Method of determining position of moving object at given moment and monitoring accuracy of position of said moving object

FIELD: physics, navigation.

SUBSTANCE: invention relates to satellite radio navigation systems. Said technical result is achieved by determining: a maintained position at a given moment, a maintained safe radius associated with the maintained position, the best position at the given moment, wherein the best position is: when data coming from an intermediate positioning device are available, the position associated with the best safe radius, wherein the best safe radius is selected by comparing, depending on a predefined selection criterion, an intermediate safe radius with the maintained safe radius, and when data coming from the intermediate positioning device are unavailable, the maintained position.

EFFECT: obtaining high-quality position data from the perspective of safe radius and availability, continuity of monitoring accuracy of the provided data.

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The present invention relates to a method of determining the position of a moving object and to control the validity of the provisions of a moving object at a given time t. Usually moving object is an aircraft.

For quantification of the reliability of the position measurement to use for the field of aviation, where reliability is a critical criterion, use the position measurement called "secure radius RP. Safe radius corresponds to the maximum error of position at a given probability of error.

As shown in Fig. 1, when a predetermined probability unreliability safe radius dimension R is the upper limit of the deviation between the computed value Pmes and the true value Pvraie measured values, which receive a probability less than a predetermined probability unreliability of what the true value is different from the calculated values for the distance exceeding the safe radius, without issuing an alarm signal in a navigation system. In other words, there is a maximum probability equal to a predetermined probability unreliable, that the measured value is outside the circle with radius equal to the safe radius around the true values.

Known the ways of determining the position of a moving object and control the validity of this provision in the moment t on the basis of the signals, coming from a group of satellites that are visible. A system that implements a method of this type, called GNSS (Global Navigation Satellite System”).

In these methods, the satellite positioning receiver installed on Board of a moving object, produces an output position of the moving object obtained by triangulation based on signals transmitted by the satellites that are visible moving object. Issued data can be at the moment not available because the receiver must be in line of sight of at least four satellite positioning system to ensure the calculation of provisions. In addition, they have variable accuracy depending on the geometry of the group, which is based on triangulation, and can be noisy, as it is based on the reception signals is very low, coming from remote satellites with low transmit power. But they are not subject to long-term deviation, because the position of the satellites moving along their orbits, known with precision over a long period. Noise and errors can be associated with defects of the satellites. Under the "fault" should be understood abnormal situation when the satellite transmits signals that seem normal, but are abnormal and lead to position errors associated with the satellite system is AMI, with the receiver or with the signal propagation between the satellite transmitter and receiver of the GNSS signals.

The main limitation of this type is the lack of availability. Provisions and calculation of reliability can be at the moment not available if the data transmitted by the satellites are not available. The same applies to the case when the satellite positioning receiver equipped with a system for assessing the accuracy and availability, called RAIM (from the Anglo-Saxon “Receiver Autonomous Integrity Monitoring”), made with the possibility of anomaly detection and alerts the user, and the system of FDE (Fault Detection Exclusion”), instantly eliminating the faulty satellite. These devices allow you to instantly reduce the error in the subsequent calculation of provisions. In this case we speak about the process of “snapshot”.

Known so-called hybrid methods INS/GNSS without improvements, which with the help of block hybridization mathematically combine the data generated by the inertial unit positioning, and data coming from the satellite positioning receiver to combine the advantages of two types of information. Inertial positioning block is usually called a system INS (“Inertial Navigation System”). It is installed on Board a moving object and contains a set of inertial sensors (gyro and Selenomethionine sensors). It is made with possibility of continuous issuance positioning data, and these data are accurate in the short term. On the other hand, these data are rejected in the long run (under the influence of defects sensors).

An example of how to define the regulations and control of their validity described in the patent application WO2008040658 filed on behalf of the applicant. In this method, the hybridization carried out using a Kalman filter. The Kalman filter takes the point position and velocity from the inertial measurement unit and measurement positioning (pseudoresistance and pseudokarst) from block positioning satellite (talk about dense hybridization or hybridization satellite axes), and it simulates the change of the errors of the inertial unit and generates a posteriori estimation of these errors, which allows you to adjust the point of positioning and velocity of the inertial unit. Hybridization is carried out in a closed loop.

Method of monitoring the accuracy of position measurement is continuous calculation of the safe radius associated with the measurement position of a moving object. Generally safe radius position measurement, calculated using the method of this type has characteristics close to the characteristics of the safe radius of the device is TBA type GNSS (usually several hundred meters with a probability of exceeding the safe radius error conditions without alarm - of the order of 10-5up to 10-7h-1).

Hybrid methods use the advantages of methods based on inertial measurement unit, and methods based on measuring the GPS unit; due to the inertial unit positioning they have the advantage of continuously issuing regulations and safe radii, the provisions do not have deviations in the long term except loss of satellite information, and secure the radii do not have sharp values during the loss of availability of satellite information. In addition, the calculated data positions are accurate close to the accuracy of the positioning GNSS, when satellite data is available.

In addition, known methods of improving GNSS type GBAS or SBAS based on the use of one or more ground stations that can identify errors in data received from the satellites, and to issue in the superior block satellite positioning, installed on Board the aircraft, individual amendments signals transmitted by the satellites.

Ways to improve give these terms of higher accuracy and, the data coming from the block satellite positioning, and to control the accuracy of these measurements by providing access to a small (usually decameter) safe radii with confidence level defined by the system (the probability of exceeding the safe radius error conditions without alarm classically ranges from 10-5up to 10-7h-1).

