• 专利附录
  • 专利说明
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    • 专利摘要:
    This method of determining protection levels comprises a preliminary phase (P0) implemented at least once and a main phase (P1) implemented in the determination of each new navigation solution. The preliminary phase (P0) comprising the steps of acquiring (110) a first error value, providing (120) a set of monitored failure numbers, determining (130) a plurality of coefficients calculation, and storage (140) of all the determined calculation coefficients. The main phase (P1) comprises the steps of determining (160) a current number of monitored faults, and determining (180) a protection level of the corresponding navigation solution using an integrity relationship and the calculation coefficients determined during the preliminary phase (P0).
    公开号:FR3065084A1
    申请号:FR1800275
    申请日:2018-04-04
    公开日:2018-10-12
    发明作者:Patrick Bartolone；Denis Bouvet
    申请人:Thales SA；
    IPC主号:
    专利说明:

    Holder (s): THALES Société anonyme.
    Extension request (s)
    Agent (s): CABINET LAVOIX Simplified joint-stock company.
    METHOD FOR DETERMINING PROTECTION LEVELS OF NAVIGATION SOLUTIONS, COMPUTER PROGRAM PRODUCT AND RELATED RECEIVER.
    FR 3 065 084 - A1
    157) c e protection level determining method comprises a preliminary phase (P o) implementation at least once and a main phase (Pg implemented to determine each new navigation solution.
    The preliminary phase (P o ) comprising the steps of acquiring (110) a first error value, providing (120) a set of monitored failure numbers, determining (130) a plurality of calculation and storage coefficients (140) of all the determined calculation coefficients. The main phase (Pg comprises the steps of determining (160) a current number of monitored failures, and of determining (180) a level of protection of the corresponding navigation solution using an integrity relationship and the coefficients of calculation determined during the preliminary phase (P o ).

    Method for determining protection levels of navigation solutions, associated computer program product and receiver
    The present invention relates to a method for determining protection levels of navigation solutions.
    The present invention also relates to a computer program product and a receiver associated with this method.
    In a manner known per se, a navigation solution is determined by a mobile receiver from the electromagnetic signals emitted by satellites of one or more global positioning systems by satellites. Such a system, also known as a constellation, is known by the acronym GNSS (for "Global Navigation Satellite System").
    There are currently several GNSS systems including the GPS system, the GLONASS system and the GALILEO system.
    Each navigation solution generally includes the geographic position of the mobile receiver, its speed and the time synchronized with the corresponding GNSS system.
    In the context of applications using navigation solutions for sensitive operations, such as aeronautical or maritime navigation, it is necessary to associate with each determined navigation solution, a level of protection characterizing the reliability of this navigation solution.
    Such a level of protection is determined in particular as a function of the probability of providing a navigation solution whose error rate does not exceed an announced integrity threshold (also known under the English term "Hazardous Misleading Infomration") and the likelihood of false alarms.
    This level of protection is further determined using redundant information relating to the corresponding navigation solution. This redundant information is determined in particular from the electromagnetic signals emitted by satellites visible by the receiver when the number of these satellites exceeds the number of satellites necessary to determine a single navigation solution.
    Various methods for determining the levels of protection associated with the navigation solutions provided are already known in the prior art.
    Among these methods, the so-called RAIM (Receiver Autonomous Integrity Monitoring) method makes it possible to determine protection levels from redundant information obtained from visible satellites of a single constellation based on the probability of failure. each of the satellites in this constellation.
    There is also an improved version of this method, known as ARAIM (from the English term "Advanced Receiver Autonomous Integrity Monitoring"), which makes it possible to determine protection levels from redundant information obtained from satellites visible from several constellations. Compared to the RAIM method, this improved version allows greater availability of aeronautical receivers, especially in the approach phases.
    To do this, the improved version takes into account not only the probabilities of simple breakdowns of the satellites of each constellation but also the probabilities of breakdowns affecting several satellites simultaneously. To determine the corresponding protection levels, this method uses an integrity relationship linking the probabilities of providing an erroneous navigation solution and raising a false alert to the corresponding protection level.
    However, since the integrity relation has no analytical solution and includes costly mathematical functions to approach numerically, the implementation of this improved method requires large computational capacities from the receiver. Indeed, to determine the protection levels in real time, it is necessary to resolve the integrity relationship numerically for each of the navigation solutions provided. This then makes it difficult, even impossible in real time, the implementation of this method in receivers having limited computing capacities.
    The object of the present invention is to propose a method for determining levels of protection of navigation solutions which can be implemented by a receiver having relatively limited computing capacities and this in real time and in a multi-constellation context.
