• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
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    • 专利摘要:
    The invention relates to a satellite geolocation validation method and system. The system comprises a radio navigation device (10) on board a mobile carrier (2), comprising a satellite geolocation device (12) adapted to receive a composite radio signal comprising a plurality of radio navigation signals. each transmitted by a transmitting satellite and comprising time synchronization and position reference information, the radio navigation device being able to implement a processing of the received radio navigation signals to calculate first navigation information comprising geolocation position information, speed and time of the wearer. The radio navigation device (10) is able to transmit digitized baseband signals (IF1, ..., IFN) from the radio navigation signals received at the reference processing station (16), the reference processing station (16) is able to carry out a treatment (29) similar to the processing (20) performed by said radio-navigation device (10) of the digitized signals (IF1, ..., IFN) to calculate second navigation information, and the system comprises means (22, 42) for validating the first navigation information as a function of the second navigation information calculated by the reference processing station (16).
    公开号:FR3030057A1
    申请号:FR1402840
    申请日:2014-12-12
    公开日:2016-06-17
    发明作者:Marc Revol；Philippe Laviron
    申请人:Thales SA；
    IPC主号:
    专利说明:

    [0001] The present invention relates to a method and a system for validating a radio navigation device on board a mobile carrier, comprising a satellite geolocation device able to receive a signal. composite radio signal comprising a plurality of radio navigation signals each transmitted by a transmitting satellite and including time synchronization and position reference information, and implementing a processing of the received radio navigation signals to calculate first information navigation. The field of the invention relates to securing, reinforcing and increasing the geolocation by satellite, in particular in the context of the use of geolocation equipment for the navigation of carriers in motion. It finds many applications, for example in aeronautics, maritime transport, motorway guidance, guiding of machines and robots.
    [0002] A privileged application domain is that of the precision approach in aeronautics, based on the use of GNSS navigation systems ("Global Navigation Satellite System"). We know, for example, the American GPS system (Global Positioning System) and the European GALILEO system. A GNSS receiver is a device adapted to receive radio signals emitted by a plurality of satellites and to provide, after calculation, time synchronization and position reference information of the wearer in a geographical reference. Each GNSS receiver extracts received time and carrier phase information transmitted in radio signals from different satellites, and calculates, for each satellite in view, from this received information, a positioning measurement, which is an estimate of the distance between the geolocation device itself and the satellite in view, also called pseudo-distance. The pseudo-distance is different from the effective distance between the satellite considered and the geolocation device because of the errors of estimation of the propagation time, due for example to the atmospheric conditions in the troposphere, in the ionosphere and the error of synchronization of the internal clock of the geolocation receiver. It is however possible to eliminate common errors (including receiver time bias) by relying on the information transmitted by a plurality of separate satellites. In many navigation applications, the accuracy, availability and integrity of positioning calculation and time bias are particularly important for carrier safety.
    [0003] There are several causes that may affect the integrity of the calculated geolocation positioning, for example possible failures or malfunctions of the satellites, the reception channel of the geolocation device, various disturbances and interferences and / or interference malicious intent.
    [0004] Known methods of increasing the geolocation allow to improve the accuracy and to provide more honest and robust solutions, for example RAIM (receiver autonomous integrity monitoring), SBAS (for satellite-based augmentation system "), GBAS (" ground-based augmentation system ").
    [0005] However, these methods have limitations. For an embedded system, the improvement of accuracy and robustness of processing can involve a high algorithmic complexity and require significant processing resources. In addition, the design of certified embedded systems is constrained by the existing regulations associated with standardized processing architectures. Thus, there is a need to validate and improve the geolocation accuracy provided by embedded radio navigation devices, while respecting the aforementioned constraints. For this purpose, the method for validating a radio navigation device on board a mobile carrier comprises a satellite geolocation device adapted to receive a composite radio signal comprising a plurality of radionavigation signals each transmitted by a transmitting satellite and having time synchronization and position reference information, the radio navigation device being able to implement a processing of the received radio navigation signals to calculate first navigation information including information of position of geolocation, speed and time of the wearer. The method comprises the steps of: - transmitting, by said radio-navigation device, digitized baseband signals from the radio navigation signals received at a reference processing station; said reference processing station, a treatment analogous to the processing carried out by said radio-navigation device of the digitized baseband signals for calculating second navigation information, -validating the first navigation information according to the second navigation information calculated by the reference treatment station.