The way to improve SBAS (from the Anglo-Saxon “Space-Based Augmentation System) is based on system improvements that are not on Board, and on the earth and containing interconnected ground reference stations that receive data transmitted by the satellites, determine these errors, as well as relevant amendments. Amendments and validity data are sent to geostationary satellites, which transmit them in improved on-Board unit positioning. The way to improve GBAS (Ground Based Augmentation System) carried out with the aid of a Board system improvements that contains a local station whose exact position is known. Local station calculates amendments and reliability and forwards them to the onboard unit positioning, for example, by radio frequency communication.

Position and calculating the accuracy obtained using the methods of improvements that can be at the moment not available if the data is sent JV the participants, not available or if improvement system fails. In addition, they can be considered as unavailable if they do not meet the required conditions of accuracy and reliability.

Known methods of positioning based on the use of positioning devices, configured to compute the positions and control the validity of the above provisions with higher accuracy and/or less secure radii than using the above hybrid device type INS/GNSS. Information from these devices, as well as information from devices improve, maybe at some points is not available.

The present invention aims to propose a method of determining the position of a moving object and control the reliability of the position measurement, which has the advantages of a hybrid method INS/GNSS, and the improvements, or, in General, the advantages of the positioning method, which basically is more efficient than the hybrid method, but which may be at the moment not available.

In particular, the invention aims to propose a method and a system for determining the position of a moving object and control the reliability of the position measurement, which have the same small safe radii, as a way to improve (or, in General, as mentioned above, the device per se is investing), which guarantees the authenticity issued by the measurement position and which allow the measurement of provisions and monitor their reliability in continuous mode.

In connection with this object of the present invention is a method of determining the position of a moving object in the moment and to control the validity of the provisions of a moving object, while the above-mentioned method contains:

- stage memory mentioned moving object in the previous point and the associated safe radius,

- acquisition phase, when they are available, the intermediate position data received from the intermediate device positioning, and interim safe radius associated with the intermediate position coming from these devices and intermediate positioning

the step of obtaining data of the hybrid speed and safe radius associated with a hybrid speed determined by the block hybridization INS/GNSS,

- identify phase supported the provisions in the moment by adding the position of a moving object in the previous time integral of the hybrid speed between the previous time and this time,

- identify phase supported safe radius associated with a supported position by means add the value to the safe radius position in the previous time, integral secure radius hybrid speed between the previous time and this time,

- the stage of determining the best position at the moment, the best position is:

- when data is received from the intermediate device positioning, available, position, associated with the best safe radius, the best safe radius is chosen by comparing, depending on predefined selection criteria, interim safe radius to maintain a safe radius at the moment,

- when data is received from the intermediate device positioning is not available, supported the position at the moment.

The method in accordance with the present invention may also have the following characteristics, taken separately or in combination:

block hybridization applies a correction method based on the independence of faults that occur on different satellites

the selection criterion is to identify, as best safe radius, the smallest safe radius among intermediate safe radius associated with the intermediate position, and maintain a safe radius associated with a supported position,

the step of obtaining a safe radius hybrid speed preds which corresponds to the phase determining unit hybridization horizontal and/or vertical) of the safe radius hybrid speed, contains the following steps:

the determination of the auxiliary horizontal and/or vertical) of the safe radius hybrid speed when the so-called assumption H1, according to which one of the raw measurements is wrong,

the determination of the auxiliary horizontal and/or vertical) of the safe radius hybrid speed when the so-called assumption H0, according to which none of the raw measurements is not wrong,

determining horizontal and/or vertical) of the safe radius hybrid speed as the maximum of the auxiliary horizontal and/or vertical) safety radii hybrid speed, and the determination of the auxiliary horizontal and/or vertical) safety radii hybrid speed based on the determination of the radius of the circle circumscribed around the condence ellipse in the horizontal and/or vertical) plane, and the confidence ellipse is determined on the basis of the variance-covariance matrix and the desired probability values.

The object of the present invention is also a global system intended for installation on Board of a moving object, while the global system contains:

a subsystem, implemented with the applicability of the method in accordance with h is a worthwhile invention,

- inertial measurement unit issuing inertial data

the satellite positioning receiver, receiving signals from groups tracked visible satellites and outstanding raw data

block hybridization of issuing hybrid data speed and safe radius hybrid speed on the basis of inertial output data of the inertial measuring unit, and the raw data generated by the satellite positioning receiver;

- device intermediate positioning, outstanding intermediate positioning data and the related interim safe radii.

The global system may also have the following characteristics, taken separately or in combination:

- device intermediate positioning is improved positioning device,

- moving object is an aircraft.

The method in accordance with the present invention allows to obtain more qualitative data on the situation from the point of view safe radius and availability than using only system improvements or than when using classical block hybridization. In addition, this method allows us to constantly monitor the accuracy of data provided. They say that the position measurement, the war is implemented using the method, always provided for a given level of confidence.

In addition, because of the hybrid speed, the position of the positioning device are supported with very high accuracy. In addition, position and secure the radius, calculated using the method in accordance with the present invention, are more supported position and secure radius, and not by position and secure radius hybrid position, when the information received from the positioning device, inaccessible or corrupted. Thus, position and secure the radius of the provisions provided by using the inventive method, are the best (from the point of view safe radius)than hybrid values. Indeed, initialize them with values received from the intermediate device positioning, which is more efficient from the point of view of the safe of the radius to the occurrence of the malfunction or unavailability than hybrid device.

Furthermore, the method in accordance with the present invention allows to provide position using (via hybrid speed, which has good characteristics) hybridization type INS/GNSS even in case of loss or improve generally devices of the intermediate positioning.

