CN109597108A - Global navigation satellite system receiver and its operating method - Google Patents
Global navigation satellite system receiver and its operating method Download PDFInfo
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- CN109597108A CN109597108A CN201811577712.4A CN201811577712A CN109597108A CN 109597108 A CN109597108 A CN 109597108A CN 201811577712 A CN201811577712 A CN 201811577712A CN 109597108 A CN109597108 A CN 109597108A
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- locator
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
为提高全球导航卫星系统接收机的可靠性和定位连续性，在发生异常时，能自动进行恢复操作，并保持定位信息不中断，本发明提供一种全球导航卫星系统接收机及其操作方法。所述接收机包括至少两个定位器，包括一主用定位器，一热备份定位器和/或一冷备份定位器，用于接收导航信号并输出定位信息；异常监控器，检测所述至少两个定位器工作状态，控制所述至少两个定位器的工作模式；和定位结果处理器，接收所述至少两个定位器的定位信息并输出定位结果。在发生异常情况时，接收机通过重启异常的定位器来恢复定位状态，而热备份可以保持定位信号连续输出不发生中断，而冷备份进一步增强接收机对抗恶劣环境的能力。
In order to improve the reliability and positioning continuity of the global navigation satellite system receiver, when an abnormality occurs, the recovery operation can be automatically performed and the positioning information is kept uninterrupted. The present invention provides a global navigation satellite system receiver and an operation method thereof. The receiver includes at least two locators, including a main locator, a hot backup locator and/or a cold backup locator, for receiving navigation signals and outputting positioning information; an abnormality monitor, detecting the at least The working state of the two positioners controls the working modes of the at least two positioners; and a positioning result processor receives the positioning information of the at least two positioners and outputs the positioning results. When an abnormal situation occurs, the receiver restores the positioning state by restarting the abnormal locator, while the hot backup can keep the continuous output of the positioning signal without interruption, and the cold backup further enhances the receiver's ability to withstand harsh environments.
Description
Technical field
The present invention relates to Global Navigation Satellite System more particularly to a kind of global navigation satellite system receiver and its operations
Method.
Background technique
With the development of aerospace industry, more and more spacecrafts are launched heaven, operate on different tracks, play
Important role, explore wide unknown space for the mankind and provide strong support.
Currently, Global Navigation Satellite System (GNSS, Global Navigation Satellite System) may be used
To provide stable positioning service.Global Navigation System is widely used in the positioning of aviation, navigation, land transport.
But the reliability of usual global navigation satellite system receiver is insufficient, cannot independently restore just encountering failure
Often；Alternatively, during global navigation satellite system receiver independently restores normal positioning states, location information must in
It is disconnected, it is discontinuous so as to cause location information.Global navigation satellite system receiver these problems can all influence space flight during this,
Navigation or the execution of overland transport task.
For example, global navigation satellite system receiver would generally be installed on spacecraft, so that spacecraft can receive entirely
The navigation signal of ball navigational satellite system and the position for fast and accurately positioning in-orbit spacecraft.The complexity of space environment is severe,
Often caused by various adverse effects, such as space particle radiation when the receiver operation on orbit of Global Navigation Satellite System
The logic state of electronic device is abnormal variation etc., can not correctly resolve so as to cause the receiver of Global Navigation Satellite System
Navigation signal and output location information.
Summary of the invention
It is continuous the technical problem to be solved by the present invention is to improve the reliability of global navigation satellite system receiver and positioning
Property, when being abnormal, can restore global navigation satellite system receiver positioning states automatically, and be held in position information not in
It is disconnected.
In order to solve the above technical problems, the present invention provides a kind of global navigation satellite system receiver, comprising: at least two
Locator, at least two locator include a primary locator, a warm back-up locator and/or a cold standby locator,
For receiving navigation signal and exporting location information；Abnormal monitoring device is configured as detecting at least two locators work
State controls the operating mode of at least two locator；With positioning result processor, it is configured as receiving described at least two
The location information of a locator simultaneously exports positioning result.
Further, the abnormal monitoring device is configured as:
When detecting that the primary locator positions successfully and the warm back-up locator positions successfully, described in holding
The positioning result processor selection primary locator exports positioning result；
When detecting the primary locator positioning failure and the warm back-up locator positions successfully, described in switching
Positioning result processor selects the warm back-up locator to export positioning result；
When detecting that the primary locator recovery positions successfully, switches the positioning result processor and select the master
Positioning result is exported with locator.
Further, the abnormal monitoring device is configured as:
Detecting that the primary locator positioning Time To Failure is more than preset value and the warm back-up locator positions
When success, the primary locator is restarted, switch the positioning result processor and select the warm back-up locator output positioning
As a result；
When detecting that the primary locator recovery positions successfully, switches the positioning result processor and select the master
Positioning result is exported with locator.
