JP2009265040A - Pseudo distance evaluation system, pseudo distance evaluation method and program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a pseudo distance evaluation system, a pseudo distance evaluation method, and a pseudo distance evaluation program for rapidly specifying the cause of an abnormal value when a pseudo distance subjected to real-time smoothing processing shows the abnormal value in positioning calculation in a satellite positioning system. <P>SOLUTION: The system includes a data processing part 2 which checks, when an abnormal value is detected from a pseudo distance after real-time smoothing processing to be used for positioning calculation, whether a pseudo distance after post-process smoothing processing at the same observation time of the abnormal value is a normal value or not, and determines, when the distance is the normal value, that the cause of the detected abnormal value is residual noise due to the limitation of real-time smoothing processing. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a pseudorange evaluation system, a pseudorange evaluation method, and a pseudorange evaluation program for detecting and verifying an abnormal value of a pseudorange to a positioning satellite observed at a receiving station in a satellite positioning system.

  In a satellite positioning system such as GPS (Global Positioning System), a pseudo value defined as a value obtained by multiplying the difference between the time when a radio wave is transmitted from a positioning satellite and the time when the radio wave is received at a receiving station (observation point) by the speed of light. Since the position of the receiving station is measured based on the distance, the accuracy of the pseudo distance greatly affects the positioning accuracy. As a technique for improving the accuracy of the pseudo distance, a technique for detecting whether or not the observed pseudo distance is an abnormal value is disclosed in Patent Document 1, and in Patent Document 2, the pseudo distance is corrected. A technique for positioning is disclosed.

  Here, the satellite positioning system disclosed in Patent Document 2 will be described. FIG. 4 is a schematic diagram showing the configuration of the satellite positioning system disclosed in Patent Document 2. As shown in FIG. The satellite positioning system disclosed in Patent Document 2 is DGPS (differential GPS), and the reference station 200 whose position is known in advance receives the positioning signals from the GPS satellites 701 to 703 and calculates the respective pseudoranges. Then, the observation information including the pseudo distance and the orbit information of the GPS satellites 701 to 703 is sent to the reference station management server 300. The reference station management server 300 receives observation information from the reference station 200, and calculates a pseudo distance correction value for each of the GPS satellites 701 to 703 from the difference between the true distance and the pseudo distance between the reference station 200 and the GPS satellites 701 to 703. The pseudo distance correction value is transmitted to the positioning server 100.

  On the other hand, the mobile station 400 located in the vicinity of the reference station 200 receives the positioning signals from the GPS satellites 701 to 703 and calculates the pseudoranges. The pseudoranges are transmitted via the communication device 620 and the mobile station management server 500. To the positioning server 100. The positioning server 100 calculates the estimated distance between the mobile station 400 and the GPS satellites 701 to 703 by adding the pseudorange correction value acquired from the reference station management server 300 to each pseudorange between the mobile station 400 and the GPS satellites 701 to 703. The position of the mobile station 400 is calculated. Then, the positioning server 100 sends the location information of the mobile station 400 to the mobile station management server 500, and the mobile station management server stores and manages the location information of the mobile station 400.

  In this way, in the satellite positioning system, the pseudo distance between the receiving station and the positioning satellite is a value obtained by adding the clock error, error due to the ionosphere, error due to the troposphere, noise due to multipath, etc. to the true distance. In order to increase it, it is necessary to appropriately remove these errors from the pseudorange and bring them closer to the true distance.

  In a normal satellite positioning system, a smoothing process (smoothing process) is performed on an observed pseudo distance in order to remove noise due to multipath or the like from the pseudo distance. Since satellite positioning needs to be performed in real time, real-time smoothing processing is applied during the operation of the satellite positioning system, and positioning calculation is executed based on the pseudo-range that is real-time smoothed.

JP-A-7-63838 JP 2006-258461 A

  However, since the real-time smoothing process is a simple smoothing process, it cannot be said that the accuracy is good, noise may remain, and the positioning accuracy may eventually deteriorate. As a more precise smoothing processing method, there is a post-process (post-processing) smoothing processing, but this processing method requires pseudo-distance data at a future time from the current time to smooth the pseudo-distance at the current time. It cannot be performed in real time and cannot be applied during operation of the satellite positioning system.

