卫星钟差异常值探测的抗掩盖与淹没型算法

北斗卫星导航系统(BDS)卫星钟差异常值处理过程中,由于成片异常值的存在,往往会产生掩盖与淹没现象,致使异常值探测效率不高甚至失败。基于求和自回归移动平均模型,分析了时间序列中成片加性AO(Additive Outlier)异常值探测时易产生掩盖与淹没现象的原因;考虑了差分及逆差分对异常值探测的影响,提出了成片AO类异常值探测的抗掩盖与淹没新算法。通过仿真算例,验证了新算法对于序列中成片AO类异常值探测的准确性和有效性。将算法应用于BDS卫星钟差异常值探测和钟差预报中,较好地克服了数据中掩盖和淹没现象产生的影响,对于进一步提高卫星钟差的预报精度具有重要作用。     

基于ARMA模型的BDS卫星钟差异常值探测及其短期预报

星载原子钟在运行过程中会受到恶劣空间环境与设备老化等因素的影响,使得卫星钟差数据中经常存在异常值,其中AO(additive outlier)类异常值是钟差序列中常见的一类异常值。结合最大期望算法与自回归滑动平均(autoregressive moving average,ARMA)模型,提出一种AO类异常值探测算法。该算法可以准确探测孤立AO类异常值与成片AO类异常值,有效克服了其他算法经常出现的淹没与掩盖现象。在成功探测钟差序列AO类异常值的同时,该算法可以估计得到精确的ARMA模型,进而能准确地进行卫星钟差预报。利用仿真数据与北斗卫星钟差实测数据进行计算分析,结果表明,所提算法可以精确探测出钟差序列AO类异常值,并且具有很好的卫星钟差预报效果。     

基于信噪比加权的丹麦法抗差导航模型研究

在接收机自主完备性算法（RAIM）中粗差探测和剔除最为关键。针对原有算法的不足,提出将基于信噪比加权丹麦法用于接收机自主完备性监测中。利用迭代最小二乘估计对故障卫星进行降权处理,以达到隔离的效果。对算法进行数学建模,描述了算法的流程;利用实测数据进行验证表明：该方法计算速度快且精度也有所提高,具有一定的参考价值。     

AR模型中AO类异常值探测及其在GPS卫星钟差预报中的应用

基于EM算法，提出一种AR模型中AO类异常值（additive outlier）探测的算法。该算法可同时进行AR模型拟合与AO类异常值探测，并可有效地解决成片AO类异常值探测时所产生的掩盖和淹没问题。最后，将本文算法应用于GPS卫星钟差预报之中。本文算法可以准确探测出钟差历史观测序列中的AO类异常值，并可对卫星钟差进行精确预报。     

接收机自主完好性监测的算法分析

RAIM技术在接收机端实现卫星完好性监测,因此,监测算法的原理、正确性和灵敏度值得分析与研究。文中给出了RAIM故障检测和识别的数学模型,同时给出了两者的完好性保证算法。对告警门限值、误警率、漏检率之间的关系进行了较为全面的分析,分析了故障检测和故障识别功能与误警率、漏检率之间的关系。分析结果表明:可视卫星数相同时,误警概率越低,FD和FI的精度越低;误警概率相同时,可视卫星数越多,FD的灵敏度越高,FI的灵敏度越低;RAIM可用性一定时,同时满足低漏检率和低误警率是不可能的。     

利用改进3σ法获得残差序列的共模误差提取

针对GNSS坐标时间序列的异常值、缺失点插值和共模误差问题，该文采用一种经验模态分解(EMD)与3σ组合算法处理异常值，获取干净的残差时间序列，然后使用Matlab软件的fillmissing函数进行插补，获得连续的时间序列，最后利用独立成分分析(ICA)和主成分分析(PCA)方法对残差序列进行共模误差的提取，分析共模误差的影响。研究结果表明，与LS-3σ相比，EMD-3σ方法的探测率提高了0.2%,说明新算法的探测效果更好。PCA和ICA方法滤波后的RMS值分别平均减少了约22.01%、10.96%,说明PCA和ICA均能有效地提取残差时间序列的共模误差，提高坐标时间序列的精度，且PCA比ICA效果更好。     

奇异谱分析的变形监测序列粗差探测方法

针对时间序列数据中存在的粗差问题,该文首先介绍了奇异谱分析法(SSA)和未确知滤波法(UF)的工作原理,考虑到SSA方法在识别趋势项和周期性信号方面及UF算法在区分粗差和异常值上的优势,在SSA准确提取信号的基础上结合UF算法提出了一种新的SSA-UF粗差探测法:首先利用SSA提取观测值序列的信号并获取残余分量;然后通过UF算法对残余分量进行分析确定粗差点的位置;最后确定粗差点并剔除。通过单因素和多因素主导变形的观测值序列两个实例的验证分析,结果表明,该文中提出的SSA-UF粗差探测法与SSA数据统计方法相比在监测数据处理中的粗差探测效果明显,可靠性更高,为后续监测数据分析处理奠定了较好的基础。     