Further, the abnormal monitoring device is configured as:
Detecting warm back-up locator positioning failure, and when the primary locator position successfully, holding institute
State the positioning result processor selection primary locator output positioning result；
Detecting that the warm back-up locator positioning Time To Failure is more than preset value, and the primary locator positions
When success, the warm back-up locator is restarted.
Further, the abnormal monitoring device is configured as:
When detecting that the primary locator and warm back-up locator positioning Time To Failure are above preset value, weight
Open the primary locator and the warm back-up locator.
Further, the abnormal monitoring device is configured as:
After restarting the primary locator and the warm back-up locator, the primary locator and the heat are detected
The still all positioning failures of backup locator, then close the primary locator, switching the warm back-up locator is newly primary
Locator, switching the cold standby locator is new warm back-up locator, and it is new for switching the primary locator being turned off
Cold standby locator.
Further, the present invention provides a kind of operating method for global navigation satellite system receiver, and the whole world is led
Boat satellite systems receiver includes abnormal monitoring device, positioning result processor and at least two locators, and described at least two is fixed
Position device includes a primary locator, a warm back-up locator, wherein the described method includes:
The abnormal monitoring device keeps the positioning result to handle when the failure of any locator is not detected
The device selection primary locator exports positioning result；
The abnormal monitoring device is detecting the primary locator positioning failure and warm back-up locator positioning
When success, switches the positioning result processor and select the warm back-up locator output positioning result；
The abnormal monitoring device switches at the positioning result when detecting that the primary locator recovery positions successfully
It manages the device selection primary locator and exports positioning result.
Further, the operating method includes that the abnormal monitoring device is configured as:
Detecting that the primary locator positioning Time To Failure is more than preset value and warm back-up locator positions successfully
When, restart the primary locator, switch the positioning result processor and select the warm back-up locator output positioning result,
When detecting that the primary locator recovery positions successfully, switches the positioning result processor and select the master
Positioning result is exported with locator；
Detecting that the warm back-up locator positioning Time To Failure is more than preset value and the primary locator positioning
When success, then the warm back-up locator is restarted.
Further, the global navigation satellite system receiver further includes a cold standby locator, the method includes
The abnormal monitoring device is configured as:
When detecting that the primary locator and warm back-up locator positioning Time To Failure are above preset value, then
Restart the primary locator and the warm back-up locator；
After restarting the primary locator and the warm back-up locator, detect that described two locators all position mistake
It loses, then closes the primary locator, switching the warm back-up locator is new primary locator, and it is fixed to switch the cold standby
Position device is new warm back-up locator, and switching the primary locator being turned off is new cold standby locator.
In conclusion support redundancy backup global navigation satellite system receiver by increase warm back-up, cold standby and
Automatic fault Restoration Mechanism greatly strengthens the reliability of system, breaks down in one of primary locator or warm back-up locator
When, receiver, which can be held in position signal and continuously export, not to interrupt, in primary locator and warm back-up locator all failures
When, cold standby locator can be enabled and further enhance ability to anti-adverse environment.
Detailed description of the invention
Fig. 1 is one embodiment of global navigation satellite system receiver of the invention, uses three locators；
Fig. 2 is a working condition of embodiment illustrated in fig. 1, and wherein locator A is primary locator, and locator B is heat
Backup locator, locator C are cold standby locator；
Fig. 3 is a working condition of embodiment illustrated in fig. 1, and wherein locator B is primary locator, and locator C is heat
Backup locator, locator A are cold standby locator；
Fig. 4 is a working condition of embodiment illustrated in fig. 1, and wherein locator C is primary locator, and locator A is heat
Backup locator, locator B are cold standby locator；
Fig. 5 is one embodiment of global navigation satellite system receiver of the invention, uses two locators, locator
A is primary locator, and locator B is warm back-up locator；
Fig. 6 is one embodiment of global navigation satellite system receiver of the invention, uses two locators, locator
A is primary locator, and locator B is cold standby locator.
Specific embodiment
A specific embodiment of the invention is described in further details with reference to the accompanying drawing.Following embodiment will be helpful to
Those skilled in the art further understands the present invention, but the invention is not limited in any way.It should be pointed out that ability
For the those of ordinary skill in domain, without departing from the inventive concept of the premise, various modifications and improvements can be made.These
Belong to protection scope of the present invention.
One embodiment is as shown in Figure 1, global navigation satellite system receiver of the invention includes: locator A, locator
B, locator C, for receiving navigation signal and exporting location information；Abnormal monitoring device, be configured as detecting the locator A,
B, the working condition of C controls the operation of described locator A, B, C；With positioning result processor, it is configured as receiving the positioning
The location information of device A, B, C simultaneously export positioning result.