  If the positioning accuracy deteriorates, the reliability of the system will be greatly affected. Therefore, in the satellite positioning system that targets systems that require high safety, such as aircraft, the observed pseudorange is constantly monitored. If an anomaly is detected in the pseudo distance, it is necessary to investigate the cause afterwards so that the anomaly does not continue to affect the positioning.

  The evaluation of pseudorange anomalies in conventional satellite positioning systems is based on the aforementioned clock error, ionosphere error, troposphere error, receiver, etc., in order to identify the cause of anomalies when anomalies are detected in real-time smoothed pseudoranges. Each of the processes for correcting errors such as clock error and noise has been verified, which requires a very complicated operation and takes time to identify the cause of the occurrence of abnormality.

  Actually, although the remaining noise accounted for most of the causes of abnormal pseudorange error due to the limitations of real-time smoothing capability, it was determined that the cause of poor positioning accuracy was residual noise that could not be removed by real-time smoothing Since there was no method to do so, it was necessary to verify each of the processes for correcting the various errors described above.

  Therefore, the present invention improves the above-described problems of the prior art, and when an abnormal value is detected from a pseudorange after real-time smoothing processing observed at a receiving station in a satellite positioning system, the cause of the occurrence of the abnormal value is quickly detected. It is an object of the present invention to provide a pseudo distance evaluation system, a pseudo distance evaluation method, and a pseudo distance evaluation program.

  In order to achieve the above object, the pseudorange evaluation system of the present invention includes a pseudorange to a positioning satellite observed at a receiving station that constitutes a satellite positioning system, phase information of a carrier wave from the positioning satellite, and a pre-calculated value. An information input device that inputs a correction value for pseudorange from the satellite positioning system side, and analyzes the information input to the information input device to detect an abnormal value from the pseudorange after the real-time smoothing process, and A data processing device for determining the cause of occurrence, and an information output device for externally outputting the determination result by the data processing device. The data processing device detects this abnormal value when detecting an abnormal value from the pseudo distance after the real-time smoothing processing. Function to calculate the pseudo distance after post-process smoothing at the same observation time as this value, and this post-process smoothing A function that determines whether or not the pseudo distance after normal processing is normal, and the cause of the abnormal value detected when this determination result is normal is residual noise that could not be removed by real-time smoothing processing A pseudo-range evaluation system comprising a function for determining the effect.

  In addition, the pseudo-range evaluation method of the present invention includes a pseudo-range to a positioning satellite observed at a receiving station that constitutes a satellite positioning system, phase information of a carrier wave from the positioning satellite, and a correction for a pre-calculated pseudo-range. Information is input from the satellite positioning system side, an abnormal value detection step for determining whether or not the pseudo distance subjected to real-time smoothing processing is an abnormal value, and an abnormal value is detected by the abnormal value detection step In this case, a PP pseudo-range calculation step for calculating a pseudo-range after the post-process smoothing process at the same observation time as this abnormal value, and determining whether or not the pseudo-distance after the post-process smoothing process is a normal value When the pseudo-distance abnormality determining step and the pseudo-distance after the post-process smoothing process are normal values, the abnormality detected in the abnormal value detecting step is detected. Characterized in that the value provided with the abnormality cause determination step of determining to be due to the residual noise that has not rid in real time smoothing processing.

  The pseudo distance evaluation program of the present invention includes a pseudo distance to a positioning satellite observed at a receiving station that constitutes a satellite positioning system, information on a carrier phase from the positioning satellite, and a correction value for a pre-calculated pseudo distance. Information input function from the satellite positioning system side, an abnormal value detection function for determining whether or not the pseudo distance after the real-time smoothing process is an abnormal value, and the abnormal value detection function detects an abnormal value. PP pseudo-range calculation function for calculating a pseudo distance after post-process smoothing processing at the same observation time as this abnormal value, and whether or not the pseudo distance after the post-process smoothing processing is a normal value PP pseudo-range abnormality determination function and an abnormal value detector when it is determined that the pseudo-range after the post-process smoothing process is a normal value Cause of in the detected abnormal value is equal to or to execute the abnormality cause determination function of determining that the residual noise that did not get rid in real time smoothing process on the computer.

