法国专利FR3045167A1 METHODS AND DEVICES FOR SYNCHRONIZATION VALIDATION BETWEEN A GEOLOCATION RECEIVER AND A TRANSMITTER

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专利摘要:
The invention relates to a method for synchronization validation between a geolocation receiver (12) with an identified transmitter satellite, the receiver (12) being able to receive a composite radio signal comprising a plurality of navigation signals each transmitted by a transmitting satellite. forming part of a satellite constellation (4, 6, 8), as well as a method of synchronization validation between a geolocation receiver (12) and a transmitting satellite (10) during an acquisition phase of an augmentation signal including correction and geolocation integrity data. The methods of the invention comprise, for each identified transmitter satellite (4, 6, 8, 10), the extraction of received words of ephemeris or of any type of the received signal associated with the identified satellite as and when receiving, and comparing at least one received word with at least one word of the same rank received or stored for said identified satellite and / or for at least one other satellite. The validation or not of the synchronization with said identified transmitter satellite is a function of a probability of false alarm and / or a predetermined probability of non-detection.
公开号:FR3045167A1
申请号:FR1502575
申请日:2015-12-11
公开日:2017-06-16
发明作者:Stephane Rollet
申请人:Thales SA；
IPC主号:

专利说明:

Methods and devices for synchronization validation between a geolocation receiver and a transmitting satellite
The present invention relates to a synchronization validation method between a geolocation receiver and a transmitting satellite during a phase of acquisition of a navigation signal from this satellite, and an associated geolocation receiver. The invention also relates to a synchronization validation method between a geolocation receiver and a transmitting satellite during an acquisition signal acquisition phase comprising correction data and geolocation integrity data for a control system. predetermined geolocation by satellite, and an associated geolocation receiver. The invention lies in the field of satellite geolocation systems, known by the acronym GNSS (for "Global Navigation Satellite System").
In general terms, a GNSS system is composed of a plurality of satellites, or satellite constellations, enabling a portable GPS receiver to determine positioning information, in a terrestrial reference, also called position, velocity and time information ( PVT).
There are currently several GNSS systems among which we can mention the GPS system, the GLONASS system or the GALILEO system whose implementation is scheduled soon.
The satellites of such a GNSS system are capable of transmitting radio signals including navigation information.
Each navigation information generally includes data relating to the satellite transmission time of the corresponding signal and to the current position of the satellite. In particular, the data relating to the current position of the satellite generally contain the almanac giving a coarse position of the satellite and the ephemeris giving the exact current position of the satellite. The navigation information is carried by a carrier wave and modulated by a spreading code specific to each satellite. Thus, the signals are emitted by the satellites using a spread spectrum technique.
The geolocation receiver, also called a GNSS receiver, is able to receive the signals emitted by the satellites and to extract the navigation information therefrom, in particular to determine the distance to the transmitting satellite that has transmitted the corresponding signal. This distance, also called pseudo-distance, is determined by analyzing the propagation time of the corresponding signal.
To determine the PVT positioning information, the receiver implements digital processing of the navigation information from at least three different satellites.
In practice, to have a more precise position, the receiver needs navigation information from at least four different satellites.
More specifically, to acquire the navigation information of a given satellite, the receiver implements two phases processing the signals from this satellite.
During an initial phase, called in the state of the art, acquisition phase, the receiver generates a local signal containing in particular a local spreading code presenting the image of the spreading code of the satellite.
As initially the receiver does not know its position, the local signal is not synchronized with the received signal. This means in particular that the local signal is shifted in carrier frequency from the received signal of a value called the Doppler value, and that the spreading code of the received signal is delayed by the local spreading code of a value called value. delay.
Then the receiver searches for a peak of correlations between the local signal and the received signal by trying different Doppler and delay values.
When a peak is detected, the receiver determines the Doppler and delay values corresponding to this peak and from these values, launches a next phase, called in the state of the art, tracking phase.
During the tracking phase, the receiver regularly updates the Doppler and delay values, and extracts the navigation information from the signal emitted by the satellite using, in particular, the local spreading code and the Doppler and delay determined. At the end of the acquisition phase, it is considered that the receiver has synchronized with the transmitting satellite or has "hooked" to this satellite, thanks to the detection of the correlation peak.
It sometimes happens that the receiver synchronizes its local signal corresponding to the wanted satellite on the signal received from another satellite, which leads to an erroneous distance measurement, and thus potentially to a false positioning.
In this case, it is a false synchronization or a false "hooking", also called cross-correlation. In this case, the calculation of the positioning information of the receiver is distorted.
In particular, the cross-correlation error occurs when the satellites transmit GNSS signals with a short periodic code, for example GPS L1 C / A signals (acronym for "coarse acquisition"), corresponding to a frequency of 1 575.42 MHz. , SBAS L1 C / A and GALILEO L1 BC.
A similar phenomenon also occurs when the received signal comes from a satellite transmitting position correction information, in a space augmentation system, called SBAS system.
There are different methods in the state of the art to avoid such false synchronization or cross-correlation.
Thus, a method conventionally used consists in checking the coherence between the position of the satellite calculated from the ephemerides contained in the navigation information and that calculated from the decoded almanacs. The almanacs contain the identifiers of all the satellites emitting the constellation, unlike the ephemerides. The inconsistency between these values therefore means a false synchronization.
Indeed, the ephemeris data of a satellite can estimate with an accuracy of a few meters the position of this satellite, but are transmitted only by the satellite itself and have a validity limited to a few hours.
The almanac data for the entire constellation of satellites make it possible to estimate the position of each of the satellites roughly, to a few hundred kilometers, but are transmitted by all the satellites of the constellation and have a duration of validity of several days.
Thus, if the difference between the position calculated from the ephemeris and the position calculated from the almanacs is greater than the average distance between transmitting satellites, it is estimated that there is an error, therefore a cross correlation.
In order to avoid false cross-correlation detection and to guarantee the integrity of the positioning information calculated by a GNSS receiver, the RTCA aeronautical standard ("Radio Technical Commission for Aeronautics") DO-229 "Minimum Operational Performance Standards for Global Positioning System" Imposes a complete decoding of the set of ephemeris data received twice and a comparison with the decoded almanac data for all the satellites.