    To this end, the subject of the invention is a method for determining the protection levels of navigation solutions, each navigation solution being determined from the electromagnetic signals emitted by satellites of one or more global positioning systems by satellites. , called constellation.
    The method comprises a preliminary phase and a main phase, the preliminary phase being implemented at least once before the main phase, the main phase being implemented when determining each new navigation solution.
    The preliminary phase includes the following stages:
    - for each predetermined dimension, acquisition of a first error value corresponding to the probability of providing a navigation solution whose error rate does not exceed a predetermined integrity threshold according to this dimension and of a second error value corresponding to the probability of determining a false alarm according to this dimension;
    - supply of a set of monitored failure numbers;
    - for each number of failures monitored and for each predetermined dimension, determination of a plurality of calculation coefficients, each calculation coefficient being determined using the inverse function of a function defined using the distribution function of the Gaussian law, the inverse function being calculated at a determined point as a function of the second error value corresponding to this dimension and of the corresponding number of monitored failures and / or of the first error value corresponding to this dimension;
    - storage of all the determined calculation coefficients.
    The main phase includes the following stages:
    - determination of a current number of monitored faults as a function of the number of constellations used and the number of satellites visible in each of these constellations;
    - determination of a level of protection of the corresponding navigation solution according to a given dimension using an integrity relationship and the calculation coefficients determined during the preliminary phase for the current number of monitored failures and for this dimension, the relationship of integrity analytically linking this level of protection and the first and second error values.
    According to other advantageous aspects of the invention, the detection method comprises one or more of the following characteristics, taken alone or in any technically possible combination:
    - at least some of the calculation coefficients, called false alarm coefficients, are determined according to the following relation:
    K,
    F A, Sun
    Q- 1 P FA, Sun
    OR
    K FA , dim is a false alarm coefficient according to the given dimension dim; p FA, dim is Ιθ second error value according to the given dimension dim; N / auit is the corresponding number of monitored faults; and <2 -1 (x) is said inverse function in point x;
    - for a given dimension, the integrity relationship includes the coefficient of false alarm according to this dimension;
    - the integrity relationship is written in the following form:
    pi _ _ (o — y) rp _iàj) rL dim a dim K FA, dim D dim 1 dim / - P HMI, dim ~ P f aults not monitored.dim '
    OR
    PLdim is the level of protection to be determined according to the given dimension dim; j is the index of a monitored failure varying from 1 to N fault ;
    Pfa Ut is the probability of occurrence of the failure having the index j; p HMi, dim is the first error value according to the given dimension dim;
    Pfauits not monitored.dim is the sum of the probabilities of occurrence of unmonitored failures according to the given dimension dim; and a £ m ' a dbn · ° d ^' b dJn and are different statistical data obtained from the navigation solution according to the given dimension dim and from a plurality of sub-solutions according to the given dimension dim, each sub- solution being associated with the index j and corresponding to a navigation solution calculated under the assumption that the failure having the index j has occurred;
    - at least some of the calculation coefficients, called first coefficients for low border, are determined according to the following relation:
    ^ FFÇoydim =
    OR
    KFF (p), dim is a first coefficient for low border according to the given dimension dim;
    HMI, dim * faults not monitored, dim p HMi, dim is' at first error value according to the given dimension dim;
    Pfauits not monitored.dim is a sum of the probabilities of occurrence of non-fault monitored by the given dimension dim; and
    Q _1 (x) is said inverse function in point x;
    - at least some of the calculation coefficients, called the first coefficients for the upper border, are determined according to the following relation:
    K,
    FFR (0 '), dim P HMI, dim P faults not monitored.dim (Nfault L 1)
    WHERE K FFR (y), dim is a first coefficient for high border according to the given dimension dim;
    p HMi, dim is the first error value according to the given dimension dim;
    Pfauitsnotmonitored.dim ®st the sum of the probabilities of occurrence of unattended failures according to the given dimension dim; and N is the corresponding number of monitored faults; and
    Ç -1 (x) is said inverse function in point x;
    - at least some of the calculation coefficients, called second coefficients for low border and second coefficients for high border, are further determined as a function of the probability of occurrence of a failure among the monitored failures;
    - the second coefficients for low border are determined according to the following relation:
    rz _ | P HMI, dim Pfaults not monitored.dim j
    R F F, dim - Q -TJ) I;
    should )
    WHERE ^ FF.dim is a second coefficient for lower border according to the given dimension dim;
    p HMi, dim is the first error value according to the given dimension dim;
    Pfauits not monitored.dim is the sum of the probabilities of occurrence of unmonitored failures according to the given dimension dim;
    j is the index of a monitored failure varying from 1 to Nf ault ;
    Nfauit is Ιθ number of failures monitored;
    P / aut ® st ' has probability of occurrence of the failure having the index j; and Ç _1 (%) is said inverse function in point x;
    - the second coefficients for high border are determined according to the following relation:
    K,
    FFR.dim _q / P HMI, dim Pfaults not monitored.dim
    Pfaut ^ fault + 1)
    OR ^ FFR.dim is a second coefficient for low border according to the given dimension dim;
    p HMi, dim is the first error value according to the given dimension dim;
    P / auits not monitored.dim is Ιθ sum of the probabilities of occurrence of unmonitored failures according to the given dimension dim;
    Nfauit is Ιθ corresponding number of monitored faults;
    j is the index of a monitored failure varying from 1 to Nf ault ;
    P takes is' a probability of occurrence of the failure with the index j; and
    Ç _1 (x) is said inverse function in point x;
    - during the main phase, the corresponding level of protection is determined from the relationship of integrity by the dichotomy method starting from a low border and a high border;
    the lower border being determined as a function of the first and second coefficients for lower border corresponding to the current number of failures monitored and to the given dimension; and the upper border being determined as a function of the first and second coefficients for the upper border corresponding to the current number of failures monitored and to the given dimension.