  Since the present invention is configured and functions as described above, when an abnormal value is detected from the pseudo distance after the real-time smoothing process, the pseudo distance after the post-process smoothing process at the same observation time as the abnormal value is detected. It is determined whether it is a normal value by calculation, and if this is a normal value, it is determined that the cause of the detected abnormal value is residual noise that could not be removed due to the performance limit of the real-time smoothing process. The cause of the distance deterioration can be mechanically determined, and the cause investigation of the pseudo distance abnormality can be efficiently performed.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

  FIG. 1 is a functional block diagram showing the configuration of the pseudo distance evaluation system of this embodiment. As shown in FIG. 1, the pseudorange evaluation system of the present embodiment is calculated in advance as a pseudorange to a positioning satellite observed at a receiving station constituting the satellite positioning system, phase information of a carrier wave from the positioning satellite, and An information input device 1 for inputting a transmission time correction value, a high-speed correction value, an ionosphere correction value, a troposphere correction value, and a receiver clock correction value, which are correction values for pseudoranges, from the satellite positioning system side, and real-time to remove noise A data processing device 2 that detects an abnormal value from a smoothed pseudo distance (hereinafter, a real-time smoothed pseudo distance is referred to as an RT pseudo distance) and determines the cause of the abnormal value, and a determination result by the data processing device 2 And an information output device 3 for outputting. The information output device 3 is, for example, a display, a storage device, a recording medium, or the like.

  The data processing device 2 has a function of calculating a pseudo distance after the post-process smoothing process at the same observation time as the abnormal value when an abnormal value of the pseudo-range after the real-time smoothing process is detected, and after the post-process smoothing process. Due to residual noise that could not be removed by real-time smoothing processing when the real-time smoothing processing occurred. And a function for determining that it is a thing.

  Here, the pseudorange is a value obtained by multiplying the difference between the time when the radio wave is transmitted from the positioning satellite and the time when the radio wave is received at the receiving station by the speed of light. In addition, smoothing is a process performed to remove noise components from the measured value. In a normal satellite positioning system, the carrier phase is low in noise and highly accurate with respect to the pseudorange that contains a lot of noise. The smoothing process using the distance measurement data based on it is performed to improve the accuracy of the pseudorange.

  Post-process smoothing is a post-mortem smoothing process, and real-time smoothing is a process that corrects the observed value at the current time in real time based on the value observed before that, whereas post-process smoothing is Since this is a post-processing, the target observation value is corrected based on a wide range of observation values before and after the target observation value. Therefore, it can be said that the pseudo distance after the post-process smoothing process is highly reliable because noise is removed with higher accuracy than the pseudo distance after the real-time smoothing.

  As described above, the pseudorange evaluation system according to the present embodiment detects an abnormal value from the RT pseudorange used during the operation of the satellite positioning system, and even the pseudorange obtained by performing post-process smoothing that is more reliable than real-time smoothing. It is determined whether or not an abnormal value is reached. If the abnormal value does not occur, it is determined that the cause of the abnormal value of the RT pseudorange is residual noise that cannot be removed by the real-time smoothing process.

  The information input device 1 provides the pseudo-range to be evaluated and the corresponding carrier phase information, transmission time correction value, high-speed correction value, ionosphere correction value, troposphere correction value, and receiver clock correction value from the satellite positioning system side. It has a function to input.

  The pseudo distance to be evaluated may be any of pseudo distances observed at receiving stations that constitute the satellite positioning system. For example, for a satellite positioning system as shown in FIG. 4, the pseudo distance between the mobile station 400 and the positioning satellite 701 may be evaluated, or the pseudo distance between the reference station 300 and the positioning satellite 701 is evaluated. It is good.

  Further, the information input device 1 inputs various observation information from the satellite positioning system side, which means that information is input from any of the components of the satellite positioning system. For example, as shown in FIG. When the pseudo distance between the mobile station 400 and the positioning satellite 701 is an evaluation target for the satellite positioning system, the information input device 1 is configured to input various information from the storage unit in the mobile station management server 500. Alternatively, various types of information may be input from the storage unit of the positioning server 100.