For a given transmitter satellite, a complete set of ephemeris data is formed of a given number of ephemeris words, each having an associated rank and encoding information relating to the transmitting satellite, this information making it possible to calculate the position of the satellite transmitter. The ephemeris data is retransmitted periodically, and renewed at a given frequency, for example every two hours for GPS satellites.
The ephemeris words are transmitted in subframes of the transmitted signal, the transmission of all the words of an ephemeris requiring a plurality of subframes.
Thus, the conventional method of validation of absence of cross-correlation takes a relatively long time, which is 48 seconds to 60 seconds for the GPS system and several minutes for the SBAS system.
The present invention aims to overcome this disadvantage. For this purpose, according to a first aspect, the invention proposes a synchronization validation method between a geolocation receiver and a transmitting satellite during a phase of acquisition of a navigation signal coming from this satellite, said receiver being adapted to receive a composite radio signal comprising a plurality of navigation signals each transmitted by a transmitting satellite forming part of a satellite constellation, and to implement a navigation signal acquisition phase of each of the transmitting satellites, in wherein the receiver determines a satellite transmitting a corresponding navigation signal in a synchronization step, each transmitting satellite further transmitting sets of ephemeris composed of a plurality of words, each having an associated rank, encoding information relating to said transmitting satellite and making it possible to calculate a position of said emitter in a given repository.
The method is implemented by said receiver and comprises, for each identified transmitter satellite, the implementation of a validation test, comprising: the extraction of ephemeris words from the navigation signal associated with the satellite identified in FIG. acquisition phase, as and when said navigation signal is received, the comparison of at least a portion of said extracted ephemeris words with at least one ephemeris word of the same rank stored for said identified transmitter satellite and / or for at least one other of the transmitting satellites, and, depending on the result of the comparison, the validation or not of the synchronization with said identified transmitter satellite, as soon as the comparisons made make it possible to reach a probability of false alarm and / or a predetermined probability of non-detection.
Advantageously, the invention makes it possible to validate the synchronization of the receiver with a transmitting satellite from a part of the received ephemeris words only, and consequently to considerably reduce the confirmation time of absence or presence of false synchronization.
The synchronization validation method according to the invention may also have one or more of the following characteristics, taken independently or in combination in any technically possible combination.
The method comprises, after the extraction step, a verification step of a protection code associated with one or more of said extracted ephemeris words, the comparison being made on the extracted ephemeris words for which the verification is positive.
The method comprises a memorization of ephemeris words previously validated for said transmitting satellite, and the comparison of a received ephemeris word with the memorized ephemeris word of the same rank for said transmitting satellite.
It also comprises a preliminary step of estimating a probability, for each ephemeris word of the set of ephemeris, that an ephemeris word, having an associated rank and transmitted by a given emitter satellite, has the same value as an ephemeris word of the same rank issued by another satellite in the constellation of satellites.
It comprises a calculation of sets of ephemeris word ranks, each said set of ranks designating ephemeris word ranks enabling validation of the associated transmitter satellite with a corresponding non-detection probability.
The method includes a step of storing at least one set of calculated ephemeris rank sets corresponding to a predetermined non-detection probability.
It comprises, in the case of a positive comparison of an ephemeris word received with an ephemeris word previously validated and stored for said transmitting satellite, a validation according to the membership of the rank of said ephemeris word received to at least one of said sets of calculated ephemeris ranks.
The method comprises comparing an extracted ephemeris word with an ephemeris word of the same rank stored for said identified transmitter satellite, and with an ephemeris word of the same rank received for each of a plurality of other transmitting satellites. .
If the extracted ephemeris word is identical to the ephemeris word of the same stored rank for said identified transmitting satellite, and different from each ephemeris word of the same rank received for another transmitting satellite, a validity counter is incremented.
If the ephemeris word extracted is different from the ephemeris word of the same rank stored for said identified satellite, and identical to at least one of the words of the same rank received for another transmitting satellite, a disability counter is incremented.
The validation or invalidation of the synchronization is performed according to the comparison of the validity counter or the invalidity counter with a number of comparisons to be taken into consideration, said number of comparisons to be taken into consideration being dependent on the probability of false alarm and / or the predetermined probability of non-detection.
According to another aspect, the invention relates to a synchronization validation method between a geolocation receiver and a transmitting satellite during an acquisition signal acquisition phase comprising correction data and geolocation integrity data. for a predetermined satellite geolocation system, said augmentation signal being provided by a service provider, said receiver being adapted to receive a plurality of augmentation signals from various transmitting satellites associated with at least one service provider, and implementing an increase signal acquisition phase of each of the transmitting satellites, wherein the receiver determines a satellite transmitting a corresponding increase signal in a synchronization step.
The method is implemented by said receiver, and comprises, for each identified transmitter satellite, the implementation of a validation test, comprising: the extraction of words received from the signal of increase associated with the emitter satellite identified in FIG. the acquisition phase, as and when the said signal is received, the comparison of a received word with at least one received word of the same type received for at least one other of the sending satellites, and, depending on the result of the comparison, the validation or not of the synchronization with said identified transmitter satellite, as soon as the comparisons made make it possible to reach a probability of false alarm and / or a predetermined probability of non-detection.
This method of synchronization validation between a geolocation receiver and a transmitting satellite during an acquisition signal acquisition phase comprising correction and geolocation integrity data according to the invention may also present one or more many of the features below, taken independently or in combination in any technically possible combination.
It comprises, after the extraction step, a verification step of a protection code associated with said received word extracted from the increase signal, the comparison being made on the extracted received words for which the verification is positive.
The method comprises, in the case where said received word extracted associated with a first transmitting satellite is identical to a received word extracted associated with a second transmitting satellite, a verification step of checking whether said first satellite and said second satellite are associated with a same service provider, and in the case of a positive verification, receiving a word containing ephemeris for each of said first and second satellites and comparing the received ephemeris to almanac data associated with said service provider.
It comprises the incrementation of a disability counter, and the non-validation of the synchronization when said invalidity counter reaches a predetermined value.
It comprises, in the case where said received word extracted associated with a first transmitting satellite is different from each of the received words associated with the other sending satellites, incrementing a validity counter, and validating the synchronization when said counter of validity reaches a predetermined value.