    [0006] Advantageously, the invention makes it possible to duplicate and increase the processing carried out on board in a reference processing station, situated for example on the ground, and thus to overcome the constraints imposed on the on-board equipment. In particular, one of the purposes of the invention is to enable the detection of hardware failures of the on-board radio navigation device, the processing carried out by the reference processing station being carried out in a redundant and segregated manner, a complement regardless of the treatment performed. on board. The method according to the invention may also have one or more of the following features: the calculation of the first navigation information further uses inertial positioning information provided by an inertial positioning module associated with the radio navigation device, and the transmitting step further comprises transmitting said inertial positioning information associated with the radio navigation device to the reference processing station; A step, carried out by said reference processing station, of performing at least one complementary processing of the received baseband digitized signals, not carried out by the radio-navigation device, so as to obtain second information; enhanced precision navigation; the reference processing station is able to calculate second navigation information from radio navigation signals emitted by a plurality of satellite constellations, each constellation of satellites emitting according to a given geolocation system; a complementary processing consists of the implementation of a spatial accuracy increase step, implementing the processing of local differential correction information received from a reference station on the ground; at least one complementary processing consists of the implementation of a geolocation positioning calculation step using frequencies of the carriers of the digitized baseband signals received; at least one additional processing consists in carrying out an integrity monitoring of the received baseband digitized signals; at least one additional processing consists of the implementation of a scrambling and decoy monitoring of the digitized signals in baseband. According to a second aspect, the invention relates to a satellite geolocation validation system, comprising a radio navigation device on board a mobile carrier, comprising a satellite geolocation device adapted to receive a composite radio signal comprising a plurality of radio navigation signals each transmitted by a transmitting satellite and comprising time synchronization and position reference information, the radio navigation device being able to implement a processing of the radio navigation signals received to compute first navigation information including position information of geolocation, speed and time of the carrier, and a reference processing station. The satellite geolocation validation system of the invention is such that: the radio navigation device is able to transmit digitized baseband signals from the radio navigation signals received at the processing station; reference, the reference processing station is able to carry out a treatment similar to the processing carried out by said radio-navigation device of the digitized signals for calculating second navigation information, the system comprises means for validating the first information of 15 navigation according to the second navigation information calculated by the reference processing station. The system according to the invention may also have one or more of the following features: the reference processing station comprises at least one module able to carry out a complementary processing of the received baseband digitized signals, which is not carried out by the radio navigation device, so as to obtain second navigation information of increased precision; the reference processing station comprises a calculation module able to calculate second navigation information from radio navigation signals transmitted by a plurality of satellite constellations, each satellite constellation transmitting according to a given geolocation system; the reference processing station comprises a spatial accuracy increase module, implementing the processing of local differential correction information received from a ground reference station; The reference processing station comprises a geolocation positioning calculation module implementing frequencies of the carriers of the digitized baseband signals received; the reference processing station includes a module for monitoring the integrity of the digitized baseband signals received; The reference processing station includes a jamming and decoy monitoring module on the digitized baseband signals; The reference processing station includes a validation module, able to validate the compliance with local safety regulations and to provide a reception quality monitoring at the level of the on-board radio navigation device, comprising a detection of sources of interference, scrambling and decoy, as well as increased precision information; the means for validating the first navigation information as a function of the second navigation information calculated by the reference processing station are implemented by a validation module of the radio navigation device, able to receive the validation module of the reference processing station, in addition to the second navigation information, control information developed by the reference processing station, including said increased precision information and said reception quality information; Other features and advantages of the invention will emerge from the description given below, by way of indication and in no way limiting, with reference to the appended figures, in which: FIG. 1 is a schematic illustration of a system geolocation using the invention; FIG. 2 is a block diagram of the main steps of a geolocation validation method according to one embodiment of the invention.
    [0007] FIG. 1 illustrates a geolocation system 1 adapted to implement the invention, in the context of the navigation aid of a mobile carrier 2, which is in the example of FIG. 1 an aircraft. As already mentioned, the invention is not limited to this embodiment, and more generally applies for the geolocation of any mobile carrier. The mobile carrier 2 comprises receivers (not shown) able to receive radio signals in several predefined frequency bands, containing time synchronization and position reference information of several constellations of geolocation satellites, for example a first constellation 4 30 satellites of the GPS system and a second constellation 6 of satellites of another system, for example Galileo. In general, the mobile carrier 2 is able to receive radio signals from one or more GNSS geolocation systems, which are capable of transmitting in predefined frequency bands.
