CN106918827A - Gps data Effective judgement method and apparatus - Google Patents

Abstract

The invention discloses a kind of gps data Effective judgement method and apparatus, it is related to technical field of satellite navigation.The method includes：Course angle measurement, position measurements, horizontal level dilution of precision and the horizontal arrangement for obtaining target by GPS are drifted about；According to course angle measurement, data fusion positioning is carried out to target, so as to obtain the positioning covariance of target and the estimate of target location；The difference of position measurements and position estimation value is calculated as measurement error；If any one of positioning covariance, measurement error, horizontal level dilution of precision or horizontal arrangement drift are more than its corresponding threshold value, the data invalid that GPS current times obtain is judged.The method and device can improve the reliability of gps data Effective judgement.

Description

GPS data validity judgment method and device

technical field

The present invention relates to the technical field of satellite navigation, in particular to a GPS (Global Positioning System, Global Positioning System) data validity judgment method and device.

Background technique

The existing flight control system often obtains the horizontal position information and speed information of the aircraft through GPS, so whether the data obtained by GPS is valid determines whether the aircraft has the ability to fly autonomously. In actual situations, due to the influence of cloudy, haze and other weather and the occlusion of buildings, the data acquired by GPS will often become invalid, thus affecting the accuracy of the flight control system.

Most of the existing flight control systems only judge whether the GPS data is valid by judging the current GPS positioning satellite number. However, in practical applications, the problem that the number of positioning stars is normal but the GPS resolves errors often occurs. Therefore, this unreliable judgment method will cause the flight control to make a wrong judgment on the validity of the GPS data, thereby affecting the accuracy of the flight control system.

Contents of the invention

The inventors of the present invention have discovered the problems in the above-mentioned prior art, and therefore proposed a new technical solution for at least one of the problems.

An object of the present invention is to provide a reliable technical solution for judging the validity of GPS data.

According to an embodiment of the present invention, a method for judging the validity of GPS data is provided. value, perform data fusion positioning on the target, so as to obtain the positioning covariance of the target and the estimated value of the target position; calculate the difference between the measured position value and the estimated position value as the measurement error; if the If any one of the positioning covariance, the measurement error, the horizontal position precision factor, or the horizontal configuration drift is greater than its corresponding threshold, it is determined that the data acquired by the GPS at the current moment is invalid.

Optionally, the method further includes: judging that the data acquired by the GPS at the current time is invalid if the number of satellites used by the GPS for positioning at the current time is less than a valid satellite number threshold.

Optionally, the method further includes: if the judgment result is that the data is invalid, then transmitting the judgment result to a ground station; if the target has not taken off, prohibiting the target from taking off, and if the target has taken off The target is then controlled to maintain a constant position.

Optionally, the range of the threshold corresponding to the positioning covariance is less than 1 meter ² .

Optionally, the range of the threshold corresponding to the measurement error is less than 1 meter.

Optionally, the range of the threshold corresponding to the horizontal position precision factor is less than 2.5.

Optionally, the range of the effective star number threshold is greater than or equal to 6 stars.

Optionally, the horizontal configuration drift is obtained by calculating the variance of the horizontal data of the target measured by the GPS within a period of time, and the range of the threshold corresponding to the horizontal configuration drift is less than 0.3 m/s.

According to another embodiment of the present invention, a device for judging validity of GPS data is provided, including: a data acquisition unit, configured to obtain a heading angle measurement value, a position measurement value, a horizontal position precision factor, and a horizontal configuration drift of a target through GPS; A data fusion unit, configured to perform data fusion positioning on the target according to the measured heading angle value, so as to obtain the positioning covariance of the target and an estimated value of the target position, and calculate the measured position value and the target position The difference between the estimated position values is used as a measurement error; the data validity judgment unit is used to compare the positioning covariance, the measurement error, the horizontal position precision factor and the horizontal configuration drift with their corresponding thresholds , if any one of them is greater than its corresponding threshold, it is judged that the data acquired by the GPS at the current moment is invalid.

Optionally, the data validity judging unit is further configured to compare the number of stars used for positioning by the GPS at the current moment with the effective star number threshold, and judge that the GPS is currently The data fetched at time is invalid.

Optionally, the device further includes: a data transmission unit, configured to transmit the judgment result to a ground station if the judgment result is that the data is invalid; a target control unit, configured to, if the target has not yet taken off, The target is then prohibited from taking off, and if the target has already taken off, the target is controlled to maintain a constant position.

Optionally, the data acquisition unit is also used to calculate the variance of the horizontal data of the target measured by the GPS within a period of time to obtain the horizontal configuration drift, and the range of the threshold corresponding to the horizontal configuration drift is Less than 0.3 m/s.

