Method for detecting anomaly satellite in multi-reference stations environment and apparatus using detecting method
View Patent ↗The present invention relates to an apparatus and a method for identifying an anomalous satellite in a multi-reference station environment.
1. A method of determining an anomalous satellite in a multi-reference station environment, comprising:
a first step of a satellite signal reception unit individually receiving satellite signals including code measurements and carrier measurements from one or more reference stations respectively communicating with a plurality of satellites;
a second step of a reference station number determination unit checking a number of reference stations communicating with the plurality of satellites, based on the satellite signals;
a third step of an anomaly state detection unit detecting presence or non-presence of an anomaly state of the satellites, based on the code measurements and the carrier measurements of the satellite signals; and
a fourth step of an anomalous satellite identification unit identifying an anomalous satellite from the anomaly state of the satellites detected at the third step,
wherein the third step and the fourth step are sequentially repeated a number of times identical to the number of the reference stations checked at the second step,
wherein the third step comprises:
a process of dividing n satellite groups, each having (n−1) satellites, into small satellite groups, and generating estimation operation vectors (G i ) for code measurement residuals (g_PR) and carrier measurement residuals (g_CP) of the respective small satellite groups;
a process of individually generating estimation operation vectors (M) for measurement residuals from the estimation operation vectors (G i );
a process for individually generating parity space vectors (p) from the residual estimation operation vectors (M);
a process for individually calculating anomaly possibility indices (B fd ) using the parity space vectors; and
a process for comparing respective anomaly possibility indices (B fd ) of the code measurements and the carrier measurements with thresholds (T fd ), thus detecting the anomaly state of the satellites,
wherein the anomaly state of the satellites is detected if each anomaly possibility index is equal to or greater than the corresponding threshold (where n is a natural number).
2. The method of claim 1 , further comprising, if the number of the reference stations checked at the second step is at least 3, a fifth step of an anomaly cause determination unit determining a cause of an anomaly in the anomalous satellite identified at the fourth step.
3. The method of claim 1 , wherein the code measurement residuals (g_PR) and the carrier measurement residuals (g_CP) are generated by the following equation:
g _ PR=Ψ−{R+cT+Id+Td}
g _ CP =(Φ−Φ init )−{( R+cT−Id+Td )−Φ init }
where Ψ and Φ denote code measurements and carrier measurements output from a receiver, Φ init denotes an initial value of the carrier measurements output from the receiver, R denotes an actual distance between a satellite and the receiver, c denotes speed of light, T denotes an error in a satellite clock, Id denotes an ionospheric delay error, and Td denotes a tropospheric delay error.
4. The method of claim 1 , wherein the residual estimation operation vectors (M) are generated using the following equation:
M=[E ( G 1 ) E ( G 2 ) . . . E ( G n-1 ) E ( G n )] T
where T denotes a transposed matrix and E(x) denotes an average of vector x.
5. The method of claim 1 , wherein the parity space vectors (p) are generated using the following equation:
p=V·M
where V denotes a matrix satisfying conditions of V·W=0 and V·V T =I, W denotes a vector of 1's of a (n×1) size, and I denotes a unit matrix having a (n−1)×(n−1) size.
6. The method of claim 1 , wherein the anomaly possibility indices (B fd ) are calculated using the following equation:
B fd =p T ·p.
7. The method of claim 1 , wherein the fourth step comprises:
a process for calculating anomaly identification indices (B fi ) using the following equation from the parity space vectors that use code measurement residuals for respective visible satellites at the third step; and
a process for identifying an anomalous satellite from the anomaly identification indices,
wherein the process for identifying the anomalous satellite is configured to detect j having a largest index among n anomaly identification indices, set a satellite group included in a j-th small group to normal satellites, and set a satellite, not included in the j-th small group, to an anomalous satellite,
B fi j =v j ·p _ PR/|v j |
where v j denotes a j-th column vector of matrix V, and |x| denotes magnitude of column vector x.
8. The method of claim 2 , wherein the fifth step comprises:
a process for dividing m reference station groups, each having (m−1) reference stations, into small reference station groups based on code measurement residuals (g_PR) of the anomalous satellite identified at the fourth step for the m reference stations, and calculating anomalous satellite residual deviations (g_std k ) of respective small reference station groups;
a process for individually calculating an anomaly cause determination index (g_var) using the following equation from the anomalous satellite residual deviations (g_std k ); and
a process for comparing the calculated anomaly cause determination index with a threshold (T_var), determining that the cause of the anomaly in the anomalous satellite is an orbital anomaly if the anomaly cause determination index is equal to or greater than the threshold (T_var), and determining that the cause of the anomaly in the anomalous satellite is a clock anomaly if the anomaly cause determination index is less than the threshold (T_var),
g _var=var( g _ std k )
where m is a natural number of 3 or more, and var(x) denotes a variance of vector x.