    [0008] In addition, the mobile carrier 2 is adapted to receive correction and integrity data of a constellation 8 of geostationary satellites, according to the geostationary satellite augmentation system 3030057 6, which is called SBAS (for satellite-based augmentation system "), which are also transmitted in these radio signals emitted in the same predefined frequency bands.
    [0009] In a known manner, the SBAS system uses geostationary satellites which allow the augmentation of one or more constellations of GNSS satellites, such as the GPS system, capable of sending to the geolocation receivers correction messages comprising measurement correction information. positioning and integrity relating to each of the satellites.
    [0010] The SBAS system considers errors from different sources: ionospheric error, satellite clock corrections, system bias corrections. It includes orbital corrections of GNSS satellites, and specific corrections of the signals emitted by satellites (group delay, lever arm, ...). The SBAS system also provides integrity information, for example for the calculation of the protection radii associated with the calculated positions, for quantifying the confidence associated with the transmitted correction information. The RTCA technical standard DO-229D "Minimum Operational Performance Standards for Global Positioning System / Wide Area Augmentation System Airborne Equipment" defines the SBAS space augmentation system in relation to the GPS 20 system. The present invention relates to improving the safety of the navigation information, provided by the on-board geolocation equipment, through a ground-based reference processing chain, making it possible to continuously provide a secure positioning calculation. and increased, deported within these infrastructures.
    [0011] The present invention is in particular dedicated to the on-board improvement of safety (and not only safety) of high integrity navigation applications (known as "Safety Of Life"), and relates to the overall service of improved safety of navigation, made possible through the principle of calculating remote navigation. The mobile carrier 2 comprises a radio navigation device 10, comprising an inertial positioning module 11 and a geolocation device 12, which together provide first navigation information of the mobile carrier 2, including geolocation information and related information. in its trajectory, serving as a navigational aid by a pilot, as well as automatic navigation by instrumentation.
    [0012] All the on-board equipment is called "on-board system".
    [0013] The inertial positioning module 11 is a known navigation instrument capable of estimating the acceleration and orientation of the mobile carrier 2, and of deducing its attitude, speed and position. The inertial positioning module 11 provides inertial positioning information 14, used for navigation and also transmitted, by unrepresented wireless communication means, to a reference processing station 16 located on the ground, also called " ground system ", which will be described in more detail below. Thus, the first navigation information includes position information, time information, as well as speed information (PVT data) and optionally, carrier attitude information. In one embodiment, the carrier speed and attitude information is provided by the inertial positioning module 10. In an alternative embodiment, the carrier speed and attitude information is computed by combining the information inertial positioning and geolocation information. The geolocation device 12, embedded in the mobile carrier 2, comprises an RF channel 18 for receiving and digitizing the received radio signals, an onboard processing module 20 (also called COM) and a module 22 for validating the information of navigation (PVT). The RF signal reception and digitization channel 18 (SIS) is used to receive radio signals transmitted in GNSS frequency bands (for example the frequency bands L1, L2 and L5 in the case of GPS). In general, the RF chain 18 is able to receive RFN signals 25 in N frequency bands, to filter them, to transpose them into frequencies and to digitize them to obtain IF1,..., IFN signals on the same frequency intermediate, called digitized baseband signals. Thus, at the output of the RF chain 18, the intermediate frequency signals IF1,..., IFN are transmitted on the one hand to the fixed reference processing station 16, and on the other hand to the on-board processing module 20 for application of digital treatments. The on-board processing module 20 is able to process the signals received from the satellite constellation for which it is certified, for example the GPS and SBAS signals in one embodiment, to calculate, in real time, the positioning at each instant. time of this mobile carrier 2.