Optionally, the range of the threshold corresponding to the positioning covariance is less than 1 meter; the range of the threshold corresponding to the measurement error is less than 1 meter; the range of the threshold corresponding to the horizontal position precision factor is less than 2.5; The range of the effective star number threshold is greater than or equal to 6.

According to yet another embodiment of the present invention, there is provided a device for judging the validity of GPS data, including: a memory; and a processor coupled to the memory, the processor is configured to Instructions to execute the method for judging the validity of GPS data described in any one of the above embodiments.

According to yet another embodiment of the present invention, a computer-readable storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the method for judging the validity of GPS data described in any one of the above-mentioned embodiments is implemented.

An advantage of the present invention is that, according to GPS measurement data, through data fusion positioning, the comparison results of positioning covariance, measurement error, horizontal position precision factor, horizontal configuration drift, and positioning star number and their corresponding thresholds are used as multi-angle judgment conditions , can comprehensively analyze and detect the validity of the GPS data, thereby improving the reliability of the validity judgment of the GPS data.

Description of drawings

The accompanying drawings, which constitute a part of this specification, illustrate the embodiments of the invention and together with the description serve to explain the principles of the invention.

The present invention can be more clearly understood from the following detailed description with reference to the accompanying drawings, in which:

Fig. 1 shows a flow chart of an embodiment of the GPS data validity judging method of the present invention.

Fig. 2 shows a flow chart of another embodiment of the GPS data validity judging method of the present invention.

Fig. 3 shows a structure diagram of an embodiment of the GPS data validity judging device of the present invention.

Fig. 4 shows a structure diagram of another embodiment of the GPS data validity judging device of the present invention.

Fig. 5 shows a structure diagram of another embodiment of the GPS data validity judging device of the present invention.

detailed description

Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangements of components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.

At the same time, it should be understood that, for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

The following description of at least one exemplary embodiment is merely illustrative in nature and in no way taken as limiting the invention, its application or uses.

Techniques, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods and devices should be considered part of the Authorized Specification.

In all examples shown and discussed herein, any specific values should be construed as illustrative only, and not as limiting. Therefore, other examples of the exemplary embodiment may have different values.

It should be noted that like numerals and letters denote like items in the following figures, therefore, once an item is defined in one figure, it does not require further discussion in subsequent figures.

Fig. 1 shows a flow chart of an embodiment of the GPS data validity judging method of the present invention.

As shown in FIG. 1 , in step 101 , the target's heading angle measurement value, position measurement value, horizontal position precision factor and horizontal configuration drift are obtained through GPS. Among them, when the target speed reaches a certain value, GPS can obtain the heading angle of the target at the current moment.

In one embodiment, the horizontal configuration drift is obtained by calculating the variance of the GPS-measured target's horizontal data over a period of time.

Step 102, according to the measured value of the heading angle, perform data fusion and positioning on the target, so as to obtain the positioning covariance of the target and an estimated value of the target position.

In one embodiment, GPS, accelerometer and gyroscope can be used to locate the same target, the target heading angle obtained by GPS, the target acceleration obtained by accelerometer and the target angular acceleration obtained by gyroscope are measured values, and the The position is the state value, and the data fusion is carried out through the extended Kalman filter, so as to obtain the target positioning covariance and the estimated value of the target position.

Step 103, calculating the difference between the measured position value and the estimated position value as a measurement error. Among them, due to external factors such as weather and occlusion, the measured value of GPS at the current moment may seriously deviate from the trend of the target position, that is, an outlier is generated, and the measurement error can be used to judge whether the measured value of the target position currently obtained by GPS is an outlier. value.

Step 104, judging whether any one of positioning covariance, measurement error, horizontal position precision factor, or horizontal configuration drift is greater than its corresponding threshold. If yes, it is determined that the data acquired by the GPS at the current time is invalid (step 105); if not, it is determined that the data acquired by the GPS at the current time is valid (step 106).

In an embodiment, the range of the threshold corresponding to the positioning covariance may be less than 1 m ² , such as 0.8 m ² . The range of the threshold corresponding to the measurement error may be less than 1 meter, such as 0.6 meter. The range of the threshold corresponding to the horizontal position precision factor may be less than 2.5, such as 2. The range of the threshold corresponding to the horizontal configuration drift may be less than 0.3 m/s, such as 0.2 m/s.

In the above-mentioned embodiments, the present invention analyzes the effectiveness of GPS data from multiple aspects of positioning covariance, measurement error, horizontal position precision factor and horizontal configuration drift, and can detect GPS solution caused by external factors such as weather and occlusion. errors, thereby improving the reliability of valid data judgments.

Fig. 2 shows a flow chart of another embodiment of the GPS data validity judging method of the present invention.

As shown in FIG. 2 , in step 201 , positioning covariance, measurement error, horizontal position precision factor, horizontal configuration drift, and positioning satellite number are obtained through GPS and data fusion positioning.