Other characteristics and advantages of the invention will be more than chevigny from the following detailed description, presents as a non-restrictive example, with reference to the accompanying drawings, on which:

Fig. 1 (already described) is an example of a safe radius.

Fig. 2 is a schematic view of the declared global system for determining the position of a moving object and authenticity control provisions.

In these figures the same elements are denoted by the same positions.

In Fig. 2 shows the global system 1, which used the method of determining the position of a moving object and to control the validity of the provisions in the moment, in accordance with the present invention.

Global system 1, designed for mounting on a moving object, such as an aircraft, comprises a receiver 10 GNSS satellite positioning, receiving signals from the group of N tracked visible satellites. The receiver 10 satellite positioning GNSS throws an unhandled measurement MBisignals transmitted by the satellites, while i indicates the index of the satellite, comprising from 1 to N. the global system also includes a device 5 intermediate positioning DPOS, which calculates the data of the vertical position and secure the radii and sends them to the engine 3, S. This device intermediate positioning is performed with calculation of provisions that predpochtite is correctly have the best safe radii, than hybrid device INS/GNSS, but which can be at some points is not available (in case of fault or, for example, if the data does not meet a predetermined condition of reliability). In addition, the quality of the information provided by the device, from the point of view of the safe radius, can at some point get worse. For example, we are talking about the positioning device based on the receiver snapshot images (on the Anglo-Saxon “snapshot”), or device designed to provide accurate and unambiguous position when passing over the exact point.

For greater clarity, this positioning device is called a device intermediate positioning, computes intermediate position PPOS and horizontal and/or vertical safe radii RPhPOS and/or RPvPOS associated with the intermediate position.

In an embodiment shown in Fig. 2, the intermediate device positioning is improved positioning device installed on Board the aircraft and configured to receive signals when they are available, from the group of N tracked visible satellites and not shown amendments COR when they are available, provided no on-Board positioning system. Eliminate the STW 5 intermediate positioning DPOS is for example, device type SBAS or GBAS. In a variant of the improved positioning system adopts amendments COR and the raw data coming from the receiver to the satellite positioning GNSS.

In this embodiment, the intermediate position PPOS and intermediate vertical RPvPOS and/or horizontal RPhPOS safe radii are improved regulations and safe radii, that is, the data calculated from the raw satellite data, adjusted for amendments received from non-Board system improvements. Data from the onboard improved positioning device is available only when the available satellite information and when you work side and not on-Board an improved positioning device.

Global system 1 contains an inertial measurement unit 20, the measurement UMI containing not shown the gyro and accelerometers and outstanding inertial data INFI in increments of angles generated by the gyro, and speed increments generated by the accelerometers. Global system 1 also includes a block 2 hybridization UI, receiving inertial data INFI issued by the inertial measurement unit UMI 20, and the raw data MBiissued by the receiver 10 GNSS satellite positioning. Unit 2 hybridization UI is the fast block type INS/GNSS. In other words, it is mathematically combines data provided by the inertial measurement unit, and the data provided by the satellite positioning receiver, for calculating at every moment t hybrid velocity.

Unit 2 hybridization UI gives the dimension of the hybrid speed VHY and vertical RPvVHY and/or horizontal RPhVHY safe radii hybrid speed-related measurements of the hybrid speed VHY.

Unit 2 hybridization UI made with the ability to provide safe radii hybrid speed RPvVHY, RPhVHY, typically of the order of a few 10-2m/s with the probability that the error of the hybrid speed exceeds the safe radius without alarm, of the order of 10-5up to 10-7h-1.

What follows is a description of the example of block 2 hybridization UI, as well as the requested method of calculating the safe radius hybrid speed RVHY(τ) block hybridization or, in certain cases, subsystem 3. Unit 2 hybridization UI described in the patent application WO2008040658. It contains:

filter hybridization Kalman,

- set of N auxiliary filters

- virtual platform, receiving data from the inertial measurement unit

computing module.

Virtual platform gives point hybrids the th positioning and hybrid speed, this PPVI is accordingly a hybrid position and hybrid speed. The output of the hybrid unit 2, the UI contains a hybrid rate issued by the virtual platform, as well as horizontal and vertical safe radii hybrid speed.

Preferably the virtual platform uses barometric height measurement, to avoid leaving a hybrid position on the vertical axis.

Filter hybridization Kalman estimates the errors in the inertial positions PPVI and issues:

the state vector VE, corresponding to the errors of the hybrid system and received by means of the tracking deviation between the inertial point positioning and speed PPVI and the corresponding raw measurements MBi,

- the variance-covariance matrix MHYP error made in the estimation of the state vector VE,

hybrid amendment, which provides an assessment of the state vector VE.

Description of the composition and functions of the Kalman filter and the auxiliary filter is presented in a patent application WO2008040658, which describes, in particular, the correction method used to block hybridization, which corrects the hybrid values of position and velocity on the basis of satellite data. The correction method can correct the error rate associated with weeks is the action of the inertial sensors and the pitfalls affecting the data provided by satellites, by evaluating the errors in the inertial positions PPVI on the basis of satellite data and by eliminating faulty satellites to provide data with good accuracy. For this unit hybridization contains several parallel Kalman filter, the main filter works in conjunction within the visible satellites, and auxiliary filters work on all satellites within view, except for one. This architecture ensures that one of the auxiliary filters have not been influenced by the possible faulty satellite. The correction method is based on the fact that a fault on one satellite does not depend on fault on other satellites. It works only when a failure of one satellite does not affect other satellites. In the embodiment, the correction method adjusts the hybrid position and speed by evaluating the deviation between the inertial terms and provisions, calculated on the basis of satellite data, and then compensate the deviation between the values in the continuous mode.