As shown in Fig. 2, after global navigation satellite system receiver starting of the invention, based on the locator A is configured
With locator, the locator B is configured as warm back-up locator, and the locator C is configured as cold standby locator.
The primary locator and the warm back-up locator carry out positioning calculation simultaneously and export location information to described
Positioning result processor.The cold standby locator is closed, and does not export location information.
In primary positioner failure, warm back-up locator is still being run, and guarantees that positioning signal is not interrupted.Primary fixed
Position device and warm back-up locator all failure when, cold standby locator starting operation, to further improve global navigational satellite
The reliability of system receiver.
The abnormal monitoring device is configured as detecting and controlling the primary locator, warm back-up locator and cold standby
Locator.
Warm back-up locator is described respectively to the support method of positioning continuity and reliability according to following three kinds of situations.Such as
Shown in Fig. 2, locator A is primary locator at this time, and locator B is warm back-up locator:
One, normal in the primary locator, when the warm back-up locator is normal:
When the abnormal monitoring device detects that the primary locator is positioned successfully, the warm back-up locator is positioned to
Function, the abnormal monitoring device keep the positioning result processor selection primary locator to export positioning result；
Two, abnormal in the primary locator, when the warm back-up locator is normal:
The abnormal monitoring device is detecting the primary locator positioning failure and warm back-up locator positioning
When success, switches the positioning result processor and select the warm back-up locator output location information；
The abnormal monitoring device is detecting that the primary locator positioning Time To Failure is more than preset value and the heat
When backup locator is positioned successfully, the primary locator is restarted, switch the positioning result processor and select the warm back-up
Locator exports result；
The abnormal monitoring device switches at the positioning result when detecting that the primary locator recovery positions successfully
It manages the device selection primary locator and exports positioning result.
Three, normal in the primary locator, when the warm back-up locator exception:
The abnormal monitoring device is detecting the warm back-up locator positioning failure, and the primary locator positioning
When success, the positioning result processor is notified to keep the selection primary locator output positioning result；
The abnormal monitoring device is detecting that warm back-up locator positioning Time To Failure is more than preset value and described
When primary locator is positioned successfully, the warm back-up locator is restarted.
Cold standby locator is described respectively to the support method of reliability according to the following two kinds situation.
One, as shown in Fig. 2, locator A is primary locator at this time, locator B is warm back-up locator, and locator C is
Cold standby locator.In the primary locator exception, the warm back-up locator exception:
The abnormal monitoring device is detecting the primary locator and warm back-up locator positioning Time To Failure all
When more than preset value, the primary locator and the warm back-up locator are restarted.
The abnormal monitoring device detects described primary after restarting the primary locator and the warm back-up locator
Locator and the warm back-up locator still all positioning failures, then close the primary locator, it is fixed to switch the warm back-up
Position device is new primary locator, and switching the cold standby locator is new warm back-up locator, switches the master being turned off
It is new cold standby locator with locator.As shown in figure 3, locator B is primary at this point, locator A is cold standby locator
Locator, locator C are warm back-up locator.
Two, as shown in figure 3, locator B is primary locator at this time, locator C is warm back-up locator, and locator A is
Cold standby locator.In the primary locator exception, the warm back-up locator exception:
The abnormal monitoring device is detecting the primary locator and warm back-up locator positioning Time To Failure all
When more than preset value, the primary locator and the warm back-up locator are restarted.
The abnormal monitoring device detects described primary after restarting the primary locator and the warm back-up locator
Locator and the warm back-up locator still all positioning failures, then close the primary locator, it is fixed to switch the warm back-up
Position device is new primary locator, and switching the cold standby locator is new warm back-up locator, switches the master being turned off
It is new cold standby locator with locator.As shown in figure 4, locator C is primary at this point, locator B is cold standby locator
Locator, locator A are warm back-up locator.
Described locator A, B, C according to above-mentioned mechanism cyclic switching successively become primary locator, warm back-up locator and
Cold standby locator, until positioning successfully.
One embodiment is as shown in figure 5, the difference is that, the present embodiment uses two locators, fixed with embodiment illustrated in fig. 1
Device A and locator B, locator A are configured as primary locator for position, and locator B is configured as warm back-up locator, locator A
According to operation while warm back-up locator and positioning result is exported with B.By warm back-up mechanism, even if a positioner failure
When, global navigation satellite system receiver of the invention can be still held in position successfully and positioning is continuous, and can be by restarting
Restore fault locator.
One is implemented as shown in fig. 6, the difference is that, the present embodiment uses two locators, positioning with embodiment illustrated in fig. 1
Device A and locator B, locator A are configured as primary locator, and locator B is configured as cold standby locator.Locator A is just
Often positioning result is exported when operation.In locator A exception, start locator B to replace locator A.Therefore only pass through cold standby
Part, it can also be improved the reliability of global navigation satellite system receiver.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
Member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications also should be regarded as
Protection scope of the present invention.