Step 202, judging whether any of the positioning covariance, measurement error, horizontal position precision factor, horizontal configuration drift, or positioning satellite number is greater than its corresponding threshold. If yes, it is determined that the data acquired by the GPS at the current moment is invalid (step 203), and proceed to step 205; if not, it is determined that the data acquired by the GPS at the current moment is valid (step 204). Wherein, the threshold corresponding to the number of positioning stars may be set to 6 or more.

Step 205, transmit the judgment result to the ground station.

In one embodiment, the flight control system judges that the current GPS calculation is wrong according to the above steps, and the obtained data is invalid data, then the judgment result is transmitted to the ground station through the data link between the flight control system and the ground station , the ground station displays the situation.

Step 206, judging whether the target has not taken off yet. If yes, prohibit the target from taking off (step 207); if not, control the target to maintain a constant position (step 208).

In the above-mentioned embodiments, the present invention not only judges the validity of its data by judging the current GPS positioning satellite number, but also analyzes the positioning covariance, measurement error, horizontal position precision factor and horizontal configuration drift at the same time, and comprehensively analyzes the GPS data. The validity of the data is judged, thereby improving the reliability of the judgment result; after the data is found to be invalid, different control methods are adopted for the current state of the target, thereby ensuring the safety of the target.

Fig. 3 shows a structure diagram of an embodiment of the GPS data validity judging device of the present invention.

As shown in FIG. 3 , the device includes: a data acquisition unit 31 , a data fusion unit 32 and a data validity judgment unit 33 .

The data acquisition unit 31 obtains the heading angle measurement value, position measurement value, horizontal position precision factor and horizontal configuration drift of the target through GPS.

In one embodiment, the data acquisition unit 31 can acquire the above-mentioned physical quantities in the following manner: the measured value of the heading angle can be provided by the GPS after the target speed reaches a certain value; the measured value of the position and the horizontal position precision factor can be directly provided by the GPS; The configuration drift can be obtained by calculating the variance of the horizontal position of the target acquired by GPS within a period of time.

The data fusion unit 32 performs data fusion positioning on the target according to the measured value of the heading angle, thereby obtaining the positioning covariance of the target and the estimated value of the target position, and calculates the difference between the measured position value and the estimated position value as the measurement error.

In one embodiment, the data fusion unit 32 can combine multiple sensors including GPS, such as gyroscopes, accelerometers, and magnetometers, through the extended Kalman filter to measure the location of the target (may include the heading of the target) Angle, acceleration, angular acceleration, and the strength of the geomagnetic field, etc.) for data fusion, so as to obtain the estimated value of positioning covariance and target position.

The data validity judging unit 33 compares the positioning covariance, measurement error, horizontal position precision factor, and horizontal configuration drift with their corresponding thresholds, and if any of them is greater than its corresponding threshold, then it is judged that the data acquired by the GPS at the current moment is invalid .

In one embodiment, it also includes comparing the number of positioning stars with the threshold of valid stars, and if the number of positioning stars is smaller than the threshold of valid stars, it is determined that the data is invalid.

In another embodiment, as shown in FIG. 4 , the device further includes: a data transmission unit 44 and a target control unit 45 .

If the judgment result is that the data is invalid, then the data transmission unit 44 passes the judgment result to the ground station, such as by wireless data transmission; if the target has not yet taken off, the target control unit 45 prohibits the target from taking off; if the target has taken off, the target control unit 45 The control target maintains a constant position. Wherein, the data transmission unit 44 can transmit the judgment result to the ground station through a data link, such as a wireless data transmission or a 3G module.

In the above-mentioned embodiments, the data validity judgment unit judges the GPS from multiple aspects by comparing the positioning covariance, measurement error, horizontal position precision factor and horizontal configuration drift obtained by the data acquisition unit and the data fusion unit with their corresponding thresholds. Whether the data is valid or not, thus improving the reliability of valid data judgment.

Fig. 5 shows a structure diagram of another embodiment of the GPS data validity judging device of the present invention.

As shown in FIG. 5 , the device 50 of this embodiment includes: a memory 51 and a processor 52 coupled to the memory 51 , the processor 52 is configured to execute any one of the embodiments of the present invention based on instructions stored in the memory 51 . The method for judging the validity of GPS data in the example.

Wherein, the memory 51 may include, for example, a system memory, a fixed non-volatile storage medium, and the like. The system memory stores, for example, an operating system, an application program, a boot loader (Boot Loader), a database, and other programs.

Those skilled in the art should understand that the embodiments of the present invention may be provided as methods, systems, or computer program products. Accordingly, the present invention can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein .

So far, the method and device for determining the validity of GPS data of the global positioning system according to the present invention have been described in detail. Certain details well known in the art have not been described in order to avoid obscuring the inventive concept. Based on the above description, those skilled in the art can fully understand how to implement the technical solutions disclosed herein.

