring system" and "GNSS intact auxiliary performance enhancement".
(1) The mechanism, connotation and extension of GNSS integrity problem are analyzed comprehensively. According to the location and characteristics of the main body of GNSS integrity monitoring, a complete theoretical system of three-level GNSS integrity monitoring is put forward according to the corresponding analytical method theory, and a comprehensive evaluation system framework of GNSS integrity monitoring is constructed. The research and implementation of sex monitoring can provide a reference, and the analytic hierarchy process and conclusions can also be used for other satellite systems to monitor and enhance their service performance.
(2) The minimum availability of structural integrity (MAI) and the minimum detection effect black hole ratio (MDEHR) are two global system-level constellation integrity monitoring and evaluation indicators. A comprehensive assessment method of GNSS constellation integrity based on quality control is proposed, which involves GNSS constellation status, observation conditions, measurement noise and application requirements. Dimensions are used to predict and evaluate constellation integrity in real time. The integrity performance of BDS, GPS, QZSS and IRNSS constellations under extreme conditions including urban canyons is analyzed by a large number of simulations. Many quantitative constellation integrity evaluation results are obtained. The integrity evaluation method and simulation results are used to evaluate the configuration of navigation constellations and the actual GNSS. The prediction of integrity in application has reference value.
(3) According to the receiver's radio frequency, baseband and measurement, the terminal application-level user integrity monitoring is analyzed in detail from the radio frequency environment, baseband processing and consistency judgment. Based on RANSAC-RAIM (Random Sampling Consistent Integrity Monitoring), the baseline of satellite subset is proposed. A fast FRANSAC-RAIM method based on GDOP pre-test exclusion and dynamic threshold-free LOS vector pre-test screening is proposed. Simulation results in real civil aviation flight scenarios show that the improved FRANSAC-RAIM method not only has the ability to detect multiple errors and minor errors, but also improves the operation efficiency by more than one time, shortens the alarm time and completes RAIM. The demand for good alarm is of great significance.
(4) The method of selecting satellite group based on ADOP is proposed. The relationship between ADOP and baseline length and satellite elevation angle is analyzed. The attitude angle alarm limit (AAL) standard, which is measured by attitude angle in GNSS-AD attitude integrity monitoring, is proposed. The alarm limit is converted from range domain to attitude angle domain. The GNSS-AD integrity monitoring method is proposed by using more kinds of difference aids. The difference between two types of single difference in adjacent time epochs (Delta SD-1S2A and Delta SD-2S1A) is constructed to assist in enhancing detection and eliminating different errors respectively. The integrity problem caused by the difference source is finally improved by combining the advantages of the two methods.
【學位授予單位】：上海交通大學
【學位級別】：博士
【學位授予年份】：2013
【分類號】：P228.4

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