    The invention also relates to a computer program product comprising software instructions which, when implemented by computer equipment, implement a method as defined above.
    The invention also relates to a receiver comprising means configured to implement a method as defined above.
    These characteristics and advantages of the invention will appear on reading the description which follows, given solely by way of nonlimiting example, and made with reference to the appended drawings, in which:
    - Figure 1 is a schematic view of two global satellite positioning systems and a receiver according to the invention;
    - Figure 2 is a detailed schematic view of the receiver of Figure 1;
    FIG. 3 is a flow diagram of a method for determining levels of protection of navigation solutions according to the invention, the method being implemented by the receiver of FIG. 1.
    FIG. 1 indeed illustrates two systems 10, 12 global positioning by satellites and a receiver 14.
    Each global positioning system by satellites 10, 12, hereinafter called constellation, is a GNSS type system (from the English "Global Navigation Satellite System") comprising satellites capable of transmitting electromagnetic signals to the earth's surface. These electromagnetic signals in particular encode information relating to the time of their emission.
    In the example of FIG. 1, the system 10 is for example the GPS system and the system 12 is for example the GLONASS system. The system 10 comprises for example at least four satellites respectively 10A to 10D visible by the receiver 14 and the system 12 for example comprises at least two satellites respectively 12A and 12B visible by the receiver 14.
    It should be noted that in the general case, the number of satellites visible to the receiver 14 changes over time and with the movement of this receiver.
    The receiver 14 is able to receive electromagnetic signals emitted by visible satellites 10A to 10D and 12A and 12B from its current position.
    The receiver 14 is in particular able to extract from the electromagnetic signals received information relating to the time of their emission. From this information and knowing the position of each of the satellites, the receiver 14 is able to determine at least one navigation solution according to methods known per se.
    The determined navigation solution notably includes the position of the receiver 14 in a terrestrial reference, its speed as well as the time synchronized with the system 10 or 12.
    The receiver 14 is used for example in the context of aeronautical navigation. It is thus for example on board an aircraft 16 in order to provide the geographic position of this aircraft 16 when it is piloted.
    The receiver 14 is illustrated in more detail in FIG. 2.
    Thus, with reference to this FIG. 2, the receiver comprises an antenna 21 capable of receiving electromagnetic signals from the satellites of systems 10, 12, a module 23 for calculating navigation solutions, a module 25 for calculating protection levels and a database 27.
    The receiver 14 is for example at least partly in the form of a computer further comprising a processor and a memory capable of storing in particular a plurality of software that the processor is capable of executing.
    In this case, the modules 23 and 25 are in the form of software stored in the memory and executed by the processor. The database 27 is also stored in this memory.
    According to another exemplary embodiment, the modules 23 and 25 are in the form of integrated circuits.
    The navigation solutions calculation module 23 makes it possible to determine from the electromagnetic signals received by the antenna 21, at least one navigation solution, called the main solution, as explained above.
    This solution is determined according to at least one predetermined dim dimension and on the assumption that all of the visible satellites 10A to 10D, 12A and 12B are operational.
    Each predetermined dim dimension is chosen for example from a group comprising:
    - north direction;
    - direction east;
    - high direction;
    - system reference time 10;
    - system reference time 12.
    The number of elements in this group will be denoted subsequently by N dim .
    The navigation solutions calculation module 23 also makes it possible to determine redundant information relating to the main solution. This redundant information includes a plurality of sub-solutions according to at least one dim dimension.