    [0014] The radio navigation device 10 thus transmits the digitized signals IF1,..., IFN, to the reference processing station 16, comprising both the time synchronization and position reference information transmitted by the constellations. of satellites 4, 6 and the correction and integrity data transmitted by the constellation 8 5 of geostationary satellites. IFS digitized signals; IFNs are transmitted continuously or by pulses 14 ', by a radiofrequency communication module (not shown) of sufficient bandwidth, to a receiver module of the reference processing station 16. Thus, advantageously, the reference processing station 16 receives the same digitized digital data IF1, ..., IFN, as the onboard processing module 20. The onboard processing module 20 comprises hardware and software elements able to perform the calculation of its location position, according to the three components x, y and z of spatial positioning in a ECEF repository, as well as a temporal component connecting the time of the GPS system and the local time of the geolocation device. In addition, the on-board processing module 20 is able to use the received SBAS signals, and to calculate a radius of integrity associated with the positioning calculation performed. The onboard processing module 20 comprises in particular a programmable device capable of performing calculations, notably comprising one or more processors, and one or more storage memories. The processing module 20 makes it possible to obtain at output, at each time instant Ti considered, a vector of position P (Ti) representative of the position of geolocation of the mobile carrier, its speed and local time (PVT data), the temporal instants 25 being given in a universal time frame and an associated integrity radius, grouped into first navigation information Xi (Ti). As a variant, the PVT data are obtained by hybrid calculation using the position vectors P (Ti) and the orientation, speed and position / attitude data provided by the inertial positioning module 11.
    [0015] This first navigation information Xi (Ti) is transmitted to a validation module 22, able to use second navigation information X2 (Ti) or validation information from the fixed reference processing station 16, to validate the accuracy of the on-board radio navigation device, and, if necessary, to implement a corrective action such as an alarm lifting in the case where the first 35 navigation information calculated on board would not be considered valid.
    [0016] The reference processing station 16 comprises a radiofrequency reception module 24, capable of receiving the information 14, 14 ', and distributing them to modules of the reference processing station 16. In particular the digitized signals IF1, ..., IFN are transmitted to a GNSS processing module 26. The GNSS processing module 26 comprises first fixed processing modules (MON), 28, 29, able to implement at least treatments similar to those of FIG. embedded processing module (COM) 20, for calculating the carrier's navigation information, by using hardware and software elements specific to the reference processing station 16, which are totally independent of the hardware and software embedded components. The stationary processing module 28 is able to carry out geolocation position calculations of the mobile carrier 2 similar to those performed by the onboard processing module 20, using the IFN signals containing time synchronization and position reference information. satellites, as well as correction and integrity data. Advantageously, the fixed processing module 28 thus makes it possible to functionally duplicate the processes carried out on board the mobile carrier 2, in a segregated manner, and consequently to validate, in particular, the correct operation of the hardware and software elements of the on-board processing module 20. In the case of nominal operation of the on-board equipment, the processing module 28 provides second navigation information that is almost identical to the first navigation information calculated on board, to the instrumental noise close to it. The processing module 28 duplicates the processing of the received radio navigation signals 25 carried out on board by the on-board processing module 20, which is limited, for reasons of complexity and cost, to the operation of the radio navigation signals. of a single constellation of satellites which is the GPS constellation. The multi-constellation processing module 29 is able to use the radio navigation signals received from several satellite constellations. Thus, the multi-constellation processing module 29 is able to calculate, in parallel with the processing module 28, second improved precision navigation information. This multi-constellation processing module 29 carries out the monitoring of the GPS navigation and implements the use of regional constellations which can be imposed by national mandates.
    [0017] Thus, in one embodiment, the stationary processing module 28 is able to exploit the GPS radio navigation signals and the SBAS correction messages, similarly to the processing carried out on board by the on-board processing module 20. The multi-constellation processing module 29 uses radionavigation signals transmitted by other satellite constellations, for example GALILEO and / or GLONASS.
    [0018] The processing modules 28 and 29 perform multi-constellation position, velocity, and associated time (PVT) calculations based on the common IF,..., IFN input signals. The temporal dating is performed in a universal time frame, for example UTC, and the positioning is calculated in a common geodesic locator (WGS84).
    [0019] Thus, the second navigation information computed by the reference processing station 16 is enhanced. In the illustrated embodiment, the GNSS processing module 26 also comprises a spatial accuracy enhancement module 30, able to locally receive differential correction information 31 from a ground reference station 32. Position correction calculation is performed by the spatial accuracy enhancement module 30, depending on the known position of the ground reference station 32 and controlled radio frequency environment. The GNSS processing module 26 also comprises a calculation module 34, capable of performing additional calculations to obtain a better positioning accuracy of geolocation. Preferably, the processing module 34 applies RTK processing ("real time kinematics"), using the carrier phases of the signals IF1,..., IFN, which makes it possible to achieve centimeter positioning performance for the position vector. P '(Ti) calculated.