Said predetermined value is a function of said probability of false alarm and / or said probability of non-detection.
According to another aspect, the invention relates to a geolocation receiver implementing a synchronization with a transmitting satellite during a phase of acquisition of a navigation signal from said satellite, said receiver being able to receive a radio signal composite comprising a plurality of navigation signals each transmitted by a transmitting satellite forming part of a satellite constellation, and implementing a navigation signal acquisition phase of each of the transmitting satellites, in which the receiver determines a satellite transmitting a corresponding navigation signal in a synchronization step, each transmitting satellite further transmitting sets of ephemeris composed of a plurality of words, each having an associated rank, encoding information relating to said transmitting satellite and making it possible to compute a position of said transmitting satellite in a repository given.
This receiver comprises modules for implementing a validation test for each identified transmitter satellite, comprising: a module for extracting ephemeris words from the navigation signal associated with the transmitter satellite identified in the acquisition phase, as and when said navigation signal is received, a module for comparing at least a portion of said ephemeris words extracted with at least one ephemeris word of the same rank stored for said identified transmitter satellite and / or for at least one other of the transmitting satellites, and a module for validating or not synchronizing with said identified transmitting satellite, as a function of the result of the comparison, as soon as the comparisons made make it possible to reach a probability of false alarm and / or a predetermined probability of non-detection.
According to another aspect, the invention relates to a geolocation receiver implementing synchronization validation with a transmitting satellite during an acquisition phase of an augmentation signal comprising correction data and geolocation integrity data. for a predetermined satellite geolocation system, said augmentation signal being provided by a service provider, the receiver being adapted to receive a plurality of augmentation signals from various transmitter satellites associated with at least one service provider, and implementing an increase signal acquisition phase of each of the transmitting satellites, wherein the receiver determines a satellite transmitting a corresponding increase signal in a synchronization step.
This receiver comprises modules for implementing a validation test for each identified transmitter satellite, comprising: a module for extracting words received from the augmentation signal associated with the transmitter satellite identified in the acquisition phase; as and when the said signal is received, - a module for comparing a received word with at least one received word of the same type received for at least one other of the sending satellites, and a module for validating or not synchronizing with said identified transmitter satellite, depending on the result of the comparison, as soon as the comparisons made make it possible to reach a false alarm probability and / or a predetermined non-detection probability. Other characteristics and advantages of the invention will emerge from the description which is given below, by way of indication and in no way limitative, with reference to the appended figures, in which: FIG. 1 is a schematic illustration of a control system. geolocation; FIG. 2 is a block diagram of the main steps of a synchronization validation method according to a first embodiment of the invention; FIG. 3 is a block diagram of the main steps of a synchronization validation method according to a second embodiment of the invention; FIG. 4 is a block diagram of the main steps of a synchronization validation method according to a third embodiment of the invention.
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.
Of course, the invention is not limited to this embodiment, and more generally applies for the geolocation of any mobile carrier.
The mobile carrier 2 is equipped with a geolocation receiver 12, or GNSS receiver, adapted to receive radioelectric navigation signals from a plurality of transmitting satellites 4, 6, 8, forming part of a constellation of satellite satellites. a GNSS geolocation system.
In a first embodiment, it is a satellite constellation of the GPS system.
As a variant, it is a constellation of satellites of the GALILEO system, or of any other GNSS system.
In general, the mobile carrier 2 is able to receive radio signals from a GNSS geolocation system capable of transmitting in predefined frequency bands.
Each of the satellites transmits radionavigation signals, also comprising ephemeris data consisting of a plurality of ephemeris words, making it possible to calculate a position of the transmitting satellite in a given terrestrial reference, with a given precision, for example a precision from a few meters. In addition, the ephemeris data contains information about the internal clock of the transmitting satellite.
In known manner, the satellites are capable of transmitting signals on several transmission frequencies, the transmitted signals having an associated periodic code.
For example, in the case of the GPS system, the GPS L1 C / A signals are transmitted at a frequency of 1 575.42 MHz with a periodic spreading code of 1023 elements. C / A codes are accessible to all and widely used in radionavigation applications.
These satellites are also capable of transmitting on other frequencies, for example 1 227.60 MHz (L2 signals) or 1176.45 MHz (L5 signals).
In particular, ephemeris data can be transmitted in L5 signals, with a periodic code of 10230 elements, allowing a much greater immunity to cross-correlations than the L1 signals.
In addition, as a variant, correction and integrity data of one or more satellites 10 of a geostationary satellite constellation, according to the spatial accuracy augmentation system using geostationary satellites, called SBAS (for "satellite"). Based augmentation System "), which are also transmitted in these radio signals emitted in the same predefined frequency bands.
The receiver 12 has a plurality of reception channels for receiving spatial accuracy increase signals from a plurality of satellites.
The GNSS receiver 12 comprises in particular a computing device, comprising one or more calculation processors 14, capable of executing calculations and computer program code instructions when they are powered up. The computing device also comprises one or more storage memories 16, capable of storing executable code instructions allowing the implementation of programs comprising code instructions able to implement the methods according to the invention.
In one embodiment, the computing device is a computer.
In a variant, the computing device is an electronic device of the programmable logic circuit type, for example one or more of the electronic cards based on FPGA or ASIC.
In particular, almanac data and ephemeris data relating to each of the satellites 4, 6, 8, 10 considered are stored in the memory 16.
The calculation processor 14 implements modules for implementing a synchronization validation test for each identified transmitter satellite, not shown in the figure, comprising: a module for extracting ephemeris words from the signal of navigation associated with the satellite identified in the acquisition phase, as and when the said navigation signal is received, -a module for comparing at least a portion of the said ephemeris words extracted with at least one word of ephemeris of the same stored rank for said identified satellite and / or for at least one other of the transmitting satellites, and a module for validation or not of the synchronization with said identified transmitter satellite, according to the result of the comparison, as soon as the comparisons made allow to reach a probability of false alarm and / or a probability of predetermined non-detection.
In addition, the calculation processor 14 implements implementation modules of a validation test for each satellite 10 transmitting an augmentation signal comprising correction data and geolocation integrity, comprising: a module for extracting words received from the augmentation signal associated with the satellite identified in the acquisition phase, as and when the signal is received, - a module for comparing a word received with at least one word received of the same type received for at least one other of the transmitting satellites, and a module for validation or not of the synchronization with said identified transmitter satellite, according to the result of the comparison, as soon as the comparisons made make it possible to reach a probability false alarm and / or a predetermined probability of non-detection.