    Each sub-solution is associated with the index j varying from 1 to Nf atat , where Nf autt is a current number of monitored failures whose meaning will be explained later.
    The sub-solution associated with the index j is determined under the assumption that the failure having the index j has occurred, according to methods known per se.
    The protection level calculation module 25 makes it possible, for each navigation solution determined by the module 23, to determine a protection level PL dlm according to a given dimension dim by monitoring Nf auit faults likely to occur in the systems 10, 12.
    The protection level calculation module 25 is able in particular to implement a method for determining protection levels according to the invention which will be explained in more detail below.
    As mentioned previously, each monitored failure is identified by the index j varying from 1 to N fault .
    Each failure is associated with a type of failure. In the example described, each type of failure is chosen from the group comprising:
    - simple; and
    - multiple.
    The number of elements included in this group will be denoted subsequently by N type .
    A failure is of a simple type when it affects a single satellite of one of the constellations.
    A failure is of multiple type when it affects at least two satellites of the same constellation. In this case, any constellation is considered to be faulty.
    In addition, each failure is associated with a failure value Pf2 ut corresponding to the probability of occurrence of this failure.
    According to the embodiment described, the failure values Pf2 u t associated with the same type of failure are equal to each other.
    Each level of protection PL dim according to the dimension dim is in particular determined as a function of a first error value P HM i, dim corresponding to the probability of providing a navigation solution whose error rate does not exceed a predetermined integrity threshold and a second error value P F A, dim corresponding to the probability of false alarm, according to this dimension dim.
    Each level of protection PL dim according to the dimension dim then defines a radius of protection according to this dimension dim of the corresponding navigation solution below which this solution according to the dimension dim is guaranteed with the probability ί-PHMireduced.dim, where Phmireduced.dim corresponds to the first error value PHMl.dim reduced by the sum of the probabilities of occurrence of unmonitored failures according to the dimension dim.
    In particular,
    PHMI reduced.dim PHMl.dim Pfaults not monitored, dim> where Pfauitsnot momtored, dim is the sum of the probabilities of occurrence of unmonitored failures according to the dimension dim. This value Pfaults not monitored, dim is predetermined for each dimension dim and is less than the value Phmi, dim The database 27 is able to store at least certain data necessary for the implementation of the determination method as will be explained below.
    The method of determining protection levels according to the invention will now be described with reference to FIG. 3 illustrating a flow diagram of its steps.
    This method comprises a preliminary phase P o and a main phase Pi. The preliminary phase P o is implemented at least once before the main phase P v
    In particular, the preliminary phase P o is implemented at each change of at least one of the values among the first and second error values Phmi, dim. ' P fa, dim according to at least one given dim dimension or at least one of the values of ρθ ηη θ PfLt During the initial step 110 of the preliminary phase P o , the module for calculating protection levels 25 acquires the first and second values of error Phmi, dim 'P fa, dim according to each predetermined dim dimension. During the same step, the protection level calculation module 25 furthermore acquires, according to each predetermined dim dimension, the values Pf au its not momtored.dim and bias values b $ m , the meaning of which will be explained below. .
    All of these values are for example supplied during the design or maintenance of the receiver 14 by external databases provided for this purpose, or even during execution via an external link.
    According to an alternative embodiment, these values are supplied when the receiver 14 is started when, for example, the aircraft 16 is on the ground in preparation for the flight.
    During the following step 120, the protection level calculation module 25 acquires a set E of numbers Nf ault of monitored faults. The number of elements in the set E will be denoted subsequently by | £ Ί.
    Thus, for example, if the failure occurrence hypotheses lead to monitoring only the multiple type failures of the system 12 and the simple type failures of the two systems 10, 12, for a navigation solution using between 4 and 12 satellites of the system 10 and between 2 and 12 satellites of system 12, the set E contains 19 natural numbers Nf auit varying from 7 to 25. Each of these numbers N fault therefore corresponds to the number of faults likely to be monitored during the main phase Pv
    Then, during the same step, for each type of fault, the protection level calculation module 25 acquires a fault value Pf2 u t As in the previous step, the set E and the fault values Pf2 ut are supplied eg by external databases in the design or maintenance of the receiver 14. It should be noted that the breakdown of values Pf2ut a 'ns' d ue' are values of bias b ^ m may be updated later , in particular during the execution of the main phase Pi via for example an external link. In this case, at least some of the stages of the preliminary phase P o are again implemented to take these changes into account.