  The data processing device 2 performs a real-time smoothing process applied in the positioning system on the pseudo distance read from the information input device 1, calculates an RT pseudo distance, and calculates an evaluation index of the RT pseudo distance. An index calculation unit 21, an abnormal value detection unit 22 that detects an abnormal value of the RT pseudo distance based on the calculated evaluation index of the RT pseudo distance, and an observation time when an abnormal value of the RT pseudo distance is detected A pseudo-distance after post-process smoothing processing (hereinafter, a pseudo-distance after post-process smoothing is referred to as a PP pseudo-range), and a PP pseudo-distance index calculating unit 23 for calculating an evaluation index of the PP pseudo-range, An abnormal value of the PP pseudo distance is detected based on the calculated PP pseudo distance evaluation index, and RT is determined based on whether the PP pseudo distance is abnormal. Cause similar distance becomes abnormal value and a malfunction cause determination unit 24 to determine whether the residual noise that has not rid in real time smoothing processing.

  As a result, the data processing device 2 has the function of calculating the pseudo distance after the post-process smoothing process at the same observation time as the abnormal value detected from the pseudo distance after the real-time smoothing process. A function to determine whether or not the pseudo distance after the post-process smoothing process is a normal value, and when the determination result is a normal value, the cause of the abnormal value described above could not be removed by the real-time smoothing process The abnormality cause determination unit 24 is configured to execute the function of determining that it is residual noise.

  The RT pseudo distance index calculation unit 21 may be configured to calculate a normalized correction RT pseudo distance error as an RT pseudo distance evaluation index. Normalization correction RT pseudorange error applies to RT pseudorange, long-term correction and high-speed correction to remove clock error, ionospheric delay correction to remove ionospheric error, and tropospheric correction to remove error due to troposphere Then, the error is corrected, and the error is calculated by subtracting the true distance calculated based on the positioning satellite geometry from the corrected distance, and normalized using the standard deviation of the error It is a value.

  The abnormal value detection unit 22 has a function of comparing the evaluation index of the RT pseudo distance with a predetermined threshold and determining that the RT pseudo distance corresponding to the evaluation index exceeds the threshold is an abnormal value. ing. Similarly to the RT pseudo distance index calculation unit 21, the PP pseudo distance index calculation unit 23 may be configured to calculate a normalized correction PP pseudo distance error as an evaluation index of the PP pseudo distance.

  The abnormality cause determination unit 24 compares the evaluation index of the PP pseudo distance with the threshold used by the abnormal value detection unit 22, and determines that the PP pseudo distance is an abnormal value when the evaluation index exceeds the threshold. It has a function.

  As described above, in the pseudorange evaluation system according to the present embodiment, when an abnormal value is detected from the real-time smoothed pseudorange used during the operation of the satellite positioning system, the pseudorange after post-process smoothing in the epoch where the abnormal value is observed. Based on whether the pseudo-distance after the post-process smoothing (PP pseudo-range) is a normal value, the abnormal value of the RT pseudo-range is due to residual noise caused by the performance of real-time smoothing. It is determined whether or not.

  Therefore, the pseudo distance evaluation system of the present embodiment, when detecting an abnormal value from the real time smoothed pseudo distance used during the operation of the satellite positioning system, actually occupies most of the causes of the pseudo distance error abnormality, real time smoothing. Therefore, it is possible to efficiently evaluate the abnormal value of the RT pseudorange.

  FIG. 3 is a graph showing an example of time-series changes in the RT pseudorange and the PP pseudorange. If the PP pseudorange is normal even for data having an abnormal value in the RT pseudorange, it can be determined that the occurrence of the abnormal value is the influence of residual noise due to the limit of the real-time smoothing process.

  Next, as a specific operation example of the pseudorange evaluation system of the present embodiment, a case where the evaluation target satellite positioning system is a GPS (Global Positioning System) will be described.

  In GPS, since one positioning satellite transmits two radio waves L1 and L2 having different frequencies, the information input device 1 can simulate the L1 and L2 waves calculated at each observation time. Enter the distance, carrier phase, transmission time correction value, high-speed correction value, ionosphere correction value, troposphere correction value, and receiver clock correction value.