FIG. 2 is a block diagram of the main steps of a synchronization validation method according to a first embodiment of the invention, implemented by a GNSS receiver 12.
This first embodiment applies in particular with the GPS system, in the context of a re-acquisition of a navigation signal for a given satellite Si of the constellation, after a loss or masking of the previously acquired navigation signal, on an associated channel.
In this embodiment, it is assumed that there are ephemerides controlled and stored in the memory 16 for the satellite Si, or, in other words, valid and non-obsolete ephemeris.
An ephemeris consists of data or words of ephemeris, each ephemeris word having an associated rank. For example, in a GPS system, there are 20 words of ephemeris defined, ranks (or indices) ranging from 1 to 20. Note m (i) the ephemeris word of rank i. The word ephemeris m (i) transmitted by a given satellite at a given instant has an associated value.
The GPS signals are issued periodically and consist of pages, each page consisting of sub-frames, each sub-frame consisting of a given number of words, each word being encoded on a given number of bits, transmitted at a frequency given. The words are protected by a protection code or error detection code, for example a parity, making it possible to easily detect any loss or error in the transmission.
The ephemeris words of given ranks are distributed in various subframes of the GPS signals.
In this first embodiment, the method comprises a first preliminary step 20 of obtaining a non-detection probability value Pnci, parameter defined by an operator or as a function of security constraints of a targeted application.
Then we implement a step 22 for obtaining and memorizing probabilities so that at a given instant, an ephemeris word of the same rank is identical for two separate satellites Si and Sj.
Let X (i) be the event associated with the fact that the word m (i) is identical in the ephemerides transmitted by two or more separate satellites.
There are as many events X (i) as distinct words of ephemeris.
In the preliminary step 20, an estimate of the probability P (X (i)) of each event X (i), as well as of the set of probabilities A g QGPSP "d, the events X (i) n are retrieved. not being independent.
Preferably, this estimate is made from databases archiving existing ephemeris for the constellation considered.
The calculation of the probabilities is preferably done by a computer other than the geolocation receiver 12, and the values of the calculated probabilities are supplied to the receiver and stored by it. The prior estimate of the probabilities can be redone at any time to take into account any evolution of the GNSS system considered.
For the GPS system, whose ephemeris consists of 20 distinct words, calculations on a long history of stored ephemeris have shown that the probabilities of the events X (i) are different for different ephemeris words.
Moreover, it is estimated a priori, by estimation of the joint probabilities, the set £ lPnd sets A ephemeris words, designated by their respective ranks, for the GNSS system considered, to ensure with a probability of non-detection Pnd of given value, that these words can not come from multiple satellites.
Mathematically we write:
For example, the estimated probabilities are the following for the first two words of ephemeris, m (1) and m (2):
, and for the set A = {1,3} the estimated probability is
Steps 20 and 22 are repeated, if necessary, for several probabilities of non-detection Pnd data.
For each of the values of Pnd given, the sets A of ephemeris word ranks are stored, for example in the form of tables or any other adapted form.
It should be noted that sets of indices A determined for a given non-detection probability have different cardinals as a function of estimated probabilities P (x (i)), the probability of non-detection also depending on the ranks of the indices received. . Thus, for example for the GPS system and a probability of non-detection of 10 "4, sets of one, two or three words of ephemeris form the whole
For each satellite If considered, values of ephemeris words controlled and validated are stored in step 24.
In one embodiment, the values are received by the receiver via another communication channel, for example by a GSM radio communication or by a communication via the Internet network.
As a variant, stored ephemeris word values have previously been received from the transmitting satellite Si and validated by a conventional validation method, for example the validation method with respect to the previously stored almanac data.
According to another variant, stored ephemeris word values have been transmitted by the satellite Si by a frequency other than the radionavigation signal to be processed, for example by the signals L5, for which the risk of cross-correlation is very low.
We note the words of ephemeris stored for a satellite Si:
k indicating the corresponding rank, i the index of the associated satellite and N being the number of ephemeris words of the GNSS system, for example N = 20 for the GPS.
In a step 26, a navigation signal Sig is received on the channel in question, and associated ephemeris words are extracted from this signal.
The signal Sig is considered to be received from a transmitting satellite Sj following the signal acquisition phase comprising a correlation synchronization.
These words are called ephemeris words received, and they are noted:
The purpose of the method is to validate or not the synchronization with the signal Sj, in other words to validate, with an associated non-detection probability, whether the ephemerides received with the signal Sig are emitted by the signal Sj or whether they are likely to be emitted by another Si satellite of the constellation.
To do this, the step 26 for receiving and extracting received ephemeris words is followed by a step 28 of verifying the parity of each received ephemeris word.
Indeed, as explained above, it is a protection mechanism whose purpose is to detect possible transmission errors and thus to avoid the use of erroneous ephemeris words.
More generally, a verification of the protection code of the received word is applied.
In case of negative verification, step 28 is followed by step 26 above.
In the case of a positive verification, step 28 is followed by a step 30 of comparing each of the extracted received ephemeris words Mj (k) with the ephemeris word of the same stored rank MJ (k), for the satellite Sj identified beforehand in the navigation signal acquisition step.
It should be noted that the ephemeris words received are extracted from the subframes received as and when processed, which is intended to reduce the total time of validation of the synchronization with the satellite Sj.
Thus, a subset of received ephemeris words is processed in step 28, this subset may be limited to a single word of ephemeris.
If M'j (k) = MJ (k), the value of the received word is equal to the value of the stored word of the same rank k, for the satellite Sj. As explained above, there is in this case an estimate of the probability that the received ephemeris word M '(£) comes from another satellite than the satellite Sj.
The result of the comparison is stored and accumulated with the previous results in the processing step 32.
In one embodiment of the processing step 32, the rank k of the ephemeris word received and validated by the comparison is memorized and it is verified whether k belongs to one of the sets A of stored ephemeris word ranks for reach the probability of non-detection Pnd given.
The probability of non-detection Pnd is a parameter which is, for example, entered by an operator and provided at the input of the method or which is imposed by an application using the geolocation receiver.