    During the following step 130, the protection level calculation module 25 determines for each dimension dim and optionally, for each number of monitored faults Nf ault of the set E and / or for each type of fault, a plurality of calculation coefficients among which are:
    - false alarm coefficients K FAdtm ;
    - first coefficients for lower border K FF ^ dim ;
    - first coefficients for upper border K FFR ç O y dim ;
    - second coefficients for low border K FF , d i m ; and
    - second coefficients for upper border K FFRtdim .
    Each calculation coefficient according to a given dim dimension is determined using the inverse function of a defined function using the distribution function of the Gaussian law, this inverse function being calculated in a determined point according to the second error value P F A, d im corresponding to this dimension dim and the number of failures monitored Nf ault corresponding and / or the first error value Phmi, dim corresponding to this dimension dim.
    In particular, each false alarm coefficient K FA dim for a given dim dimension and a given number of monitored faults Nf ault is determined according to the following relationship:
    K,
    FA, dim F FA, dim ^ Nfault, where
    Ç _1 (x) is the inverse function of a function Q defined using the distribution function of the Gaussian law F G.
    In the present description, the Gaussian law F G is defined by the following relation:
    e 2 of.
    According to an exemplary embodiment, the function Q is defined as follows:
    / • dx = Q (y) = 1 - P G (y) = 1 / χ2π I e 2 du.
    In this case, the function Q therefore corresponds to the tail of the Gaussian law F G. According to another exemplary embodiment, the function Q is defined as follows:
    χ = = f 1 - F c (ÿ) = l / Æ J e 2 du, for y> 0, t 1, for y <0.
    In this case, the function Q corresponds to the tail of the Gaussian law F G for each variable greater than zero and is equal to 1 for each variable less than or equal to zero.
    Thus, during this step | £ Ί x JV diîn coefficients K FAid im, are determined. When | F | = 19 and N dim = 2, the number of the coefficients / < Fj4jd / m determined during this step is therefore equal to 38.
    Each first low boundary coefficient K FF ç Oj dim for a given dim dimension, is determined according to the following relation:
    rz _, -, - ι fPHMI reduced, dim K FF (0), dim - V (2) '
    Thus, during this step N dim coefficients K FF ^ dim are determined.
    Each first coefficient for high boundary K FFRmdlm for a given dimension dim and a given number of monitored faults Nf ault , is determined according to the following relation:
    K,
    FFR (Ü), Sun
    PhMI reduced, dim • + l),
    So during this step | E | x N dim coefficients K FFR ^ dim are determined. When | E | = 19 and N dim = 2, the number of coefficients / T FFfi (0) dim determined during this step is therefore equal to 38.
    Each second coefficient for low border K FFdim is determined for a given dim dimension and a given type of failure, according to the following relationship:
    _ n _i f Phmi reduced, dim 1 K FF, dim - QI ω · Pfaut /
    Thus, during this step N type x N dim coefficients K FF> dim are determined.
    When N type = 2 and N dim = 2, the number of coefficients K FFid i m determined during this step is therefore equal to 4.
    Each second coefficient for the lower border is determined for a given dimension dim, a given type of failure and a given number of monitored faults Nfa-uu, according to the following relationship:
    FFR, dim = Q- r
    PHMI reduced, dim
    Pfaut ^ N fault + 1),
    So during this step | E | x N dim x N type coefficients K FFR dim are determined.
    When | £ | = 19, N type = 2 and N dim = 2, the number of coefficients K F FR, dim determined during this step is therefore equal to 76.
    During the final step 140 of the preliminary phase P o , the protection level calculation module 25 stores all of the calculation coefficients determined in the database 27 in the form for example of a plurality of tables.
    The main phase Ρ Ί is implemented when it is necessary to determine a level of protection PL dim according to a given dim dimension for a navigation solution determined by the module for calculating navigation solutions 23.
    Thus, the main phase P 1 is implemented after the determination of each new navigation solution.
    During the initial step 160 of this main phase Ρ Ί , the protection level calculation module 25 determines a current number Nf auU of monitored faults corresponding to one of the numbers in the set E. The current number N fault is determined as a function for example of the number of satellites visible by the receiver 14.
    Then, during the same step, the protection level calculation module 25 determines the main navigation solution as well as the sub-solutions determined by the navigation solution calculation module 25.
    During the next step 170, the protection level calculation module 25 determines statistical data relating to the main solution and the acquired sub-solutions.
    In particular, during this step, the protection level calculation module 25 determines the following statistical data:
    a dUn corresponding to the standard deviation of the main solution according to the dimension dim;
    a dim corresponding to the standard deviation of the sub-solution j according to the dimension dim;
    ' a dim ^ corresponding to the standard deviation of the distance separating the main solution from the sub-solution j according to the dimension dim; and ' b dim corresponding to the cumulative effect of nominal biases on the measures used in the calculation of the main solution (for j = 0) and sub-solutions (for j> 1) according to the dimension dim.