The RT pseudorange index calculation unit 21 sets the current epoch number to i, the current observation time to t _i , the previous observation time to t _i−1 , the pseudorange observed with the L1 wave to the carrier phase measured with PR1 and L1 waves. Is a function of calculating the RT pseudo distance PR1_RT according to the equation [1], where PH1 is the wavelength of the L1 wave and R1 is R1. The unit of the phase PH1 is “cycle”. K in the equation 1 is a stabilization coefficient, k = 1 at the start of smoothing, 1 is added to k every time the epoch i advances, and the time interval of data is set to T [s], The smoothing constant is S [s], and after k = S / T is reached, it is fixed at k = S / T.

  The RT pseudo distance index calculation unit 21 may be configured to acquire the RT pseudo distance PR1_RT directly from the satellite positioning system side, but is configured to perform verification on the pseudo distance by performing the same real-time smoothing process as in the satellite positioning system. As a result, the amount of input data can be reduced.

  Further, the RT pseudo distance index calculation unit 21 sets the high speed correction value as FC, the troposphere delay correction value as TC, the ionosphere correction value as IC, the transmission time correction value as SC, and the receiver clock error correction value as RC. Calculate the distance CPR_RT according to the formula [2],

  Estimate the RT pseudorange with TR as the true distance between the receiver and the GPS satellite, STD_FLT as the high-speed correction and long-term correction deterioration model standard deviation, STD_TRP as the standard deviation of the tropospheric error, and STD_RCV as the standard deviation of the receiver clock error. A function of calculating a normalized correction RT pseudorange error NCPRE_RT as an index according to the equation [3] is provided.

  Normalized correction RT pseudorange error NCPRE_RT shown in [Equation 3] is a long-term correction and high-speed correction for removing clock error from RT pseudorange, ionospheric delay correction for removing ionosphere error, and error due to troposphere The error is corrected by applying the tropospheric correction of (Equation 2), and the error is calculated by subtracting the true distance TR calculated based on the GPS satellite geometry from the corrected distance CPR_RT. The value normalized by the standard deviation (Equation 3).

  The abnormal value detection unit 22 inputs the normalized correction RT pseudorange error NCPRE_RT from the RT pseudorange index calculation unit 21 and compares it with a preset threshold value. When the normalization correction RT pseudorange error NCPRE_RT exceeds the threshold value, Has a function of determining that the RT pseudorange is an abnormal value. When an abnormal value is detected, the PP pseudo distance index calculation unit 23 is notified of abnormality detection. As the threshold value, for example, assuming that the normalization correction error has a standard normal distribution, the value may be set to 5.33 which is a value included in the establishment of 99.99999%.

  When the PP pseudo distance index calculation unit 23 receives notification of detection of the RT pseudo distance abnormality from the abnormal value detection unit 22, the PP pseudo distance index calculation unit 23 calculates the PP pseudo distance at the epoch and calculates the evaluation index of the PP pseudo distance. It has.

  For example, n epochs are set in the processing block, and for each epoch in the processing block, the pseudo distance in the L1 wave is PR1, the pseudo distance in the L2 wave is PR2, the frequency of the L1 wave is the frequency of F1, L2 wave , F2 is used to calculate the ionospheric delay amount I_PR1 of the pseudorange in the L1 wave according to the equation [4]

  The carrier phase of the L1 wave is PH1, the carrier phase of the L2 wave is PH2, the wavelength of the L1 wave is R1, the wavelength of the L2 wave is R2, the frequency of the L1 wave is F1, the frequency of the L2 wave is F2, and the frequency of the L1 wave The ionospheric delay amount IB1 of the carrier phase is calculated according to the equation [5],

  The number of epochs of the processing block is set to n, and the ionospheric delay amount I smoothed according to the equation [6] from the ionospheric delay amount I_PR1 of the pseudo distance of the L1 wave and the ionospheric delay amount IB1 of the carrier phase in the L1 wave is set to calculate.

  Further, for each epoch of the processing block, the pseudorange IFR1_P without ionospheric delay in the L1 wave is calculated according to the formula [7].

  The carrier phase IFR1_B without ionospheric delay in the L1 wave is calculated according to the equation [8].

  The number of epochs of the processing block is set to n, and the smoothing pseudorange IFR without ionosphere delay is calculated from the pseudorange IFR1_P without ionosphere delay and the carrier phase IFR1_B without ionosphere delay according to the equation [9].