Claims (9)
1. a kind of global navigation satellite system receiver characterized by comprising
At least two locators, at least two locator include a primary locator, a warm back-up locator and/or one cold
Backup locator, for receiving navigation signal and exporting location information；
Abnormal monitoring device is configured as detecting at least two locators working condition, controls at least two locator
Operating mode；
Positioning result processor is configured as receiving the location information of at least two locator and exports positioning result.
2. global navigation satellite system receiver according to claim 1, which is characterized in that the abnormal monitoring device is matched
It is set to:
When detecting that the primary locator positions successfully and the warm back-up locator positions successfully, the positioning is kept
The results processor selection primary locator exports positioning result；
When detecting the primary locator positioning failure and the warm back-up locator positions successfully, switch the positioning
Results processor selects the warm back-up locator to export positioning result；
When detecting that the primary locator recovery positions successfully, it is described primary fixed to switch the positioning result processor selection
Position device exports positioning result.
3. global navigation satellite system receiver according to claim 2, which is characterized in that the abnormal monitoring device is matched
It is set to:
Detecting that the primary locator positioning Time To Failure is more than preset value and the warm back-up locator positions successfully
When, restart the primary locator, switches the positioning result processor and select the warm back-up locator output positioning result；
When detecting that the primary locator recovery positions successfully, it is described primary fixed to switch the positioning result processor selection
Position device exports positioning result.
4. global navigation satellite system receiver according to claim 1, which is characterized in that the abnormal monitoring device quilt
It is configured that
Detecting warm back-up locator positioning failure, and when the primary locator position successfully, holding is described fixed
The results processor selection primary locator in position exports positioning result；
Detecting that the warm back-up locator positioning Time To Failure is more than preset value, and the primary locator positions successfully
When, restart the warm back-up locator.
5. global navigation satellite system receiver according to claim 1, which is characterized in that the abnormal monitoring device is matched
It is set to when detecting that the primary locator and warm back-up locator positioning Time To Failure are above preset value, restarts institute
State primary locator and the warm back-up locator.
6. global navigation satellite system receiver according to claim 5, which is characterized in that the abnormal monitoring device is matched
It is set to after restarting the primary locator and the warm back-up locator, detects the primary locator and the warm back-up
Locator still all positioning failures, then close the primary locator, switching the warm back-up locator is new primary positioning
Device, switching the cold standby locator is new warm back-up locator, and switching the primary locator being turned off is new cold standby
Part locator.
7. a kind of operating method for global navigation satellite system receiver, the global navigation satellite system receiver include
Abnormal monitoring device, positioning result processor and at least two locators, at least two locator include a primary positioning
Device, a warm back-up locator, wherein the method includes,
The abnormal monitoring device keeps the positioning result processor to select when the failure of any locator is not detected
Select the primary locator output positioning result；
The abnormal monitoring device is detecting that the primary locator positioning fails and the warm back-up locator positions successfully
When, switch the positioning result processor and selects the warm back-up locator output positioning result；
The abnormal monitoring device switches the positioning result processor when detecting that the primary locator recovery positions successfully
Select the primary locator output positioning result.
8. the operating method according to claim 7 for global navigation satellite system receiver, it is characterised in that
When detecting that the primary locator positions Time To Failure more than preset value and warm back-up locator positions successfully, weight
The primary locator is opened, switches the positioning result processor and selects the warm back-up locator output positioning result；
When detecting that the primary locator recovery positions successfully, it is described primary fixed to switch the positioning result processor selection
Position device exports positioning result；
Detecting that the warm back-up locator positioning Time To Failure is more than preset value and the primary locator positions successfully
When, then restart the warm back-up locator.
9. the operating method according to claim 8 for global navigation satellite system receiver, which is characterized in that described
Global navigation satellite system receiver further includes a cold standby locator, wherein the abnormal monitoring device is configured as:
When detecting that the primary locator and warm back-up locator positioning Time To Failure are above preset value, then restart
The primary locator and the warm back-up locator；
After restarting the primary locator and the warm back-up locator, detect that described two locators all position failure,
The primary locator is then closed, switching the warm back-up locator is new primary locator, switches the cold standby positioning
Device is new warm back-up locator, and switching the primary locator being turned off is new cold standby locator.
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| CN111413713A (en) * | 2020-03-30 | 2020-07-14 | 中国科学院地质与地球物理研究所 | A GNSS ionosphere monitoring device and method for monitoring the ionosphere |
| CN113805198A (en) * | 2021-08-13 | 2021-12-17 | 中国航空无线电电子研究所 | Satellite measurement processor |
| CN113805198B (en) * | 2021-08-13 | 2024-10-11 | 中国航空无线电电子研究所 | Satellite measurement processor |
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