    The values b ^ m can moreover be updated during different iterations of the main phase P! for example via an external link.
    During the following step 180, the protection level calculation module 25 determines the corresponding PL dim protection level according to at least one given dim dimension, from an integrity relationship analytically connecting this PL dim protection level and the first and second error values P H Mi, dim, PFA.dim In particular, for a given dimension dim, the integrity relationship is written in the following form:
    F (PL dim ) = 2Q ( PLdim ~ ^ + £ p f auitQ V & dim 'j
    Phmi reduced.dim
    To solve the equation F (PL dim ) = p HMI reduced4im , the protection level calculation module 25 implements a numerical method, for example the dichotomy resolution method.
    / 7) _ J 17 _ ΐΛ ° dim ^ FA, dim D dim / 0-7) j dim
    Step 180 thus comprises several sub-steps.
    During the initial sub-step 181, the protection level calculation module 25 determines for the protection level sought PL dim a low border PL Îowdim and a high border PL hi dim .
    These boundaries are determined from the following relationships:
    PPlow.dim = max ^ K / rp (0) d i m & d i m , ïïiaXpipF, dimP d i m h KFA, dim & d im
    PFhi.dim ~ ma X (r dim ' 1 ^ i ^ i {^ rFX, 4im cr di m h ^ FA.dim ^ dim
    To determine these boundaries, the protection level calculation module 25 therefore uses the calculation coefficients K FFWidim , K FFRWidim , K FFidim , K FFRdim and K FAidim determined during the preliminary phase P o and stored in the database 27 , for the corresponding dim dimension and possibly, for the current number of monitored faults Nf auÎt and for the corresponding fault type.
    During the following sub-step 182, the module for calculating protection levels 25 determines the difference between the high PL hi dim and low PL lowdim boundaries . If this difference is greater than a predetermined tolerance threshold, the module 25 goes to sub-step 183. Otherwise, the module 25 goes to sub-step 184.
    During sub-step 183, the module for calculating protection levels 25 determines a median level of protection PL med according to the following relation:
    n , _ PPlow.dim 6 P Phi, dim
    P ^ med ~ 2 ‘
    Then, the protection level calculation module 25 calculates the function F (PL med ) in this median level of protection PL med .
    The function F (med PL) is calculated using the coefficient K FA dim stored in the database 27 for the dimension dim and the number blackouts monitored corresponding N fauit.
    When this function F (PL med ) is greater than the right part of the integrity relationship, that is to say greater than PHMireduced, dim> | e protection level calculation module 25 associates a new low border PL l0W , dim at this median level of protection PL med .
    Otherwise, the protection level calculation module 25 associates a new high border PL hi dim with this median level of protection PL med .
    Then, at the end of this sub-step 183, the protection level calculation module 25 passes to sub-step 182 during which it again compares the difference between the high PL hidim and low L lowdim borders , l one of these values having been modified during sub-step 182, with the tolerance threshold.
    Finally, during sub-step 184, the protection level calculation module 25 associates the desired level of protection PL dim, for example with the low border PLiow.dim ·
    During the final step 190 of the method, the protection level calculation module 25 transmits the protection level PL dim obtained to the navigation solution calculation module 23 which for example raises an alert when this level is below a threshold predetermined.
    It is therefore understood that the present invention has a number of advantages.
    The method for determining protection levels according to the invention makes it possible to considerably speed up the calculation of protection levels by making it possible to implement it even on receivers with limited computing capacities and this in real time.
    Such an effect has been achieved thanks to the use of the preliminary phase during which a certain number of coefficients is calculated prior to the implementation of the main phase. These coefficients are stored in a database provided for this purpose and are accessible at any time during the execution of the main phase.
    Thus, there is no longer any need to recalculate these coefficients for each navigation solution so that the resolution of the integrity relationship is considerably accelerated. In particular, there is no longer any need to recalculate the inverse function Ç _1 of the function Q in real time, which has a particular advantage of the invention.
    Finally, it is possible to adapt the existing receivers to the implementation of the method according to the invention in a particularly simple manner, for example by updating their software. This then has a particularly advantageous aspect of the invention.