    [0020] In addition, the reference processing station 16 includes a signal quality monitoring module 36. This signal quality monitoring module 36 uses signals received by the ground reference station 32. signals IF1,..., IFN for performing known integrity monitoring processes, for example spectral analysis, correlation shape analysis, or other known techniques for error detection associated with the paths. multiple. Advantageously, the reference processing station 16 has powerful processing resources allowing a more extensive monitoring of the disturbance domains, such as the number of correlation points describing the correlation function of the signal or the spectral domain and the resolution of the signal. coverage by means of spectral analysis.
    [0021] In addition and optionally, the reference processing station 16 includes a scrambling and decoy monitoring module 38 which uses received signal verification algorithms to detect possible inconsistencies and to raise alerts in case detection.
    [0022] The joint observation of the measurements made on the different constellations and the different navigation services received in the same frequency band constitutes a first level of analysis. A second level consists in comparing the information of navigations delivered simultaneously from the open signals and the protected signals (P (Y) GPS or PRS Galileo), when the reference processing station is authorized to process the protected signals. A third level consists of estimating the coherence of the code and carrier phase measurements on all the signals received. In addition, the reference processing station 16 comprises a composite geolocation position calculation module 40 using the information 14 provided by the inertial positioning module 11.
    [0023] This composite geolocation position module 40 implements a hybridization processing between the received IF1, ..., IFN GNSS signals and the inertial increment information 14 to calculate with a better accuracy the position and speed of the moving carrier. at each time instant considered. In a manner similar to edge processing, the soil hybridization treatment also makes it possible to carry out an integrity check of the hybrid solution of the maximum separation type, under the assumption of simple satellite failure, but which can be extended to the case of multiple satellite failures, due to the ground computing resource pool. The outputs of the respective modules 26 (including the modules 28, 29, 30 and 34), 36, 38 and 40 are supplied to a fixed validation module 42 of the reference processing station 16 which calculates second navigation information X2. (Ti), comprising a set of corrected PVT information and associated protection radii. This validation module 42, sub-control of the local navigation authorities, enables the ground system to: - verify that the safety regulations required by the local national authorities are correctly observed by the on-board system; - to provide monitoring of the quality of the reception environment, in particular the detection of sources of interference, jamming and deception and the estimation of their impact on the estimated navigation on board; - to reinforce the quality of the on-board navigation by the consolidated estimates 35 (multi-constellation, augmentation, audience and RTK) obtained from the augmented ground treatments.
    [0024] According to a first embodiment, these second navigation information X 2 (Ti) are transmitted to the on-board validation module 22, which checks the coherence between the positioning and speed information provided by the two processing channels. The on-board validation module 22 as well as the validation module associated with the treatment carried out on the ground 23, installed on board, performs the cross-comparison of the positions and speeds, to control a corrective action, for example a transmission cut-off of the navigation information. to the rest of the navigation system, in case of discrepancy. The module 23 for validation on board the information developed on the ground enables the on-board system under control of the on-board authority (the pilot) to take into account and validate the information from the ground validation module 42 submitted to the local national authorities, prior to comparing the ground navigation information with the onboard navigation information from the module 20.
    [0025] The board system receives from the ground via the module 42 the following statuses: - Ground estimation of the on-board navigation: second navigation information estimated by the processing module 28, which duplicates the processing carried out by the module 20 on board, - Status the environment of interference, jamming and decoy and impact on board navigation; - Estimation of the ground navigation increased edge ^ Estimation with the constellations mandated by the national authorities: second navigation information estimated by the multi-constellation processing module 29; 25 Estimate with all local augmentation systems (GBAS, RTK, assisted-GNSS) implemented by the modules 30, 34 ^ Estimate with all improved processing resources, in particular the module 40 (inertial hybridization, ...) . According to this embodiment, the validation module 22 calculates the deviations between the first navigation information Xi (Ti) calculated on board and the second best-calculated navigation information X2 (Ti) computed on the ground, and determines alerts of inconsistency when the deviation exceeds a predetermined threshold. According to a second embodiment, alerts are transmitted to the on-board validation module 22, which performs a corrective action on board the mobile carrier.