不同类型识别变量的自回归模型异常值探测的Bayes方法

讨论基于自回归模型(AR模型)的时间序列数据中异常值探测的Bayes方法。该方法针对自回归模型引入不同类型的识别变量,通过比较这些识别变量的后验概率值与事先给定的阈值来进行异常值定位;基于Gibbs抽样算法,提出识别变量后验概率值的计算方法和异常值的估算方法;进行了大量的模拟试验并把该方法应用于卫星钟差实测数据的异常值探测,结果表明,该方法对于解决时间序列数据中在同一时刻或不同时刻出现加性异常值或革新异常值的探测问题是可行的和有效的。     

北斗卫星钟差异常值处理的似然比方法

北斗卫星导航系统(BDS)星载原子钟由于受到空间环境的影响和各种不确定因素的干扰,导致获取的卫星钟差数据中经常会出现异常扰动,从而降低了卫星钟性能分析的可靠性、破坏了钟差建模和预报的有效性、影响导航定位结果的精准度,需要对BDS卫星钟差数据中存在的异常值进行探测和处理。基于求和自回归移动平均模型建立BDS卫星钟差异常值探测的方差膨胀模型;运用似然比方法对BDS卫星钟差时间序列中的异常值进行探测;推导了Score检验统计量,运用最小二乘法对异常扰动的大小进行估计。试验结果表明,似然比方法能够准确探测BDS卫星钟差数据中异常值的位置,精确估计异常扰动的大小。     

移动开窗检验法及其在GOCE数据粗差探测中的应用

简单回顾观测值粗差探测、识别及控制的基本方法,基于最小二乘推估理论给出卫星重力时间序列数据的粗差探测方法,其基本思路是利用除被探测点以外的观测数据对该点进行推估,并与其真实观测值进行比较,依照某种统计量和一定的准则进行粗差判别.基于上述思想,构造服从t-分布检验统计量,提出了移动开窗检验法,给出一种简单的时间相关函数、窗口宽度的确定方法以及详细的循环检验步骤.利用模拟的GOCE卫星重力梯度数据验证了新方法的有效性.     

基于圆概率误差的RAIM可用性算法研究

把导航领域、军事领域和导航电子地图中广泛应用的圆概率误差(circular error probable,CEP)引入到HPL(horizontal protection level)的计算中,在最小二乘残差法基础上构建了基于圆概率误差的RAIM(receiver autonomous integrity monitoring)可用性算法。首先计算了在一定误警率、漏警率条件下多颗卫星发生故障时的水平定位偏差和一定置信度下的圆概率误差;然后以GPS导航星座为例,探讨了相关观测下计算HPL的新方法;最后把HPL与水平告警限差(horizontal alert limit,HAL)相比较,得到了基于圆概率误差的RAIM可用性,并通过算例验证了此方法的有效性和可行性。     

Extreme value theory-based integrity monitoring of global navigation satellite systems

Measurements consistency-based Receiver Autonomous Integrity Monitoring (RAIM) is the main technique for monitoring the integrity of global satellite navigation systems at the user-level. Existing RAIM algorithms utilize two tests, in the position domain a test for RAIM availability and in the measurement domain a test for failure detection. These tests involve the computation of three parameters: test statistic, decision threshold, and protection level. The test statistic is based on the actual measurements in the form of the sum of the squared errors (SSE). The decision threshold is chosen on the basis of the statistical characteristics of the SSE including the assumption that the errors are normally distributed. However, in practice residual, error distributions exhibit heavier tails than predicted by the Gaussian model. Therefore, this paper challenges the normality assumption of the residual navigation errors in three ways. First, real data are used to assess its impact on the traditional RAIM algorithm. Second, extreme value theory is applied to the tails, and the generalized extreme value (GEV) distribution is derived to capture residual navigation errors. Third, the performance of the traditional RAIM approach is compared with that employing the GEV distribution. The results demonstrate that the GEV model is a more accurate representation of the distribution of residual navigation errors than the conventional Gaussian model and should be used in the development of integrity monitoring algorithms.     