  Further, the PP pseudorange PR_PP is calculated from the smoothing pseudorange IFR without ionosphere delay and the smoothing ionosphere delay amount I according to the equation [10].

  Then, a normalized correction PP pseudorange error NCPRE_PP is calculated as an evaluation index of the PP pseudorange according to the formulas [11] and [12].

  The abnormality cause determination unit 24 compares the normalized correction PP pseudorange error NCPRE_PP with the above-described threshold value, and determines that the PP pseudorange is an abnormal value when the threshold is exceeded, and the PP pseudorange is a normal value. In such a case, it is determined that the abnormal value of the RT pseudorange at the epoch is caused by the residual noise due to the performance of the real-time smoothing, so that the RT pseudorange abnormality is due to the residual noise. It has a function to determine whether it is due to the above or otherwise.

  Next, the operation of the pseudo distance evaluation system of this embodiment will be described. Here, since the following description of the operation is an embodiment of the pseudo distance evaluation method of the present invention, each step of the pseudo distance evaluation method is described along with a description of the corresponding operation.

  FIG. 2 is a flowchart showing the operation of the pseudo distance evaluation system of this embodiment. First, the RT pseudo distance calculation unit 21 calculates the RT pseudo distance according to the above-described [Equation 1] (Step A1 in FIG. 2), and sets the RT pseudo distance evaluation index for detecting an abnormal value as [Equation 2]. And [Formula 3] (Step A2, RT pseudorange index calculation step in FIG. 2). Here, the RT pseudo-distance index is not limited to the normalized correction RT pseudo-range error shown in [Expression 3], and other values may be used.

  The evaluation index of the RT pseudo-range shown in the equation (3) is the long-term correction and high-speed correction for removing the clock error from the RT pseudo-range, the ionospheric delay correction for removing the ionospheric error, and the troposphere for removing the error due to the troposphere The error is corrected by applying the correction, the error is calculated by subtracting the true distance calculated from the GPS satellite geometry from the corrected distance, and the value normalized by the standard deviation It is.

  Subsequently, the abnormal value detection unit 22 compares the evaluation index of the RT pseudo distance with a predetermined threshold value to check whether or not the threshold value is exceeded (step A3 in FIG. 2, abnormal value detection step). As the threshold value, for example, assuming that the normalization correction error has a standard normal distribution, the value may be set to 5.33 which is a value included in the establishment of 99.99999%. Further, it may be determined from the observed value and set to another value.

  When the evaluation index of the RT pseudo distance exceeds the threshold, the PP pseudo distance index calculation unit 23 calculates the PP pseudo distance at the time according to the equations [Equation 4] to [Equation 10] (step of FIG. 2). The evaluation index of the PP pseudo distance is calculated according to the equations [A4, PP pseudorange calculation step), [Equation 11] and [Equation 12] (step A5, PP pseudorange index calculation step in FIG. 2). Here, the evaluation index of the PP pseudo distance is not limited to the normalized correction RT pseudo distance error shown in the formula [12], and other values may be used.

  Then, the abnormality cause determination unit 24 compares the evaluation index of the PP pseudo distance with the threshold used for determining the evaluation index for the RT pseudo distance (PP pseudo distance abnormality determination step). When the threshold value is exceeded, the PP pseudo distance is determined to be an abnormal value, and when the PP pseudo distance evaluation index is not an abnormal value, the RT pseudo distance abnormality is caused by the limit of the real-time smoothing process. If it is determined that the effect is due to residual noise and the PP pseudorange evaluation index is an abnormal value, it is determined that the RT pseudorange abnormality is due to a cause other than the residual noise (step A6 in FIG. 2, cause of abnormality). Judgment process).

  It is determined whether or not all the data have been confirmed, and if all the data has been completed, the process ends (step A7 in FIG. 2). Then, the result of the abnormal value determination process is supplied to the output device 3.

  Here, regarding the data processing device 2 in the present embodiment, that is, the RT pseudo distance index calculating unit 21, the abnormality detecting unit 22, the PP pseudo distance index calculating unit 23, and the abnormality determining unit 24, the function contents thereof are described. It may be configured to be programmed and executed by a computer.