The processing module receives the data of the hybrid speed and variance-covariance matrix, and determines the importance of the safe radius hybrid speed. E is from the method of calculating the same way, used to calculate the safe radius of the provisions in the patent application WO2008040658, but they are calculated on the basis of the hybrid speed, and not on the basis of the hybrid position. The method of computing summarised below in application to calculate the horizontal safe radius hybrid speed. Calculation of vertical safe radius hybrid speed is similar, and its description is omitted.

In the absence of a malfunction of the satellite estimate auxiliary intermediate safe radius hybrid speed RPhVHYH0assuming, denoted by H0according to which none of the raw measurements is not incorrect. This interim safe radius is directly related to the variation of speed and with probability Pnithe fact that this error exceeds a safe radius. The measured quantity (in this case speed) corresponds to the ratio of the diagonal of the variance-covariance matrix. The standard deviation σ is the square root of this variation, and therefore it is removed from the matrix R.

Define auxiliary horizontal safe radius hybrid speed RPhVHYH1assuming, denoted by H1according to which one of the raw measurements, MBi (coming from sat the ka i) is erroneous, using the method of maximum separation (calculation described in the patent application WO2008040658).

Determine the horizontal safe radius hybrid speed as the maximum of the auxiliary horizontal safe radii hybrid speed RPhVHYH0RPhVHYH1.

The maximum is based on the definition of a circle described around the condence ellipse in the horizontal plane. The confidence ellipse is determined on the basis of the variance-covariance matrix of the hybrid speed and the desired probabilities. This calculation is described in the patent application WO2008040658.

Preferably the determination of the auxiliary horizontal safe radius based on the desired probability value of an alarm signal and the desired value of probability of failure detection. Preferably the determination of the auxiliary horizontal safe radius hybrid speed RPhVHYH0based on the desired value of the failure probability of detection and probability of occurrence is not detected malfunction of the satellite.

Global system 1 further comprises a subsystem 3, S, mounted on a moving object, which applies the method in accordance with the present invention. To do this, it retrieves the data hybrid soon the ti VHY and safe radius hybrid speed RPVHY. Subsystem 3, S also receives when they are available, data intermediate position PPOS and interim safe radius RPPOS associated with an intermediate position PPOS.

Secure the radii of the hybrid speed RPVHY are either horizontal or vertical safe radii, or a combination of horizontal and vertical safe radii. In this latter case, the delivery of secure radii hybrid speed RPVHY precedes the stage of obtaining the horizontal and/or vertical safe radii and the step of calculating the combination of these two radii block hybridization or subsystem. Similarly, intermediate safe radii are either horizontal or vertical safe radii intermediate position, or a combination of horizontal and vertical safe radii. Choose safe vertical radii, if you're going to land and I want to get an accurate measurement of the position in the vertical direction, a horizontal safe radii, if you want to make a flight in a narrow zone in the horizontal direction (for example, between two mountains), a combination of vertical and horizontal safe radii, if you want to weigh the value of the corresponding radii depending on the configuration of the flight.

On the basis of the NII these data subsystem 3 determines the position P(t) of a moving object and controls the validity of this provision, calculating at least one safe radius position RP(t)associated with the position P(t), for a given level of confidence.

The method in accordance with the present invention, used by subsystem 3, S, is as follows: at the initial moment t=0 initialize the initial position of a moving object and safe radius position RP(t=0) for the corresponding values of the intermediate position PPOS(t=0) and intermediate safe radius position RPPOS(t=0). To start the method in accordance with the present invention, it is necessary to obtain a position value and a safe distance from the device intermediate positioning.

Assume that the known safe radius position RP(t-Δt) and the associated position P(t-Δt) at time t-Δt prior to this point in the time interval Δt. To determine the position of a moving object at a given time t determine the position, which is associated with the best safe radius at this point.

This identifies the supported position PI(t), adding to the position P(t) of a moving object integral hybrid speed between the previous time t-Δt and the time t:

PI(t)=P(t-Δt)+(t)dt

Determine also supported safe radius position RPI(t)associated with a supported position PI(t). This radius receive, adding to the safe radius RP(t) of the previous time integral of the safe radius hybrid speed RPVHY(t) between the previous time t-Δt and the time t:

RPI(t)=RP(t-Δt)+t=t-Δtt=tRPVHY(t)dt

After that, depending on a predetermined selection criterion, compare maintain safe radius position RPI(t) and intermediate safe radius position RPPOS(t).

Preferably, the selection criterion is that the best safe radius is considered the smallest radius.

The position P(t), calculated by the device with the availa able scientific C with the present invention, is the best position from the point of view safe radius. In other words, this provision, which has the best safe radius.

If the information from the intermediate device positioning is available, then the position P(t)provided by the device in accordance with the present invention, a supported position PI(t).

It should be noted that the hybrid speed (derived from a hybrid position)provided by the unit 2 hybridization UI is very accurate (typically, the error rate is several cm/s), because, on the one hand, the errors in the data rate coming from the satellites, as a rule, are very small because the error in satellite position changes very slowly, on the other hand, in case of loss of satellite data error in a hybrid velocity change for the worse very slowly, considering the very nature of inertial data.

When the information received from the intermediate device positioning becomes distorted, safe radius intermediate position for a given confidence level increases. They say that the position received from the intermediate device positioning is less quality from the point of view safe radius. If distortion or sweat the I information associated with loss of satellite data, hybrid data are also beginning to be distorted (but slowly). On the other hand, if the misrepresentation or the unavailability associated with malfunction of the intermediate positioning, quality hybrid data is not changed.