三种典型低轨增强星座与北斗系统联合应用的RAIM性能分析

接收机自主完好性监测(receiver autonomous integrity monitoring,RAIM)是终端用户高可靠导航定位的保障,低轨卫星的发展为完好性监测带来新的机遇,然而不同低轨星座增强下的终端RAIM性能可能会存在显著差异。基于高轨道倾角(80颗)、中轨道倾角(120颗)和混合轨道倾角(168颗)3种典型的低轨星座,系统评估了低轨卫星增强下的北斗卫星导航系统（BeiDou navigation satellite system,BDS）RAIM可用性及故障检测效果。仿真计算结果表明：对于高纬区域,高轨道倾角增强下的RAIM可用性效果最好,而在中、低纬区域,中轨道倾角星座增强下的RAIM可用性效果最优;在全球范围内,高轨道倾角、中轨道倾角和混合轨道倾角星座增强下非精密进近阶段的RAIM可用性较BDS分别提升30.5%、29.0%和41.0%。由此可知,由不同轨道倾角组成的混合星座可较好地弥补可视卫星在空间覆盖上的缺陷,其全球RAIM可用性增强效果最优,增强下的RAIM可检测到的最小伪距偏差较之前平均减小33.3 m。     

GPS接收机基于奇偶矢量的RAIM算法研究

RAIM是指用户接收机利用多余观测量为定位解自主地提供完善性监测,其基本功能包括故障检测（FD）及故障排除（FE）两个部分。文中对基于奇偶矢量法的GPS接收机自主完善性监测（RAIM）算法进行分析与研究,并以具体数据为例,对该算法进行验证分析。     

Performance of rate detector algorithms for an integrated GPS/INS system in the presence of slowly growing error

In the Global Positioning System, there is no provision for real-time integrity information within the Standard Positioning Service, by design. However, in safety critical sectors like aviation, stringent integrity performance requirements must be met. This can be achieved using the special augmentation systems or RAIM (Receiver Autonomous Integrity Monitoring) or both. RAIM, the most cost-effective method relies on data consistency, and therefore requires redundant measurements for its operation. An external aid to provide this redundancy can be in the form of an Inertial Navigation system. This should enable continued performance even when no redundant satellite measurements are available. An algorithm presented in previous papers by the authors detects the rate of slowly growing errors. The algorithm was shown to be effective for early detection of slowly growing errors that belong to the class of most difficult to detect errors. Firstly, rate detector is tested for varying faults. Secondly, real data are used to validate the rate detector algorithm. The data are extensively analyzed to ascertain whether it is suitable for integrity and fault diagnostics. A modification to the original rate detector algorithm is suggested by addition of a bias state to the dynamic model. The performance is then compared with the existing techniques and substantial improvement is shown.     

基于粗时段导航与RAIM算法的A-GNSS室内定位

针对GNSS接收机在室内环境中面临的强烈的信号衰减、非视距传播和互相关效应的问题,提出了一种基于粗时段导航和RAIM算法解决A-GNSS室内定位问题的方法,并利用BDS数据验证了该方法的可靠性。结果表明,粗时段导航算法能够提供连续可靠的定位结果,应用于微弱信号环境;基于组合FDE的RAIM算法能够增加定位结果可用率,解决室内卫星信号存在的非视距传播和互相关效应的问题。基于粗时段导航与RAIM算法的A-GNSS定位技术能够应用于室内定位,仿真定位结果水平方向RMS在10 m以内。     

载波相位差分接收机自主完好性监测研究

首先提出了浮点变换完全去相关法,该方法能够在单历元动态确定整周模糊度。研究了基于载波相位测量的完好性监测方法。利用最小二乘残差构造统计检验量,对整周模糊度进行检测。分析了定位误差保护限与卫星构型、漏警概率的关系。实测数据表明,整周模糊度在单历元动态求解的成功率为100%,增加1颗卫星将使垂直定位误差保护限减少约0.2 m,统计检验量检测周跳的正确率为100%。     

An Assessment of the RAIM Performance of a Combined Galileo/GPS Navigation System Using the Marginally Detectable Errors (MDE) Algorithm

Integrity relates to the trust that can be placed in the correctness of information supplied by a navigation system. It includes the ability of the navigation system to provide timely warning to users when the system fails to meet its stated accuracy. Specifically, a navigation system is required to deliver a warning (alarm) when the error in the derived user position solution exceeds an allowable level (alarm limit). This warning must be issued to the user within a given period of time (time-to-alarm) and with a given probability (integrity risk). The two main approaches to monitoring the integrity of satellite navigation systems are Receiver Autonomous Integrity Monitoring (RAIM), and monitoring based on an independent network of integrity monitoring stations and a dedicated Ground Integrity Channel (GIC). More recently Satellite Autonomous Integrity Monitoring (SAIM) methods have also been investigated. This article presents the results of a study to assess the RAIM capability of the Galileo system when used alone and when combined with the Global Positioning System (GPS). The assessment was based on the Marginally Detectable Error (MDE) algorithm. The results show a significant improvement in the capability to perform RAIM using a combined Galileo/GPS system compared to the performance using the Galileo system alone. This study was supported by Alcatel Space and was a contribution to the Galileo definition studies carried out for the European Community under the GALA project. ? 2002 Wiley Periodicals, Inc.