    [0026] In this embodiment, the alerts raised by the onboard validation module 22, may lead according to local regulations in progress: 3030057 13 - either to abandon the current flight procedure and perform the switchover on the additional navigation means provided by regulation, or to switch on the navigation estimates sent by the ground reference station validated by the module 42. FIG. 2 is a block diagram of the main steps of a method of validation of a radio navigation device embedded in a mobile carrier according to an embodiment of the invention, the steps 50 are implemented by a radio-navigation device 10 embedded on board a mobile carrier and the steps 60 are implemented by a reference processing station 16. The first step 52 is a step of receiving radio signals from the satellites, filtering and digitizing authorization to obtain baseband signals Eh._ IFN. These signals contain radio-navigation signals of satellite constellations, containing time synchronization and satellite position reference information, as well as correction and integrity data. The following steps 54 and 56 are carried out substantially in parallel. In step 54, the radio navigation device 10 implements a calculation making it possible to obtain first navigation information Xi (Ti) from the carrier at given time instants Ti.
    [0027] As a variant, the calculation of step 54 implements hybridization of the time synchronization and position reference information received from the satellite radionavigation signals and time synchronization and inertial position reference information or inertial increment information. provided by the inertial positioning module 11.
    [0028] The transmission step 56 implements the transmission of the time synchronization and position reference information contained in the digitized signals IF1,..., IFN to the reference processing station 16. Optionally, positioning information Inertial or inertial increments provided by an onboard inertial positioning module are also transmitted. The reference processing station 16 implements a reception 62 of the digitized signals IF, and, if necessary, inertial positioning information transmitted. Then, the reference processing station 16 implements a calculation 64, 35 for calculating second navigation information X2 (Ti). The algorithms implemented during this step 64 are analogous to the algorithms implemented by the calculation step 54, for example GPS / SBAS geolocation calculation algorithms PVT. In the case where there is no hardware malfunction or calculation error of the on-board hardware implementing step 54, the second navigation information X2 (Ti) calculated in step 64 is substantially identical, instrumental noise near, the first navigation information Xi (Ti) calculated in step 54 at the same time instants. A difference between the second navigation information X2 (Ti) calculated in step 64 and the first navigation information Xi (Ti) calculated in step 54 indicates a hardware malfunction at the location device 12. note that a hardware malfunction at the reference processing station 16 could also be considered. However, in the preferred embodiment of the invention, it is considered that the equipment of the reference processing station 16 is maintained so as to avoid material failures.
    [0029] In order to improve the accuracy and integrity of the second navigation information X2 (Ti), preferably, the reference processing station 16 also implements several complementary processes. In the embodiment of FIG. 2, a first complementary processing 66 and second complementary processing 68 are implemented.
    [0030] A first complementary processing 66 implements a calculation of second navigation information X2 (Ti) of multi-constellation type, exploiting the radio navigation signals received from several constellations of satellites transmitting according to several GNSS systems. For example, GALILEO radio navigation signals are also exploited, together with the GPS radio navigation signals used in the calculation step 54. Thus, better integrity and availability is obtained for calculating the second navigation information. X2 (Ti). The second complementary processes 68 are: the calculation of the positioning of geolocation by implementing carrier frequencies of the digitized baseband signals received, in RTK mode, providing a centimetric precision differential positioning; the spatial accuracy increase, implementing the processing of local differential correction information received from a ground reference processing station; The implementation of an integrity monitoring of the digitized baseband signals received; The implementation of scrambling and decoy monitoring performed from the digitized baseband signals (IF1, IFN); a hybridization processing between the received GNSS IFN signals and the information of inertial increments for calculating with a better accuracy the position and speed of the moving carrier at each time instant considered. It is clear that the implementation of the invention is not limited to these only complementary treatments, but applies with a greater number of additional treatments which are likely to provide additional precision and to consolidate the integrity. and the continuity of the positioning solution calculated by the reference processing station by implementing more sophisticated calculation algorithms or using enriched external complementary information. Advantageously, the reference processing station 16 has suitable calculation means, for example a plurality of processors, making it possible to perform a large volume of calculations in real time.