  As described above, in the pseudo distance evaluation system according to the present embodiment, when the abnormal value detection unit 22 detects an abnormal value from the pseudo distance after the real time smoothing process, the abnormality cause determination unit 24 is more reliable than the real time smoothing. Determine whether the pseudo distance at the same observation time when high post-process smoothing processing is performed is an abnormal value, and if this is a normal value, the cause of the detected abnormal value is the residual noise due to the limit of real-time smoothing processing. It is determined that

  Actually, residual noise due to the limit of the performance of real-time smoothing occupies most of the causes of RT pseudorange error anomalies, so that the pseudorange evaluation system of this embodiment is an RT pseudorange used in a satellite positioning system. It is possible to improve the efficiency of RT pseudorange abnormal value detection and evaluation work by clarifying whether the cause of abnormal values is due to residual noise due to the limit of the performance of real-time smoothing processing or otherwise. it can. As a result, the positioning accuracy abnormality of the satellite positioning system can be efficiently improved, and the reliability of the satellite positioning system can be enhanced.

It is a functional block diagram which shows the structure of the pseudo distance evaluation system of one Embodiment concerning this invention. It is a flowchart which shows operation | movement of the pseudo distance evaluation system of embodiment disclosed in FIG. It is a figure which shows an example of the time-sequential change of RT pseudorange and PP pseudorange. It is a figure which shows schematic structure of the satellite measurement system disclosed by patent document 2. FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Information input device 2 Data processing device 3 Information output device 21 RT pseudo distance index calculation part 22 Abnormal value detection part 23 PP pseudo distance index calculation part 24 Abnormal cause determination part

Claims (13)