Suppose that in an embodiment in which the intermediate device positioning device is improved, this device improve is the quality degradation associated with deterioration in the quality of satellite data, since deterioration of td. Before the deterioration of the position P(t) and the associated safe radius RP(t) of a moving object are respectively superior position PAUG and improved safe radius RPAUG at the same time. Before deterioration improved safe radius position is less than the supported secure radius position.

When the information coming from the device improve, worsens, better safe radius position increases in contrast to the safe radius associated with hybrid speed. When the position P(t) is supported by the position PI(t), as soon as improved safe radius position exceeds the supported secure radius RPI(t). Thus, the method according to the first variant implementation of the invention provides a position measurement, the safe radius which, for the top is the confidence level, increases less rapidly than the safe radius superior position, after the deterioration of device improvements.

Suppose also that the information coming from satellites, lost. Improved safe radii provisions are not available. Position, calculated using the method in accordance with the present invention, a supported position.

Therefore, when the intermediate device positioning provides the best information provisions than the supported position, calculated using the method in accordance with the present invention, an intermediate position, and as soon as the device intermediate positioning provides lower quality information than the supported position, from the point of view of the safe radius, the calculated position is supported by the position.

Monitoring the reliability of the position P(t), computed using the method in accordance with the present invention, is implemented by calculating at least one safe radius RP(t)associated with the position. Because the best position is the position that has the best safe radius, the method in accordance with the present invention automatically calculates the safe radius.

You can calc the th additional safety radii based on the safe radius, which were not used by subsystem 3. If the best position is an intermediate position, and it was determined on the basis of safe vertical radii, horizontal safe radius is intermediate horizontal safe radius, coming into the subsystem's device intermediate positioning. If the best position is supported position and it was determined using the method in accordance with the present invention, the horizontal safe radius is supported a horizontal safe radius. Supported horizontal safe radius is calculated by adding to the horizontal safe radius of the previous time integral horizontal safe radius speed between the previous point and the given point.

The application of the method in accordance with the present invention does not require changes to blocks hybridization or devices intermediate positioning. For the application of the method in accordance with the present invention there is no need to specially provided for the unit hybridization. Only add a subsystem that uses the method in accordance with the present invention, to the classic block hybridization to a known device intermediate the positioning is found.

The method in accordance with the present invention is of particular interest when the device intermediate positioning device is improved, and when the hybrid unit applies a correction method, which is based on the independence of faults that appear on different satellites. In this case, the input hybrid device impossible to use advanced measurement GNSS improved measurement interconnected. Indeed, when the system improvement appears to fail (for example, if it is based on the position reference stations whose value is erroneous, or if during a data transfer error, etc), this failure is reflected in the amendments introduced into the signals transmitted by different satellites. Applying the method in accordance with the present invention without using an improved data input unit hybridization, take advantage of as devices improve, and hybrid devices.

In addition to aircraft moving object may be, for example, a ship or a land vehicle.

1. The method of determining the position (P(t)) of a moving object at a given moment (t) and control the reliability of the provisions of a moving object, characterized in that it contains:
- stage memory (P(t-Δt)) mentioned the th of a moving object in the previous time (t-Δt) and the associated safe radius (RP(t-Δt)),
- acquisition phase, when they are available, the intermediate data of the position (PPOS)coming from the device (5) intermediate positioning DPOS, and interim safe radius (RPPOS)associated with the intermediate position (PPOS), coming from the said device (5) intermediate positioning DPOS,
the step of obtaining data of the hybrid speed (VHY) and safe radius hybrid speed (RPVHY)associated with a hybrid speed (VHY)defined by the block (2) hybridization UI INS/GNSS,
- identify phase supported position (PI(t)) at the moment (t) by adding to the position (P(t-Δt)) of the moving object in the previous point, integral hybrid speed (VHY) between the previous time (t-Δt) and the time (t),
- identify phase supported safe radius (RPI(t))associated with a supported position, by adding to the safe radius (RP(t-Δt)) of the position in the previous time (t-Δt), the integral of the safe radius hybrid speed (RPVHY) between the previous time (t-Δt) and the time (t),
- the stage of determining the best position at the moment (t), the best position is:
- when data is received from the intermediate device positioning, available, position, associated with the best safe radius, the best safe radius of you who eraut by comparison, depending on predefined selection criteria, interim safe radius (RPPOS) to maintain safe radius (RPI) at the moment,
- when data is received from the intermediate device positioning is not available, is supported by the position at the moment,
at this position (P(t)) of a moving object is in the best position.

2. The method of determining the position (P(t)) of a moving object at a given moment (t) and control the reliability of the above-mentioned provisions of the preceding paragraph, characterized in that the block (2) hybridization UI applies a correction method based on the independence of faults that occur on different satellites.

3. The method of determining the position (P(t)) of a moving object at a given moment (t) and control the reliability of the above-mentioned provisions according to any one of claims 1 to 2, characterized in that the selection criterion is to identify as the best safe radius of the smallest safe radius among intermediate safe radius (RPPOS)associated with the intermediate position (PPOS), and maintain a safe radius associated with a supported position.