    [0031] The various positioning calculations and integrity measurements are transmitted to an integration module 70, which calculates the second most accurate navigation information X2 (Ti) from the set of processing operations 64, 66, 68 implemented. and associated protective radii. These second navigation information X2 (Ti) are transmitted during the transmission step 72 to the geolocation device 12. The geolocation device 12 implements a validation step 58, using a comparison of the first navigation information Xi ( Ti) and second navigation information X2 (Ti). The validation step 58 implements checking or cross-checking algorithms known in the field of aeronautics under the name "Fail-Safe". A fail-safe system means that the design of the system mitigates the danger of a failure, and therefore remains at least as safe as when it is working properly. In the case where a difference between first and second navigation information at given times exceeds a predetermined threshold, an alarm is raised in a step 74. Thus, the two calculation channels COM and MON produce in parallel the information of navigation. The result of these calculations is compared by each of the channels. If a significant difference in the calculations is observed by one of the two channels, it activates a "switch out" switch which makes it possible to physically interrupt the transmission of the calculated data to the user subsets, avoiding the dissemination of erroneous data. not reported to the navigation edge system.
    [0032] Advantageously, the solution proposed by the invention implements dissimilar chains COM (control edge) and MON (monitoring ground) to ensure the independence of failures to prevent a single failure causes a non-default detected and to improve the overall integrity of the navigation. To guarantee a high level of security, it is preferable that the modules MON_ and COM_ have different hardware (HW) and software (SW) architectures, so as to avoid the risk of simultaneous common failure not detected by each of the two security chains. treatment. A major advantage of the proposed solution is to be able to perform such checks on the same signals as those used by the onboard processing system, and not through remote observations which do not fully reflect the behavior of the signals received at edge, and in particular, that of local disturbances of the board environment (multiple paths, interference, jump cycles, ...).
    权利要求:
    Claims (17)
    [0001]
    CLAIMS- A method for validating a radio navigation device (10) on board a mobile carrier (2), comprising a satellite geolocation device (12) adapted to receive a composite radio signal comprising a plurality of radio navigation signals each transmitted by a transmitting satellite and comprising time synchronization and position reference information, the radio navigation device being able to implement a processing (54) of the radio navigation signals received for calculating first navigation information comprising position information of geolocation, speed and time of the carrier, characterized in that it comprises the steps of: - transmitting (54, 56), by said radio-navigation device, signals digitized in baseband (IF1, IFN) from the radio navigation signals received at a reference processing station (16), - implement, by said reference processing station (16), a treatment (64) similar to the processing (54) performed by said radio navigation device of the baseband digitized signals (IF ,, IFN) for calculating second navigation information , -validate (58) the first navigation information according to the second navigation information computed by the reference processing station (16).
    [0002]
    2. A method according to claim 1, characterized in that the calculation of the first navigation information further uses inertial positioning information provided by an inertial positioning module (11) associated with the radio navigation device (10), and in that the transmitting step (54, 56) further comprises transmitting said inertial positioning information associated with the radio navigation device to the reference processing station.
    [0003]
    3. Method according to any one of claims 1 to 2, characterized in that it further comprises a step (66, 68), implemented by said reference processing station (16), of performing at least complementary processing of the received baseband digitized signals (IF1, IFN), not performed by the radio navigation device, so as to obtain second enhanced precision navigation information. 3030057 18
    [0004]
    4. A method according to claim 3, characterized in that the reference processing station (16) is able to calculate (66) second navigation information from radio navigation signals transmitted by a plurality of satellite constellations , each constellation of satellites emitting according to a given geolocation system.
    [0005]
    5. A method according to any one of claims 3 to 4, characterized in that at least one complementary treatment (68) consists of the implementation of a spatial accuracy increase step, implementing the treatment local differential correction information (31) received from a ground reference station (32). 10
    [0006]
    6. A method according to any one of claims 3 to 5, characterized in that at least one complementary processing (68) consists of the implementation of a geolocation positioning calculation step implementing frequencies of bearers of the digitized baseband signals (IF, IFN) received. 15
    [0007]
    7. A method according to any one of claims 3 to 6, characterized in that at least one complementary processing (68) consists of the implementation of an integrity monitoring of the digitized signals in baseband (IF1 , IFN) received. 20
    [0008]
    8. A method according to any one of claims 3 to 7, characterized in that at least one complementary processing (68) consists of the implementation of monitoring scrambling and decoying signals scanned baseband (IF1, ..., IFN). 25
    [0009]
    9. A satellite geolocation validation system, comprising a radio navigation device (10) on board a mobile carrier (2), comprising a satellite geolocation device (12) adapted to receive a composite radio signal. comprising a plurality of radio navigation signals each transmitted by a transmitting satellite and including time synchronization and position reference information, the radio navigation device (10) being able to implement a signal processing of received radio-navigation for calculating first navigation information including position information of geolocation, speed and time of the carrier, and a reference processing station (16), characterized in that: 3030057 19 - the radio navigation device (10) is capable of transmitting digitized baseband signals (IF1, IFN) from the radio navigation signals received at the station reference processing station (16), - the reference processing station (16) is able to carry out a treatment (28) similar to the processing (20) carried out by said radio-navigation device (10) of the digitized signals (IF1, IFN) for calculating second navigation information, the system comprises means (22, 42) for validating the first navigation information as a function of the second navigation information calculated by the reference processing station (16). 10
    [0010]
    10.- System according to claim 9, characterized in that the reference processing station (16) comprises at least one module (29, 30, 34, 36, 38, 40) capable of performing a complementary processing of the digitized signals in baseband (IF1, IFN) received, not performed by the radio navigation device (10), so as to obtain second enhanced precision navigation information.