9. An apparatus for determining an anomalous satellite in a multi-reference station environment, comprising:
a satellite signal reception unit for receiving satellite signals including code measurements and carrier measurements, received from a plurality of satellites, through multiple reference stations;
a reference station number determination unit for determining a number of reference stations communicating with the satellites, based on the satellite signals;
an anomaly state detection unit for detecting presence or non-presence of an anomaly in the satellites from the code measurements and the carrier measurements of the satellite signals and generating an anomaly flag;
an anomalous satellite identification unit for identifying an anomalous satellite, based on an anomaly state detected by the anomaly state detection unit;
an anomalous satellite checking unit for checking whether anomalous satellites identified for respective reference stations correspond to an identical satellite; and
an anomaly cause determination unit for determining a cause of an anomaly in the checked anomalous satellite,
wherein the anomaly state detection unit comprises:
an estimation operation value calculation module for dividing n satellite groups, each having (n−1) satellites, into small satellite groups, calculating code measurement residuals (g_PR) and carrier measurement residuals (g_CP) of respective small satellite groups for code measurements and carrier measurements, and then individually generating estimation operation vectors (G i );
a measurement residual estimation module for individually generating estimation operation vectors (M) for measurement residuals from the estimation operation vectors (G i );
a parity space vector generation module for individually generating parity space vectors (p) from the residual estimation operation vectors (M);
an anomaly possibility index generation module for individually calculating anomaly possibility indices (B fd ) using the parity space vectors; and
an anomaly state detection module for comparing the respective anomaly possibility indices (B fd ) with thresholds (T fd ), and detecting presence or non-presence of an anomaly state of the satellites,
wherein the anomaly state detection module is configured to determine an anomaly state if each anomaly possibility index is equal to or greater than the corresponding threshold.
10. The apparatus of claim 9 , wherein the anomaly cause determination unit determines the cause of the anomaly if a number of the reference stations determined by the reference station number determination unit is at least 3.
11. The apparatus of claim 9 , wherein the estimation operation value calculation module generates the code measurement residuals (g_PR) and the carrier measurement residuals (g_CP) by the following equation:
g _ PR=Ψ−{R+cT+Id+Td}
g _ CP =(Φ−Φ init )−{( R+cT−Id+Td )−Φ init }
where Ψ and Φ denote code measurements and carrier measurements output from a receiver, Φ init denotes an initial value of the carrier measurements output from the receiver, R denotes an actual distance between a satellite and the receiver, c denotes speed of light, T denotes an error in a satellite clock, Id denotes an ionospheric delay error, and Td denotes a tropospheric delay error.
12. The apparatus of claim 9 , wherein the measurement residual estimation module generates the residual estimation operation vectors (M) using the following equation:
M=[E ( G 1 ) E ( G 2 ) . . . E ( G n-1 ) E ( G n )] T
where T denotes a transposed matrix and E(x) denotes an average of vector x.
13. The apparatus of claim 9 , wherein the parity space vector generation module generates the parity space vectors (p) using the following equation:
p=V·M
where V denotes a matrix satisfying conditions of V·W=0 and V·V T =I, W denotes a vector of 1's of a (n×1) size, and I denotes a unit matrix having a (n−1)×(n−1) size.
14. The apparatus of claim 9 , wherein the anomaly possibility index generation module calculates the anomaly possibility indices (B fd ) using the following equation:
B fd =p T ·p.
15. The apparatus of claim 9 , wherein the anomalous satellite identification unit comprises:
an anomaly identification index calculation module for calculating anomaly identification indices (B fi ) using the following equation from the parity space vectors generated by the anomaly state detection unit using the code measurement residuals for respective satellites; and
an anomalous satellite identification module for identifying an anomalous satellite from the anomaly identification indices,
wherein the anomalous satellite identification module is configured to detect j having a largest index among n anomaly identification indices, set a satellite group included in a j-th small group to normal satellites, and set a satellite, not included in the j-th small group, to an anomalous satellite,
B fi j =v j ·p _ PR/|v j |
where v j denotes a j-th column vector of matrix V, and |x| denotes magnitude of column vector x.
16. The apparatus of claim 9 , wherein the anomalous satellite checking unit checks whether anomalous satellites identified by respective reference stations based on the anomaly flag generated by the anomaly state detection unit correspond to an identical satellite.
17. The apparatus of claim 9 , wherein the anomaly cause determination unit comprises:
an anomalous satellite residual deviation calculation module for dividing m reference station groups, each having (m−1) reference stations, into small reference station groups based on code measurement residuals (g_PR) of the anomalous satellite identified by the anomalous satellite checking unit and the anomalous satellite identification unit for the m reference stations, and calculating anomalous satellite residual deviations (g_std k ) of respective small reference station groups;
an anomaly cause determination index calculation module for calculating an anomaly cause determination index (g_var) from the anomalous satellite residual deviations (g_std k ); and
an index comparison module for comparing the anomaly cause determination index with a threshold (T_var), determining that the cause of the anomaly in the anomalous satellite is an orbital anomaly if the anomaly cause determination index is equal to or greater than the threshold (T_var), and determining that the cause of the anomaly in the anomalous satellite is a clock anomaly if the anomaly cause determination index is less than the threshold (T_var).
18. The apparatus of claim 17 , wherein the anomaly cause determination index calculation module calculates the anomaly cause determination index using the following equation:
g _var=var( g _ std k )
where var(x) denotes a variance of vector x.
19. The apparatus of claim 17 , wherein the anomaly cause determination unit comprises a reference station number checking module for checking whether a number of the reference stations is at least 3, and creates an event log for non-execution of determination of anomaly causes if the number of the reference stations is less than 3.