Information for inputting from the satellite positioning system side the pseudo distance to the positioning satellite observed at the receiving station constituting the satellite positioning system, the phase information of the carrier wave from the positioning satellite, and the correction value for the pseudo distance calculated in advance. An input device, a data processing device that analyzes information input to the information input device, detects an abnormal value from a pseudo distance after real-time smoothing processing, and determines the cause of the abnormal value, and a determination by the data processing device An information output device for outputting the results externally,
The data processing device has a function of calculating a pseudo distance after the post process smoothing process at the same observation time as the abnormal value when an abnormal value is detected from the pseudo distance after the real time smoothing process, and the post process smoothing process. A function for determining whether or not the subsequent pseudo distance is a normal value, and when the determination result is a normal value, the cause of the detected abnormal value is residual noise that cannot be removed by the real-time smoothing process. A pseudo-range evaluation system comprising a function for determining the effect. In the pseudorange evaluation system according to claim 1,
The data processing apparatus includes: an RT pseudo distance index calculation unit that calculates an evaluation index of the pseudo distance after the real-time smoothing process based on information input to the information input device; and the evaluation index exceeds a predetermined threshold value. An abnormal value detector that determines that the pseudo distance after the real-time smoothing process is an abnormal value, and calculates a pseudo distance after the post process smoothing process at the same observation time as the detected abnormal value. A PP pseudo distance index calculation unit that calculates an evaluation index of the process-smoothed pseudo distance in the same manner as the RT pseudo distance index calculation unit, and a pseudo model after the post-process smoothing process when the evaluation index does not exceed the threshold value. It is determined that the distance is a normal value, and the cause of the abnormal value detected by the abnormal value detector is the real time Pseudorange evaluation system is characterized in that a malfunction cause determination unit which determines that the residual noise that could not rid the Smoothing process. In the pseudorange evaluation system according to claim 2,
The pseudo-distance evaluation system, wherein the evaluation index is obtained by normalizing an error of a pseudo-range corrected by the correction value. In the pseudorange evaluation system according to claim 3,
The RT pseudo distance index calculation unit has a function of performing a real-time smoothing process similar to that of the satellite positioning system on the pseudo distance input to the information input device, thereby calculating a pseudo distance after the real-time smoothing process. Said satellite positioning system characterized by the above-mentioned. Information for inputting from the satellite positioning system side the pseudo distance to the positioning satellite observed at the receiving station constituting the satellite positioning system, the phase information of the carrier wave from the positioning satellite, and the correction value for the pseudo distance calculated in advance. Input process;
An abnormal value detection step of determining whether or not the pseudo distance subjected to the real-time smoothing process is an abnormal value;
A PP pseudorange calculation step of calculating a pseudorange after post-process smoothing processing at the same observation time as the abnormal value when an abnormal value is detected in the abnormal value detection step;
PP pseudorange abnormality determining step for determining whether or not the pseudorange after the post-process smoothing process is a normal value;
An abnormal cause determination step for determining that the abnormal value detected in the abnormal value detection step is due to residual noise that could not be removed in the real-time smoothing processing when the pseudo distance after the post-process smoothing processing is a normal value; The pseudo-range evaluation method characterized by providing. In the pseudorange evaluation method according to claim 5,
Before the abnormal value detecting step, an RT pseudo distance index calculating step for calculating an evaluation index of the pseudo distance after the real-time smoothing process is provided. In the abnormal value detecting step, the evaluation index is compared with a predetermined threshold value. And determining that the real-time smoothed pseudorange is an abnormal value when the evaluation index exceeds the threshold. In the pseudorange evaluation method according to claim 6,
After the PP pseudo-range calculation step, a PP pseudo-distance index calculation step for calculating the post-process-smoothed pseudo-range evaluation index in the same manner as the RT pseudo-distance index calculation step is provided, and in the PP pseudo-range abnormality determination step, And comparing the evaluation index with the threshold value and determining that the pseudo distance after the post-process smoothing process is a normal value when the evaluation index does not exceed the threshold value. . In the pseudorange evaluation method according to claim 7,
Before performing the RT pseudo distance index calculation step, RT pseudo for calculating a pseudo distance after the real time smoothing process by performing a real time smoothing process similar to that of the satellite positioning system on the pseudo distance input in the information input step. A pseudo-range evaluation method characterized by providing a distance calculation step. Information on the pseudo-range to the positioning satellite observed at the receiving station that constitutes the satellite positioning system, information on the carrier phase from the positioning satellite, and information on the pre-calculated correction value for the pseudo-range input from the satellite positioning system side Input function,
An abnormal value detection function for determining whether or not the pseudo distance after the real-time smoothing process is an abnormal value;
A PP pseudorange calculation function for calculating a pseudorange after post-process smoothing processing at the same observation time as the abnormal value when an abnormal value is detected by the abnormal value detection function;
PP pseudorange abnormality determination function for determining whether or not the pseudorange after the post-process smoothing process is a normal value,
When it is determined that the pseudo distance after the post-process smoothing process is a normal value, it is determined that the cause of the abnormal value detected by the abnormal value detection function is residual noise that cannot be removed by the real-time smoothing process. A pseudo distance evaluation program that causes a computer to execute an abnormality cause determination function. In the pseudo-range evaluation program according to claim 9,
Along with the RT pseudo distance index calculation function for calculating the evaluation index of the pseudo distance after the real-time smoothing process based on the information input by the information input function,
The abnormal value detection function compares the evaluation index calculated by the RT pseudo distance index calculation function with a predetermined threshold value, and when the evaluation index exceeds the threshold value, the pseudo distance after the real-time smoothing process is calculated. A pseudo-range evaluation program, which causes the computer to execute a function for determining an abnormal value. In the pseudo-range evaluation program according to claim 10,
Along with the PP pseudorange index calculation function for calculating the pseudorange evaluation index after the post-process smoothing processing based on the information input by the information input function in the same manner as the RT pseudorange index calculation function,
The PP abnormality determination function compares the evaluation index calculated by the PP pseudo distance index calculation function with the threshold value, and if the evaluation index exceeds the threshold value, the pseudo distance after the post-process smoothing process is abnormal A pseudo distance evaluation program which causes the computer to execute a function for determining that the value is a value. In the pseudo-range evaluation program according to claim 11,
The evaluation index is obtained by normalizing an error of a pseudo distance after correction by the correction value. In the pseudo-range evaluation program according to claim 12,
Causing the computer to execute an RT pseudorange calculation function for calculating a pseudorange after the real-time smoothing process by performing a real-time smoothing process similar to that of the satellite positioning system on the pseudorange input by the information input function. A program for evaluating pseudoranges.

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