    权利要求:
    Claims (13)
    [1" id="c-fr-0001]
    1.-Method for determining protection levels (PL dim ) of navigation solutions, each navigation solution being determined from electromagnetic signals emitted by satellites (10A, ..., 10D, 12A.12B) of a or of several global positioning systems (10, 12) by satellite, called constellation;
    the method comprising a preliminary phase (P o ) and a main phase (PO, the preliminary phase (P o ) being implemented at least once before the main phase (PO, the main phase (PO being implemented at the determination of each new navigation solution;
    the preliminary phase (P o ) comprising the following stages:
    - for each predetermined dimension (dim), acquisition (110) of a first error value (Ρ Η Μΐ, άίηι) corresponding to the probability of providing a navigation solution whose error rate does not exceed a predetermined integrity threshold according to this dimension (dim) and a second error value (P FA , dim ) corresponding to the probability of determining a false alarm according to this dimension (dim);
    - supply (120) of a set (E) of numbers (Nf auit ) of monitored faults;
    - for each number of failures monitored (N fau i t ) and for each predetermined dimension (dim), determination (130) of a plurality of calculation coefficients, each calculation coefficient being determined using the inverse function (Q -1 ) of a function (Q) defined using the Gaussian law distribution function (FG), the inverse function (Q -1 ) being calculated in a determined point as a function of the second error value (PFAidi m ) corresponding to this dimension (dim) and the corresponding number of monitored faults (N fault ) and / or the first error value (P H Mi, dim) corresponding to this dimension (dim);
    - storage (140) of all the determined calculation coefficients; the main phase (P-i) comprising the following stages:
    - Determination (160) of a current number (Nf autt ) of monitored faults as a function of the number of constellations (10, 12) used and the number of satellites visible in each of these constellations (10, 12);
    - determination (180) of a protection level (PL dim ) of the corresponding navigation solution according to a given dimension (dim) using an integrity relationship and the calculation coefficients determined during the preliminary phase (P o ) for the current number of failures monitored (N faiat ) and for this dimension (dim), the integrity relationship analytically connecting this level of protection (PL) and the first and second values (P H Mi, dim, P F A, dim) error.
    [2" id="c-fr-0002]
    2, - Method according to claim 1, in which at least some of the calculation coefficients, called false alarm coefficients (K FAdim ), are determined according to the following relation:
    K F 'FA, dim = QPFA, dim
    2N fault p where
    K FA , dim is a false alarm coefficient according to the given dimension dim; PpA.dim is Ιθ second error value according to the given dimension dim; Nfa U it is the corresponding number of monitored faults; and <3 -1 (x) is said inverse function in point x.
    [3" id="c-fr-0003]
    3. - Method according to claim 2, wherein, for a given dimension (dim), the integrity relationship comprises the coefficient of false alarm according to this dimension (dim).
    [4" id="c-fr-0004]
    4, - Method according to claim 2 or 3, wherein the integrity relationship is written in the following form:
    - Phmi, dim Pfaults not monitored, dim>
    OR
    PL dim is the level of protection to be determined according to the given dimension dim; j is the index of a monitored failure varying from 1 to Nf ault ;
    Pfau t is the probability of occurrence of the failure having the index j;
    Phmi, dim is the first error value according to the given dimension dim;
    Pfauits not monitored.dim ®st is the sum of the probabilities of occurrence of unmonitored failures according to the given dimension dim; and
    Æ- a dL b dP and b dim are different statistical data obtained from the navigation solution according to the given dimension dim and from a plurality of sub-solutions according to the given dimension dim, each sub-solution being associated with the index j and corresponding to a navigation solution calculated on the assumption that the failure with index j has occurred.
    [5" id="c-fr-0005]
    5.- Method according to claim any one of the preceding claims, in which at least some of the calculation coefficients, called first coefficients for low border (F FF ( O j idim ), are determined according to the following relation:
    , z _ f P HMI, dim Pfaults not monitored, dhn
    F FF (o), Sun - V (2 / '
    OR
    KFFfoydim is t a first coefficient for low border according to the given dimension dim;
    P H Mi, dim is Ιθ first error value according to the given dimension dim;
    Pfauits not monitored, dim is the sum of the probabilities of occurrence of unmonitored failures according to the given dimension dim; and
    Ç _1 (x) is said inverse function in point x.
    [6" id="c-fr-0006]
    6.- Method according to any one of the preceding claims, in which at least some of the calculation coefficients, called first coefficients for high border (KFFR (ofdim) ’) are determined according to the following relation:
    FFR (0), dim = Q '
    HMI, dim “faults not monitored, dim
    2 (Nf at u + 1)
    WHERE ^ FFRio'j.dim es t a first coefficient for high border according to the given dimension dim;
    P H Mi, dÎm is the first error value according to the given dimension dim;
    Pfauits not monitored, dim is the sum of the probabilities of occurrence of unmonitored failures according to the given dimension dim; and
    Nfauit is the corresponding number of monitored failures; and Q -1 (x) is said inverse function in point x.