For example, Pnd is 10 3 or 10 -4 for usual applications At step 34 following step 32 it is checked whether one of the sets A of ephemeris word ranks has been completed. other terms if all the words of a set A have been received and validated by comparison with the stored ephemeris words, thus ensuring that these words are sent by the transmitting satellite Sj considered with a probability of non-detection lower than PnC | .
In the case of a positive response, the validation of the synchronization with the transmitting satellite Sj is validated for the received navigation signal Sig. The algorithm ends (step 36). In the event of a negative response, step 34 is followed by step 26 of receiving ephemeris word extraction previously described.
In the case of a negative response, when all the words of the GPS ephemeris are received, the receiver compares the decoded ephemeris to the almanacs to ensure the presence or absence of cross correlation.
Thus, in the general case of absence of cross-correlation and absence of change of the ephemeris during the signal reception cutoff, the validation of the synchronization is very fast. In special cases, of low occurrence, change of ephemeris during the cut or cross correlation, the verification of all the words of the ephemeris GPS is carried out.
Advantageously, if the first ephemeris words received and processed during the application of this first moment of realization are validated and sufficiently distinctive in terms of probabilities, the validation of the synchronization is very fast.
For example, with a probability of non-detection Pnd = 10'4, the synchronization validation, or confirmation of absence of cross-correlation, takes 0.6 seconds in the most favorable case, in which the first word of ephemeris received and processed is distinctive, and can take up to 17.4 seconds maximum.
In any case, the validation is much faster than when applying the classic and systematic validation.
It should be noted that this first embodiment described above applies to other satellite constellations than the GPS constellation, provided sufficient data are available to obtain an estimate of the probabilities of the X (i) events a priori. .
A second embodiment of the synchronization validation method with a transmitter satellite Sj, implemented by a GNSS receiver 12, is described with reference to FIG.
This second embodiment differs from the first embodiment because it does not require a prior estimate of the probabilities that two ephemeris words transmitted at the same time by two different transmitter satellites are identical.
In known manner, the GNSS receiver simultaneously receives and processes several reception channels, each reception channel being associated with a transmitting satellite during the acquisition phase of the navigation signals.
In this second embodiment, it is assumed that the processed Sig signal is a signal strong enough to generate a cross-correlation on a current reception channel, and that it is also received in the acquisition phase on another channel of the receiver. GNSS receiver.
In this second embodiment, a first step 40 is implemented on all the reception channels, to extract and store the ephemeris words received, each channel being associated with a transmission satellite.
This step is carried out following the prior acquisition of navigation signal for each channel and comprises, for each reception channel, a first sub-step 42 for extracting and verifying the parity of each received ephemeris word and a sub-step 44 of memorizing ephemeris words whose parity has been verified, in relation to the processed reception channel.
Thus, for each reception channel associated with an emitter satellite of index I, the {1, ..., iVc} where Ne denotes the number of reception channels, ephemeris words are stored: M "(k) , ke {l, ..., Af} where N is the number of ephemeris words (equal to 20 for the GPS system), and for which parity has been checked, to avoid the subsequent use of words false ephemeris.
Substantially in parallel, and as and when receiving, when step 44 is implemented for a given channel treated, called current channel, associated with a satellite transmitter Si, said current satellite, for which it implements the synchronization validation, we obtain the received word whose parity has been verified M '. (p) at step 46.
Then we extract a set of stored ephemeris words associated with the transmitting satellite If the rank word corresponding to step 48, noted M ™ {p).
The words ephemeris (p) and M "'(p) are compared at step 50.
In addition, the received ephemeris word M (p) is compared, during the comparison step 50, with all the ephemeris words of the same rank and validated received on the other reception channels, denoted M '( />), y ^ /.
The results of the comparison are processed during a processing step 52.
If the words of ephemeris M. (p) and M "(p) are identical, and the word of ephemeris M {p) is different from all the received words of the same rank Μ '^ ρ),] Ψ i, on a different reception channel, then the synchronization is validated for this word, thus considered as not tainted with cross-correlation.
A validity counter Cvaiid is incremented in step 54, this counter being initialized to 0 at each new implementation of the synchronization validation method.
If the words of ephemeris M [(p) and M "! (P) are different, and the word ephemeris M. (p) has the same value as one or more of the received words of the same rank M ' j (p), j ^ i, on a different reception channel, then the synchronization is invalidated for this word, thus considered to be tainted with cross correlation.
A disability counter, Cinvaiid>, is incremented in step 54, this counter being initialized to 0 with each new implementation of the synchronization validation method.
It should be noted that the validity counters Cvaiid and invalidity CinVaiid are incremented only for words of distinct ranks. Thus, a word of the same rank received again can not contribute to incrementing a non-zero counter.
It is then checked at a step 56 if the validity counter or, if applicable, the disability counter has reached a number of ephemeris words to be considered Nt.
This number Nt depends on the values of the probability of non-detection Pnd and the probability of false alarm Pta of a cross correlation.
When the number Nt is reached, the synchronization validation process for the navigation signal received on the current channel terminates.
If the number Nt is not reached, step 56 is followed by step 46 previously described for processing a next ephemeris word for the channel associated with the transmitting satellite Si.
If the validation of the synchronization is negative, advantageously, the reacquisition of synchronization can be restarted without delay, which improves the radionavigation.
The number Nt of ephemeris words to be taken into account is, in one embodiment, equal to 1.
For a given received ephemeris word, the probability of non-detection and the associated false alarm probability can be calculated.
Regarding the probability of non-detection, there is a risk of non-detection if a word is badly decoded. The probability of non-detection due to such an error is dependent on the word error rate, also called WER for "word error rate", which depends on the signal-to-noise ratio of the received signal, falsely considered valid.
For a GPS word encoded on 24 bits and protected by 6 parity bits, we have: Pnd <WERx2 "6 x2 ~ 24, where 2" ® is the probability of error for a word protected by 6 parity bits and 2 ~ 24 is the probability that the received word is equal to a received word for another satellite.
The probability of false alarm, which is the probability of false detection of a phenomenon of cross correlation, is calculated, according to one embodiment, with respect to the renewal of ephemeris sent compared to the ephemeris stored by the same satellite, which renewal is performed with a given frequency, for example 2 hours.