4. The method of determining the position (P(t)) of a moving object at a given moment (t) and control the reliability of the above-mentioned provisions according to claim 1, characterized in that the step of obtaining bezopasnosti hybrid speed is preceded by the step of determining the block (2) hybridization UI horizontal and/or vertical) of the safe radius hybrid speed, contains the following stages:
- determination of the auxiliary horizontal and/or vertical) of the safe radius hybrid speed when the so-called assumption H1, according to which one of the raw measurements, MBi is wrong,
- determination of the auxiliary horizontal and/or vertical) of the safe radius hybrid speed when the so-called assumption H0, according to which none of the raw measurements, MBi is not wrong,
- determination of horizontal and/or vertical) of the safe radius hybrid speed as the maximum of the auxiliary horizontal and/or vertical) safety radii hybrid speed, and the determination of the auxiliary horizontal and/or vertical) safety radii hybrid speed based on the determination of the radius of the circle circumscribed around the condence ellipse in the horizontal and/or vertical) plane, and the fact that the condence ellipse is determined on the basis of the variance-covariance matrix and the desired probability values.

5. Global system for (1) determining the position of a moving object in the moment and to control the validity of the provisions of a moving object, intended for installation on Board of a moving object, while the global system 1) contains:
- the subsystem S (3)made with the possibility of application of the method according to any one of claims 1 to 4,
- inertial measurement unit (20) UMI issuing inertial data (INFI),
receiver (10) satellite positioning GNSS receiving signals from groups tracked visible satellites and outputs the raw data (MBi),
block (2) hybridization UI issuing hybrid data speed (VHY) and secure radius hybrid speed based on the inertial data (INFI), issued by the inertial measuring unit (20) (UMI), and raw data (MBi), issued by the receiver (10) satellite positioning GNSS,
device (5) intermediate positioning DPOS issuing these interim provisions (PPOS) and associated interim safe radii (RPPOS).

6. The global system (1), intended for installation on Board of a moving object in the previous paragraph, characterized in that the device intermediate positioning is improved positioning device for delivering these provisions are more accurate than data coming from the block satellite positioning, and control the reliability of these measurements with a level of confidence determined by the system.

7. The global system (1) according to any one of pp.5-6, characterized in that the moving object is the I aircraft.



 

Same patents:

FIELD: information technology.

SUBSTANCE: method is realised by a hybridisation device comprising a bank of Kalman filters, each working out a hybrid navigation solution from inertial measurements calculated by a virtual platform and raw measurements of signals emitted by a constellation of satellites supplied by a satellite-positioning system (GNSS), and comprises steps of: determination for each satellite of at least one probability ratio between a hypothetical breakdown of given type of the satellite and a hypothetical absence of breakdown of the satellite, declaration of a breakdown of given type on a satellite based on the probability ratio associated with this breakdown and of a threshold value, estimation of the impact of the breakdown declared on each hybrid navigation solution, and correction of hybrid navigation solutions according to the estimation of the impact of the breakdown declared.

EFFECT: determining the type of breakdown.

14 cl, 3 dwg

FIELD: radio engineering, communication.

SUBSTANCE: compound navigation method combines satellite and radar ranging navigation techniques based on ground-based beacons, wherein satellite signals are received both on-board the aircraft and at the row of ground-based beacons, including at ground-based beacons at the landing strip. The ground-based beacons constantly refine base coordinates, determine differential corrections to coordinates and differential corrections to pseudo-ranges, generate a packet of correcting information with said differential corrections, errors in determination thereof, calculated tropospheric refraction data and the refined base coordinates of the ground-based beacons. Based on a request from an aircraft, the ground-based beacon emits, through a distance measurement channel, a signal with correcting information which includes differential corrections only in form of differential corrections to coordinates. The aircraft calculates navigation parameters taking into account correcting information, performs compound data processing and continuous comparative estimation of errors. Upon reaching the aerodrome area and landing, if the error value according to the satellite technique is less, the mode of generating a sequence of request ranging signals of the row of ground-based beacons is switched to a mode for requesting only one ground-based beacon located at the landing strip, wherein on the aircraft, differential corrections in the correcting information are transmitted only in form of differential corrections to pseudo-ranges. Refined coordinates of the aircraft are calculated from the corrected pseudo-ranges.

EFFECT: high reliability and accuracy of determining aircraft coordinates.

9 cl, 2 dwg, 2 app

FIELD: radio engineering, communication.

SUBSTANCE: three-dimensional positioning apparatus (10) with a secondary radar base station (12), designed to measure range to repeaters (14) and has at least one radar antenna (16), has a GNSS receiver (18), designed to measure GNSS signals and has a GNSS receiving antenna (20), an inertial measuring unit (22), designed to determine the position of the GNSS receiving antenna, as well as at least one radar antenna in a common coordinate system relative a zero point, and an integrating processor (24, 30, 31), to which are transmitted psedorange measurements of the GNSS receiver, radar range measurements, and movements of the apparatus relative the axis of the common coordinate system measured by the inertial measuring unit (22), and which determines the three-dimensional position of the common reference point by combining the measurements and data, and arm compensation is carried out based on the measured movements.

EFFECT: high accuracy of positioning.

13 cl, 4 dwg

FIELD: radio engineering, communication.

SUBSTANCE: method comprises the following steps of correcting predictions of a parameter included in a received and time-variable signal: estimation of the prediction error based on a first set of values estimated during a determined time period by comparing these values with values previously predicted for the same determined time period; analysis of the predicted time series of prediction errors by a method of processing the signal and isolating the contributions of the systematic effects, extrapolation of the behaviour of the contributions of the systematic effects during the time period concerned and correction of the predictions using the duly extrapolated values.

EFFECT: correcting prediction of values of time-variable signals subjected to interference by various uncontrollable systematic effects without limitations to existing solutions.

3 cl, 3 dwg

FIELD: radio engineering, communication.