    [0011]
    11. System according to claim 10, characterized in that the reference processing station (16) comprises a calculation module (29) capable of calculating second navigation information from radio navigation signals emitted by a computer. plurality of satellite constellations, each constellation of satellites emitting according to a given geolocation system.
    [0012]
    12. System according to any one of claims 10 to 11, characterized in that the reference processing station (16) comprises a spatial precision increase module (30) implementing the information processing. differential correction means (31) received from a ground reference station (32).
    [0013]
    13. System according to any one of claims 10 to 12, characterized in that the reference processing station (16) comprises a geolocation positioning calculation module (34) implementing frequencies of the signal carriers. scanned in baseband (IF1, IFN) received.
    [0014]
    14. System according to any one of claims 10 to 13, characterized in that the reference processing station (16) comprises a module (36) for monitoring the integrity of the digitized baseband signals (IF1, IFN) received. 3030057 20
    [0015]
    15.- System according to any one of claims 10 to 14, characterized in that the reference processing station (16) comprises a module (38) for monitoring jamming and decoying on the digitized signals in baseband ( IF ,, ..., IFN). 5
    [0016]
    16. System according to any one of claims 9 to 15, characterized in that the reference processing station (16) comprises a validation module (42), able to validate compliance with local safety regulations and to provide monitoring of reception quality at the on-board radio navigation device, including detection of sources of interference, jamming and decoy, as well as information of increased accuracy.
    [0017]
    17. System according to claim 16, characterized in that the means for validating the first navigation information as a function of the second navigation information calculated by the reference processing station (16) are implemented by a module (22). ) validation of the radio navigation device (10), able to receive the validation module (42) of the reference processing station (16), in addition to the second navigation information, control information developed by the station of reference processing, including said augmented precision information and said reception quality information. 20
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    同族专利:
    公开号 | 公开日
    CN107209269A|2017-09-26|
    US20170322313A1|2017-11-09|
    EP3230766A1|2017-10-18|
    CN107209269B|2021-02-05|
    US10670727B2|2020-06-02|
    WO2016091949A1|2016-06-16|
    CA2970504A1|2016-06-16|
    EP3230766B1|2020-05-06|
    FR3030057B1|2017-01-27|
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    法律状态:
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    2016-06-17| PLSC| Search report ready|Effective date: 20160617 |
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    2020-12-28| PLFP| Fee payment|Year of fee payment: 7 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1402840A|FR3030057B1|2014-12-12|2014-12-12|METHOD AND SYSTEM FOR VALIDATION OF SATELLITE GEOLOCATION|FR1402840A| FR3030057B1|2014-12-12|2014-12-12|METHOD AND SYSTEM FOR VALIDATION OF SATELLITE GEOLOCATION|
    US15/534,634| US10670727B2|2014-12-12|2015-12-09|Method and system to validate geopositioning by satellite|
    EP15805537.6A| EP3230766B1|2014-12-12|2015-12-09|Method and system to validate geopositioning by satellite|
    PCT/EP2015/079114| WO2016091949A1|2014-12-12|2015-12-09|Method and system to validate geopositioning by satellite|
    CA2970504A| CA2970504A1|2014-12-12|2015-12-09|Method and system to validate geopositioning by satellite|
    CN201580067737.8A| CN107209269B|2014-12-12|2015-12-09|Method and system for verifying satellite positioning|
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