It is possible to implement the methods and systems of the present invention in many ways. For example, the method and system of the present invention may be implemented by software, hardware, firmware or any combination of software, hardware, and firmware. The above sequence of steps used in the method is for illustration only, and the steps of the method of the present invention are not limited to the sequence specifically described above unless specifically stated otherwise. Furthermore, in some embodiments, the present invention can also be implemented as programs recorded in recording media including machine-readable instructions for realizing the method according to the present invention. Thus, the present invention also covers a recording medium storing a program for executing the method according to the present invention.

Although some specific embodiments of the present invention have been described in detail through examples, those skilled in the art should understand that the above examples are for illustration only, rather than limiting the scope of the present invention. Those skilled in the art will appreciate that modifications can be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.

Claims (15)

1. A global positioning system GPS data validity judgment method, comprising: Obtain the heading angle measurement value, position measurement value, horizontal position precision factor and horizontal configuration drift of the target through GPS; Performing data fusion positioning on the target according to the heading angle measurement value, so as to obtain a positioning covariance of the target and an estimated value of the target position; calculating the difference between said position measurement and said position estimate as a measurement error; If any one of the positioning covariance, the measurement error, the horizontal position precision factor, or the horizontal configuration drift is greater than its corresponding threshold, it is determined that the data acquired by the GPS at the current moment is invalid. 2. The method of claim 1, further comprising: If the number of satellites used by the GPS for positioning at the current time is less than the effective number of satellites threshold, it is determined that the data acquired by the GPS at the current time is invalid. 3. The method of claim 2, further comprising: If the judgment result is that the data is invalid, then transfer the judgment result to the ground station; If the target has not taken off, the target is prohibited from taking off, and if the target has taken off, the target is controlled to maintain a constant position. 4. The method of claim 1, wherein, The range of the threshold corresponding to the positioning covariance is less than 1 meter ² . 5. The method of claim 1, wherein, The range of the threshold corresponding to the measurement error is less than 1 meter. 6. The method of claim 1, wherein, The range of the threshold corresponding to the horizontal position precision factor is less than 2.5. 7. The method of claim 2, wherein, The range of the effective star number threshold is greater than or equal to 6 stars. 8. The method of claim 1, wherein, The horizontal configuration drift is obtained by calculating the variance of the horizontal data of the target measured by the GPS within a period of time; The range of the threshold corresponding to the horizontal configuration drift is less than 0.3 m/s. 9. A global positioning system GPS data validity judgment device, comprising: The data acquisition unit is used to obtain the heading angle measurement value, the position measurement value, the horizontal position precision factor and the horizontal configuration drift of the target through GPS; A data fusion unit, configured to perform data fusion positioning on the target according to the measured heading angle value, so as to obtain the positioning covariance of the target and an estimated value of the target position, and calculate the measured position value and the target position The difference between the above position estimates is taken as the measurement error; A data validity judging unit, configured to compare the positioning covariance, the measurement error, the horizontal position precision factor, and the horizontal configuration drift with their respective corresponding thresholds, if any of them is greater than its corresponding threshold , it is determined that the data acquired by the GPS at the current time is invalid. 10. The apparatus of claim 9, wherein, The data validity judging unit is also used to compare the number of stars used for positioning by the GPS at the current moment with the effective star number threshold, and if the number of stars is less than the effective star number threshold, then judge the data acquired by the GPS at the current moment invalid. 11. The apparatus of claim 10, further comprising: A data transmission unit, configured to transmit the judgment result to a ground station if the judgment result is that the data is invalid; The target control unit is configured to prohibit the target from taking off if the target has not yet taken off, and control the target to maintain a constant position if the target has taken off. 12. The apparatus of claim 10, wherein, The data acquisition unit is also used to calculate the variance of the horizontal data of the target measured by the GPS within a period of time to obtain the horizontal configuration drift, and the range of the threshold corresponding to the horizontal configuration drift is less than 0.3 m/s . 13. The device according to any one of claims 10-12, wherein, The range of the threshold corresponding to the positioning covariance is less than 1 meter ² ; The range of the threshold value corresponding to the measurement error is less than 1 meter; The range of the threshold corresponding to the horizontal position precision factor is less than 2.5; The range of the effective star number threshold is greater than or equal to 6 stars. 14. A global positioning system GPS data validity judgment device, comprising: storage; and A processor coupled to the memory, the processor configured to execute the method for determining validity of GPS data according to any one of claims 1-8 based on instructions stored in the memory device. 15. A computer-readable storage medium, on which a computer program is stored, characterized in that, when the program is executed by a processor, the global positioning system GPS data validity judgment as described in any one of claims 1-8 is realized method.