The number Nt of ephemeris words to be considered is determined differently depending on whether the processing knows that the ephemeris sent has changed or not compared to the stored ephemeris. One of the words of ephemeris allows to date it. If it is received and equal to that of the memorized ephemeris, Nt will be determined on a hypothesis of no change, if it is not yet received or if it is received different from that of the memorized ephemeris , Nt will be determined on a change assumption.
Indeed, if the sent ephemeris have not changed compared to the stored ephemeris for a given transmitter satellite, the probability of false alarm is calculated according to the probability of WER decoding error, of parity error (2 ' 6) and equality of the decoded word with respect to one of the words of the same rank decoded on one of the other satellites (1- (1-2-24) ^ 1).
If the receiver receives Ne satellites, we have:
(Eq 2)
For Nc = 10, we have a false alarm probability much lower than 10 "8.
If the ephemeris sent has changed compared to the stored ephemeris for a given transmitter satellite, the risk of false alarm is higher.
Let Y (i) be the event associated with the fact that the words m (i) of two ephemeris tables emitted successively by the same satellite are identical.
We then have:
(Eq 3) A being the set of ranks (or indices) of received ephemeris words verifying the invalidation criterion, and Ne the number of sending satellites received.
For example, if we want a false alarm probability Pfa <10'3, and Nc = 10, we use sets of indices A which provide an estimate of the associated probability of 10'4, as explained above. compared to the first embodiment.
The probabilities of the events Y (i) are estimated a priori, on another calculator, only to determine the value Nt memorized by the receiver as a function of Ne. The determination of probabilities
is done in the same way as to determine the probabilities
: this estimate is made from databases archiving existing ephemeris for the constellation considered.
As in the first embodiment described above, it is possible to use estimates a priori of the probabilities.
It should be noted that in this case, the number Nt of ephemeris words to be considered for a given false alarm probability also depends on the ranks of the received clues, sets of one, two or three ephemeris words. , forming part of the set defined in equation (Eq 1) above:
As a variant, if we do not have an estimate of the probabilities a priori, it is sufficient, when renewing the ephemerides sent by a satellite, to consider all the ephemeris words received. In this variant, no prior estimate of probability is necessary.
The method proposed above applies nevertheless and makes it possible to considerably accelerate the validation of the synchronization throughout the operating phase with the same set of ephemeris data.
The method proposed in this second embodiment above applies analogously for GALILEO L1 BC radionavigation signals.
GALILEO L1 BC signals have a periodic code of 4092 elements, but do not allow enough robustness to guarantee the absence of cross-correlations.
The method described above applies with the ephemeris data of the GALILEO system, taking into account the specific arrangement of the navigation messages l / NAV and the protection code which is a CRC code (for "redundancy control cyclic "), applied to a plurality of transmitted ephemeris words.
It should be noted that the ephemeris word of rank 4 in the GALILEO system carries the identifier of the transmitting satellite, so an error-free decoding of this ephemeris word makes it possible to identify the transmitting satellite.
However, ephemeris words are cyclically transmitted, so it may be necessary to wait for up to 30 seconds to decode the ephemeris word of rank 4.
If a faster synchronization validation is desired, the method of the invention described above applies, and in particular the second embodiment which does not require a priori calculation of probabilities associated with the words of ephemeris emitted by the different satellites of the constellation.
The Pnd non-detection probability and Pfa false alarm calculations are adapted to the GALILEO system.
For example, for an ephemeris word protected by a 24-bit CRC code, and encoded on 110 bits, we have:
Advantageously, the use of a single ephemeris word to validate or invalidate the presence of a cross correlation provides a high level of integrity, which limits the validation time from 2 seconds minimum to 18 seconds maximum.
According to a third embodiment, the invention also applies to the case of augmentation signals, for example SBAS, comprising correction and geolocation integrity data for a predetermined satellite geolocation system, in the case receivers adapted to receive several SBAS signals on several reception channels, and therefore are liable to suffer the phenomenon of erroneous synchronization on a transmitter SBAS satellite, due to a cross correlation.
Each reception channel is associated with a transmitting SBAS satellite.
The SBAS signals are sent by service providers, which generally have several satellites. For example, the service providers EGNOS ® for Europe and WAAS ® for the United States, GAGAN ® for India, MSAS ® for Japan are known.
The satellites of each service provider send ephemeris, but only at lower temporal frequencies than the geolocation satellites.
In addition, each service provider issues satellite almanacs of its constellation.
FIG. 4 is a block diagram of the main steps implemented in the third embodiment of the synchronization validation method with an emitter satellite Sj of an SBAS type spatial augmentation system, implemented by a receiver capable of receiving SBAS type signals on several reception channels.
The method of the invention is adapted to this case, in which the sending of ephemeris is grouped and sent at low frequency (for example every 120 seconds for SBAS).
In the SBAS system, every word, regardless of type, consists of 250 bits and is protected by a 24-bit CRC protection code.
In a first step 60, the almanacs of the various service providers are received and stored.
This step 60 is implemented by any appropriate means of communication, for example by using another communication channel - GSM, Internet or other appropriate communication channel. Step 60 is followed by a step 62 for receiving SBAS signals after acquisition or re-acquisition on each of the reception channels processed, and for extracting a current received word having an associated type, and then a step 64 to check the CRC code of the received word.
In case of negative verification in step 64, so if there is a possible reception error on the received word, step 64 is followed by the preceding step 62 of receiving and extracting a new received word.
In case of positive verification in step 64, the received word is stored in relation to the associated channel to then make comparisons between received words.
During the processing step 66, if the received word corresponds to the reception of the word ephemeris, then the step 66 is followed by the step 70 described below, otherwise the word received on the current reception channel is compared to the received words of the same type on the other reception channels. Step 70 which corresponds to the reception of the ephemeris word consists of the comparison of the ephemeris with the almanac data previously stored for the current service provider.
The comparison will then reveal the existence of a cross correlation.
If there is a positive comparison in step 66, then if the current received word, coming from the current reception channel, said first channel, is identical to a word received from a second channel, and the type of the word is different from the type 0 in the SBAS system where the type 0 words have a fixed content, then the step 66 is followed by a step 68. In the step 68 it is checked whether the first channel and the second channel are both associated to satellites from the same service provider, called current service provider.