SUBSTANCE: system includes receiving stations (4) for receiving signals transmitted from the spacecraft (6) and a processing station (2) for receiving data from the receiving stations (4), where each receiving station (4) records, during a recording window (8), signals transmitted from the spacecraft (6) and transmits, to the processing station (2), data representing the recorded signals. The recording windows (8) associated with each of the receiving stations (4) are offset and/or have different size with respect to each other. The processing station (2) correlates the recorded signals to estimate the distance difference between the spacecraft (6) and each of a plurality of receiving stations and to estimate the spacecraft (6) position.

EFFECT: avoiding the need to send a reference signal pattern, emission by the spacecraft of any trigger sequence and the need to adapt the spacecraft, and improved estimation of the position of the spacecraft.

22 cl, 10 dwg, 1 tbl

FIELD: radio engineering, communication.

SUBSTANCE: indoor installation transmitter (200-1) is capable of providing position information using a second positioning signal which is compatible with the first positioning signal, which is a spread spectrum signal from each of a plurality of satellites. The indoor installation transmitter (200-1) has EEPROM (243) memory which stores position data for identification of the installation position thereof, FPGA (245) for generating a second signal, which includes position data in form of a spread spectrum signal and a transmitting unit (251-258) for transmitting a spread spectrum signal. The second positioning signal is generated to repeat the same content in a cycle which is shorter than for the first positioning signal.

EFFECT: providing position information without deterioration of accuracy even in a position where it is impossible to receive radio waves from a satellite which emits positioning signals, and shorter time required to obtain position information.

10 cl, 26 dwg

FIELD: radio engineering, communication.

SUBSTANCE: measurement error is detected using statistical estimation based on calculation of residual measurements, which particularly enables, independent of any ground segment (i.e. using a RAIM function), to increase efficiency of the available receiver (designated as "primary") without an integrity monitoring function, detect possible errors which distort input measurements for position calculation owing to use of a robust statistical estimation algorithm, i.e. an algorithm which is not susceptible to measurement errors, and with use of a dynamic criterion, and calculate a robust position adjustment provided by the primary receiver, with exclusion of any such detected error.

EFFECT: protecting a user of a radio navigation receiver from aberrational pseudodistance measurements.

16 cl, 1 dwg

FIELD: radio engineering, communication.

SUBSTANCE: in order to estimate an indication (11) of integrity of the system with respect to location errors (2) of very low probability, lower than or equal to about 10-7, the following steps are carried out in real time: measurement of data calculated by the system; calculation of a model of distribution H of location calculation errors (2) of the system; determination of parameters characterising the distribution model (H); modelling, in the probability domain, of the tail of the distribution H(x) by a calculation means as a function of said parameters applied to the extreme values theory; comparison in real time of the distribution of location errors with a tolerance threshold for providing an indication of integrity; and transmission in real time of the indication (11) of integrity of the system.

EFFECT: solving problems of estimating integrity margin of a satellite navigation system for malfunction events of very low probability.

7 cl, 3 dwg

FIELD: radio engineering, communication.

SUBSTANCE: invention can be used to determine reference location of a base station in a differential global navigation satellite system (GNSS). The base station includes a storage device, a logic controller and a GNSS receiver. Stored reference locations are stored in the storage device in form of sets of coordinates; the GNSS receiver determines the current estimate location of the base station in form of a set of coordinates having components. The logic controller reads the stored reference location and converts components of the stored reference location and components of the current estimate location into a binary string format, after which matching of the current estimate location with the stored reference location is established by establishing matching of the binary string component corresponding to the current estimate location with binary string components corresponding to the stored reference location. If it is established that the stored reference location matches the current estimate location, the stored location is considered the reference location of the base station.

EFFECT: determining the reference location of a base station with high accuracy.

15 cl, 6 dwg

FIELD: radio engineering, communication.

SUBSTANCE: network comprises an aeronautical segment (200) having an aeronautical user segment composed of a plurality of aircraft (2) having on-board radio-frequency receivers (21) capable of measuring delays of the navigation signals transmitted by the satellites (GNSS) and an aeronautical data communication means (5) between the plurality of aircraft (2) and the ground segment (300) in order to transmit measurements to the ground segment (300), and means, at the level of the ground segment (300), of receiving measurements used for calculating said grid, the measurements of delays coming from the plurality of aircraft (2) and from the plurality of ground stations (SBAS G).

EFFECT: high reliability in the communication structure of ionosphere corrections using existing aircraft communication lines directed towards a ground segment, high accuracy of corrections, enabling detection of small ionosphere perturbations, eliminating constraints for coverage of sea areas or mountain areas.

8 cl, 3 dwg

FIELD: physics.

SUBSTANCE: network element (M) for generating backup data has a control element (M.1) for generating back up data relating to one or more base stations (S1, S2) of at least one navigation system, and a transmitting element (M.3.1) for transmitting back up data over a communication network (P) to a device (R). The positioning device (R) has a positioning receiver (R3) for positioning based on one or more signals transmitted by base stations (S1, S2) over at least one of the said satellite navigation systems; a receiver (R.2.2) for receiving back up data relating to at least one navigation system from the network element (M); and an analysis element (R.1.1) adapted for analysing the received back up data in order to detect information relating to the status of the said one or more signals from the base stations (S1, S2) of the navigation system. The said information relating to the status of the said one or more signals from the base stations (S1, S2) contain indicators to the base station (S1, S2) to which the signal relates, and the said status, which indicates suitability of the signal for using. The device (R) is adapted such that, the signal indicated as unsuitable for use is not used for positioning.

EFFECT: increased accuracy of determining location by providing the positioning device with a list of defective signals transmitted by a specific satellite.