    [7" id="c-fr-0007]
    7, - Method according to any one of the preceding claims, in which at least some of the calculation coefficients, called second coefficients for low border (K FF dim ) and second coefficients for high border (K FFRdim ), are furthermore determined function of the probability of occurrence (Py £ * ut ) of a failure among the monitored failures.
    [8" id="c-fr-0008]
    8, - Method according to claim 7, in which the second coefficients for low border (K FFdim ) are determined according to the following relation:
    , z _ zi-1 i PHMI, dim Pfaults not monitored.dim j
    K FF , d lm - Q.
    Pfaut /
    OR
    K FFdim is a second coefficient for low border according to the given dimension dim;
    PHMi.dim is the first error value according to the given dimension dim; Pfauitsnotmonitored.dim is the sum of the probabilities of occurrence of unattended failures according to the given dimension dim;
    j is the index of a monitored failure varying from 1 to N fault ;
    Nfault ®st the number of failures monitored;
    P must is the probability of occurrence of the failure having the index j; and Q _1 (x) is said inverse function in point x.
    [9" id="c-fr-0009]
    9, - Method according to claim 7 or 8, in which the second coefficients for high border (K FFR dim ) are determined according to the following relation:
    FF R, dim = QHMI.dim
    -P, faults not monitored.dim
    P faulty ault + 1)
    OR
    N FF R, dim is a second coefficient for low border according to the given dimension dim;
    P H Mi, dim is the first error value according to the given dimension dim;
    Pfauits not monitored.dim is the sum of the probabilities of occurrence of unmonitored failures according to the given dimension dim;
    Nfauit ® is the corresponding number of monitored faults; j is the index of a monitored failure varying from 1 to Nf ault ;
    Pfaut is' a probability of occurrence of the failure with the index j; and Q- 1 (x) is said inverse function in point x.
    [10" id="c-fr-0010]
    10.- Method according to claims 5 and 6 and any one of claims 7 to 9, wherein during the main phase (Po, the corresponding level of protection (PL d i m ) is determined from the relationship d integrity by the dichotomy method starting from a low border (PL l0Widim ) and a high border (PL hidim );
    the lower border (PLi O w, cUm) being determined as a function of the first and second coefficients for lower border (K FF ( 0 ^ dim , K FF: llim ) corresponding to the number
    5 monitored fault current (N fUU ) and at the given dimension (dim);
    the upper border (PLi ow , dim ) being determined as a function of the first and second coefficients for upper border (K FFR ç O y dim , K FFRdim ) corresponding to the current number of monitored faults (N fault ) and to the given dimension ( Sun).
    10
    [11" id="c-fr-0011]
    11, - Computer program product comprising software instructions which, when implemented by computer equipment, implements the method according to any one of the preceding claims.
    [12" id="c-fr-0012]
    12.- Receiver (14) comprising means configured to implement the
    [13" id="c-fr-0013]
    15 method according to any one of claims 1 to 10.
    2/2
    110 i 120 1 130 i 140
    PO
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    同族专利:
    公开号 | 公开日
    CN108717197A|2018-10-30|
    FR3065084B1|2020-03-13|
    FR3065083A1|2018-10-12|
    US20190049590A1|2019-02-14|
    US10649093B2|2020-05-12|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    EP2461182A1|2010-12-01|2012-06-06|European Space Agency|Method and apparatus for determining an integrity indicating parameter indicating the integrity of positioning information determined in a global positioning system|
    DE102008045323A1|2008-09-02|2010-03-04|Astrium Gmbh|Method and device for optimizing status notifications in a satellite navigation system|
    WO2013188597A2|2012-06-12|2013-12-19|Amrit Bandyopadhyay|Irregular feature mapping|
    US10739466B2|2016-02-10|2020-08-11|Raytheon Company|Mitigation of spoofer satellite signals|US11143765B2|2019-04-25|2021-10-12|Honeywell International Inc.|Reducing bias impact on GNSS integrity|
    CN111874268B|2020-07-22|2022-02-15|中国科学院微小卫星创新研究院|Satellite centralized type autonomous health management system|
    法律状态:
    2019-04-29| PLFP| Fee payment|Year of fee payment: 2 |
    2020-04-30| PLFP| Fee payment|Year of fee payment: 3 |
    2021-04-29| PLFP| Fee payment|Year of fee payment: 4 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1700369|2017-04-05|
    FR1700369A|FR3065083A1|2017-04-05|2017-04-05|METHOD FOR DETERMINING PROTECTION LEVELS OF NAVIGATION SOLUTIONS, COMPUTER PROGRAM PRODUCT AND RECEIVER THEREFOR|
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