In the case of a positive response, step 68 is followed by step 62.
In case of a negative response in step 68, therefore if the first channel and the second channel are associated with different service provider satellites, a Cinvaiid invalidity counter is incremented. Step 68 is followed by step 74 described below.
As in the second embodiment, the invalidity counter, Cinvaiid, is initialized to 0 with each new implementation of the synchronization validation method.
If at step 66 the current received word, coming from the current reception channel, said first channel, is different from all the words of the same type received from all the other channels, then the signal is considered valid and therefore not tainted by a cross correlation.
A validity counter Cvaiid is incremented in step 72, this counter being initialized to 0 with each new implementation of the synchronization validation method. Step 72 is followed by a step 74 of comparing the validity counter or, as the case may be, the invalidity counter, with a number of received words to be taken into account Nr.
This number Nr depends on the values of the probability of non-detection Pn (j and the probability of false alarm Pfa of a cross correlation.
When the number Nr is reached, the synchronization validation process for the signal received by the spatial augmentation system on the current channel terminates.
If the number Nr is not reached, step 74 is followed by step 62 previously described for processing a next received word.
The number Nr of received words to be taken into account is, in one embodiment, equal to 1.
For a given received word, it is possible to calculate the non-detection probability and the associated false correlation false alarm probability.
Regarding the probability of non-detection, there is a risk of non-detection if a word is badly decoded. The probability of non-detection due to such an error is dependent on the word error rate, also called WER for "word error rate", which depends on the signal-to-noise ratio of the received signal, falsely considered valid.
For a 250-bit SBAS word protected by a 24-bit CRC, we have:
## STR1 ## 7-7. The use of a single word received to confirm the absence of cross-correlation provides a high level of integrity.
There is a risk of false alarm if two words from two different service provider satellites are identical.
The probability of false alarm, which is the probability of false detection of a cross-correlation phenomenon, is calculated, according to one embodiment by:
The use of a single word to confirm the presence of cross-correlation provides a low risk of false alarm.
Advantageously, in all the embodiments described, the validation or invalidation of the synchronization with a transmitting satellite is accelerated thanks to the use of received words received for the same transmitter satellite previously identified in the acquisition phase, and, where appropriate, where appropriate, for other satellites transmitting the constellation that are received by the geolocation receiver considered.
In the case of space augmentation systems, these are words received without distinction of type, whereas for GNSS radionavigation systems they are ephemeris words.

权利要求:
Claims (19)
[1" id="c-fr-0001]
CLAIMS 1 method for synchronization validation of a geolocation receiver with a transmitting satellite during a phase of acquiring a navigation signal from said satellite, said receiver being able to receive a composite radio signal comprising a plurality of signals each of a transmitting satellite forming part of a satellite constellation, and to implement a navigation signal acquisition phase of each of the transmitting satellites, wherein the receiver determines a satellite transmitting a transmission signal. corresponding navigation in a synchronization step, each transmitting satellite further transmitting sets of ephemeris composed of a plurality of words, each having an associated rank, encoding information relating to said transmitting satellite and for calculating a position of said transmitting satellite in a given reference, the process being implemented by said receiver, characterized in that it comprises: for each identified transmitting satellite, implementing a validation test, comprising: extracting (26, 42) ephemeris words from the navigation signal associated with the transmitting satellite identified in the acquisition phase, as and when the said navigation signal is received, -the comparison (30, 50) of at least a portion of said ephemeris words extracted at the least one ephemeris word of the same rank stored for said identified transmitter satellite and / or for at least one other of the transmitting satellites, and, depending on the result of the comparison, validation or not (32-34, 52-56) of synchronization with said identified transmitter satellite, as soon as the comparisons made make it possible to reach a probability of false alarm and / or a predetermined probability of non-detection.
[2" id="c-fr-0002]
2. A method according to claim 1, characterized in that it comprises, after the extraction step, a verification step (28, 44) of a protection code associated with one or more of said ephemeris words extracts, and in that the comparison (30, 50) is performed on the extracted ephemeris words for which the verification is positive.
[3" id="c-fr-0003]
3. - Method according to one of claims 1 or 2, characterized in that it comprises, a storage (24) ephemeris words previously validated for said transmitting satellite, and the comparison (30) of a word d ephemeris received with the stored ephemeris word of the same rank for said transmitting satellite.
[4" id="c-fr-0004]
4. - Method according to any one of claims 2 or 3, characterized in that it comprises a prior step of estimating (20, 22) a probability, for each ephemeris word of the set of ephemeris, that a word of ephemeris, having an associated rank and emitted by a given emitting satellite, has the same value as an ephemeris word of the same rank emitted by another satellite of the constellation of satellites.
[5" id="c-fr-0005]
5. - Method according to claim 4, characterized in that it comprises a calculation (22) sets of ephemeris word ranks, each said set of ranks comprising rows of ephemeris words for validation of the satellite associated transmitter with a corresponding non-detection probability.
[6" id="c-fr-0006]
6. - Method according to claim 5, characterized in that it comprises a step of storing (22) at least one set of arrays of calculated ephemeris rows corresponding to a predetermined probability of non-detection.
[7" id="c-fr-0007]
7. - Method according to claim 6, characterized in that it comprises, in the case of a positive comparison of a received ephemeris word with an ephemeris word previously validated and stored for said transmitting satellite, a validation (34) according to the membership of the rank of said received ephemeris word to at least one of said sets of calculated ephemeris ranks.
[8" id="c-fr-0008]
8. - Method according to one of claims 1 or 2, characterized in that it comprises a comparison (50) of an extracted ephemeris word with an ephemeris word of the same rank stored for said identified transmitter satellite, and with an ephemeris word of the same rank received for each of a plurality of other transmitting satellites.
[9" id="c-fr-0009]
9. - Method according to claim 8, characterized in that, if the extracted ephemeris word is identical to the ephemeris word of the same rank stored for said identified transmitter satellite, and different from each of the ephemeris words of the same rank received for another transmitting satellite, a validity counter is incremented (54).
[10" id="c-fr-0010]
10. - Method according to claim 8, characterized in that, if the ephemeris word extracted is different from the ephemeris word of the same rank stored for said identified satellite, and identical to at least one of the ephemeris words of the same received for another transmitting satellite, a disability counter is incremented (54).