29 cl, 6 dwg, 5 tbl

FIELD: radio engineering.

SUBSTANCE: there determined is location of reference station in reference station according to signals received in it from complex of satellites, there determined is location of user receiver where user is located on the basis of measurement results received in it and on the basis of modification values calculated in reference station for correction of errors and there calculated is vector of relative position by calculating difference between location of reference station and location of the user.

EFFECT: improving determination accuracy of object location.

19 cl, 9 dwg

FIELD: physics.

SUBSTANCE: proposed method comprises reception of radio signals, analysis of output data of a group of receivers in combination with the data of weather pickups, and generation of navigation data quality signals and corrections to said data for its consumers.

EFFECT: higher probability of detecting intolerable abnormality of navigation satellite signals coming from all operated navigation systems GLONASS, GPS and GALILEO.

2 cl, 1 dwg

FIELD: physics.

SUBSTANCE: navigation system calculates positions which are corrected using complementary filters, each of which excludes data coming from one of the satellites when a fault is detected in one of the satellites. The complementary filter which excludes this satellite becomes the main filter and the other complementary filters are initiated by the new main filter.

EFFECT: reduced computational load in the navigation system.

5 cl, 2 dwg

FIELD: physics.

SUBSTANCE: to receive a radio-navigation signal modulated by a signal containing a BOC (n1,m) component and a BOC (n2,m) component, correlation between the current signal at the reception point and the modulating signal, and correlation between the shifted signal at the reception point and the modulating signal is carried out in a time interval with duration T. The current signal at the reception point is generated in form of a binary signal containing one segment of the BOC (n2,m) signal with overall duration (1-αA)T during the said time interval. The shifted signal at the reception point is generated in form of a binary signal containing one segment of the BOC (n1,m) signal with overall duration αBT during the said time interval.

EFFECT: high accuracy of synchronising a received signal with a reference signal.

13 cl, 9 dwg

FIELD: information technology.

SUBSTANCE: mobile communication device uses a position finding method using a position finding filter, for example a Kalman filter which is initialised by measurements from reference stations, for example satellites and/or base stations, which can be obtained during different periods. Accordingly, the position finding filter can be used to evaluate the position without the need to first obtain at least three different signals during the same measurement period.

EFFECT: high efficiency and reliability of position finding for mobile receivers of a global positioning system in unfavourable signal propagation conditions when coincidence of range measurements may not occur on time.

40 cl, 9 dwg

FIELD: information technology.

SUBSTANCE: request for auxiliary data issued by a mobile station is received at a server station and in response to the request, the server station sends to the server station ephemeral data as part of auxiliary data. After receiving the request for auxiliary data issued by the mobile station, the server station decides on the possibility of the mobile station reaching given accuracy for determining location is provided with transmitted ephemeral data. In the affirmative case, the server station sends transmitted ephemeral data to the mobile station. In the negative case, the server station sends to the mobile station long-term ephemeral data instead of transmitted ephemeral data as part of the requested auxiliary data. The long-term ephemeral data are extracted from forecasts of orbit satellites and they have validity interval which is sufficiently long compared to the ephemeral data transmitted by satellites.

EFFECT: high accuracy of position finding.

8 cl, 3 dwg

FIELD: physics.

SUBSTANCE: device includes a GPS/GLONASS receiver, an antenna, a user interface (keyboard, display, sound), a communication interface, nonvolatile memory, a microcontroller, consisting of a unit for calculating the coordinate vector from code measurements, a unit for calculating the increment of the coordinate vector from phase measurements, a filter unit based on a least-square method, a unit for calculating a specified coordinate vector from the filtration results, a unit for working with interfaces, where the microcontroller includes a unit for analysing stability of the phase solution, a unit for evaluating duration of measurements and geometrical factor of the constellation of satellites, as well as a correcting unit consisting of a counter for counting stable solutions and a decision unit for deciding on continuing measurements, interfaces for time marking external events and outputting the second mark.

EFFECT: highly accurate determination of coordinates of a receiver based on differential processing of phase measurements with complete elimination of phase ambiguity.

1 dwg

FIELD: physics.

SUBSTANCE: device includes a GPS/GLONASS receiver, an antenna, a user interface (keyboard, display, sound), a communication interface, nonvolatile memory, a microcontroller, consisting of a unit for calculating the coordinate vector from code measurements, a unit for calculating the increment of the coordinate vector from phase measurements, a filter unit based on a least-square method, a unit for calculating a specified coordinate vector from the filtration results, a unit for working with interfaces, where the microcontroller includes a unit for analysing stability of the phase solution, a unit for evaluating duration of measurements and geometrical factor of the constellation of satellites, as well as a correcting unit consisting of a counter for counting stable solutions and a decision unit for deciding on continuing measurements, interfaces for time marking external events and outputting the second mark.

EFFECT: highly accurate determination of coordinates of a receiver based on differential processing of phase measurements with complete elimination of phase ambiguity.

1 dwg

FIELD: physics.

SUBSTANCE: navigation is performed using low earth orbit (LEO) satellite signals, as well as signals from two sources of ranging signals for determining associated calibration information, where a position is calculated using a navigation signal, a first and a second ranging signal and calibration information. Also possible is providing a plurality of transmission channels on a plurality of transmission time intervals using pseudorandom noise (PRN) and merging communication channels and navigation channels into a LEO signal. The method also involves broadcasting a LEO signal from a LEO satellite. Also disclosed is a LEO satellite data uplink. The invention also discloses various approaches to localised jamming of navigation signals.

EFFECT: high efficiency and ensuring navigation with high level of integration and security.

14 cl, 34 dwg

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