[11" id="c-fr-0011]
11. - Method according to one of claims 9 or 10, characterized in that a validation or invalidation of the synchronization is performed according to the comparison (56) of the validity counter or the invalidity counter to a number of comparisons to be considered, said number of comparisons to be considered being dependent on the probability of false alarm and / or the predetermined probability of non-detection.
[12" id="c-fr-0012]
12. - Method for synchronization validation of a geolocation receiver with a transmitting satellite during an acquisition signal acquisition phase comprising correction data and geolocation integrity data for a geolocation system by predetermined satellite, said augmentation signal being provided by a service provider, said receiver being adapted to receive a plurality of augmentation signals from various transmitting satellites associated with at least one service provider, and to implement a phase of acquisition of increase signal of each of the transmitting satellites, wherein the receiver determines a satellite transmitting a corresponding increase signal in a synchronization step, the method being implemented by said receiver, characterized in that that it includes: -for each identified transmitter satellite, implementation of a validation test, comprising: -extracting (62) words received from the increase signal associated with the emitter satellite identified in the acquisition phase, as the signal is received, -the comparison (66) a word received to at least one received word of the same type received for at least one other of the transmitting satellites, and, depending on the result of the comparison, validation or not of the synchronization with said identified transmitting satellite, as soon as the comparisons performed make it possible to achieve a probability of false alarm and / or a predetermined probability of non-detection.
[13" id="c-fr-0013]
13. - Method according to claim 12, characterized in that it comprises, after the extraction step (62), a step of verification (64) of a protection code associated with said received word extracted from the signal of increase, and in that the comparison (66) is performed on the extracted received words for which the verification is positive.
[14" id="c-fr-0014]
14. - synchronization validation method according to one of claims 12 or 13, characterized in that it comprises, in the case where said received word extracted associated with a first transmitting satellite is identical to a received word extracted associated with a second transmitting satellite, a verification step (68) of verifying whether said first satellite and said second satellite are associated with the same service provider, and in case of positive verification, receiving a word containing ephemeris for each of said first and second satellites and the comparison (70) of received ephemeris with almanac data associated with said service provider.
[15" id="c-fr-0015]
15. - synchronization validation method according to claim 14, characterized in that in case of verification (68) negative, it comprises the incrementation of a disability counter, and the non-validation of the synchronization (74). when said invalidity counter reaches a predetermined value.
[16" id="c-fr-0016]
16. - synchronization validation method according to one of claims 12 or 13, characterized in that it comprises, in the case where said received word extracted associated with a first transmitting satellite is different from each of the received words associated with others transmitting satellites, incrementing (72) a validity counter, and enabling synchronization (74) when said validity counter reaches a predetermined value.
[17" id="c-fr-0017]
17. - synchronization validation method according to one of claims 15 or 16, characterized in that said predetermined value is a function of said probability of false alarm and / or said probability of non-detection.
[18" id="c-fr-0018]
18. - Geolocation receiver implementing a synchronization with a transmitting satellite during a phase of acquisition of a navigation signal from said satellite, said receiver being adapted to receive a composite radio signal comprising a plurality of signals of navigation each transmitted by a transmitting satellite forming part of a satellite constellation, and implementing a navigation signal acquisition phase of each of the transmitting satellites, in which the receiver determines a satellite transmitting a navigation signal corresponding in a synchronization step, each transmitting satellite further transmitting sets of ephemeris composed of a plurality of words, each having an associated rank, encoding information relating to said transmitting satellite and for calculating a position of said transmitting satellite in a given reference, characterized in that it comprises and modules for implementing a validation test for each identified transmitter satellite, comprising: a module for extracting ephemeris words from the navigation signal associated with the transmitter satellite identified in the acquisition phase, as and as a result of receiving said navigation signal, a module for comparing at least a portion of said ephemeris words extracted with at least one ephemeris word of the same stored rank for said identified transmitter satellite and / or for at least one other of the transmitting satellites, and a module for validating or not synchronizing with said identified transmitter satellite, as a function of the result of the comparison, as soon as the comparisons made make it possible to reach a probability of false alarm and / or a probability of predetermined non-detection.
[19" id="c-fr-0019]
19. A geolocation receiver implementing synchronization validation with a transmitting satellite during an acquisition signal acquisition phase comprising correction and geolocation integrity data for a satellite geolocation system. predetermined, said augmentation signal being provided a service providers, the receiver being adapted to receive a plurality of augmentation signals from various transmitting satellites associated with at least one service provider, and to implement a phase of a acquisition of augmentation signal of each of the transmitting satellites, wherein the receiver determines a satellite transmitting a corresponding increase signal in a synchronization step, characterized in that it comprises implementation modules of a validation test for each identified transmitter satellite, comprising: - a module of e extraction of words received from the augmentation signal associated with the emitter satellite identified in the acquisition phase, as and when the signal is received, - a module for comparing a received word with at least one received word of the same type received for at least one other of the transmitting satellites, and a module for validating or not synchronizing with said identified emitter satellite, as a function of the result of the comparison, as soon as the comparisons made make it possible to reach a probability of false alarm and / or a predetermined probability of non-detection.

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同族专利:

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US20170170866A1|2017-06-15|

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优先权:

申请号 | 申请日 | 专利标题

FR1502575|2015-12-11|

FR1502575A|FR3045167B1|2015-12-11|2015-12-11|METHODS AND DEVICES FOR SYNCHRONIZATION VALIDATION BETWEEN A GEOLOCATION RECEIVER AND A TRANSMITTER SATELLITE|FR1502575A| FR3045167B1|2015-12-11|2015-12-11|METHODS AND DEVICES FOR SYNCHRONIZATION VALIDATION BETWEEN A GEOLOCATION RECEIVER AND A TRANSMITTER SATELLITE|

US15/367,212| US10466364B2|2015-12-11|2016-12-02|Methods and devices for validating the synchronization between a geolocalizing receptor and an emitting satellite|

EP16203456.5A| EP3179276A1|2015-12-11|2016-12-12|Methods and devices for validating the synchnonization between a geolocalizingreceptor and an emitting satellite|

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