GNSS中的故障率和overbounding sigma综述

1.《SIS Monitoring for ARAIM in the Absence of Precise Clock Estimates》

Proceedings of the ION 2019 Pacific PNT Meeting
Gunning K, Walter T, Powell D
斯坦福大学

This paper describes methods for constellation monitoring in the absence of external precise clock estimates. Careful characterization of constellation performance is necessary for the use of Advanced RAIM (ARAIM). In particular, the narrow ($P_{sat}$) and wide ($P_{const}$) fault rates must be determined. However, typical constellation monitoring approaches rely on the comparison between the broadcast ephemeris and precise estimates of the satellite orbit and clock, and these may not always be available. Furthermore, they may only monitor reference signals that will not actually be operationally used. This paper describes a method to independently estimate satellite clock and differential code biases in order to evaluate the ranging performance of GPS and GLONASS for ARAIM. Daily variations in the L1 C/A-L5Q clock and differential code bias are examined and quantified. Finally, GLONASS faults are closely examined using the clock estimation techniques.

2.《Validation of the un-faulted error bounds for ARAIM》

NAVIGATION: Journal of the Institute of Navigation
2018年
斯坦福大学
Walter T, Gunning K, Eric Phelts R, et al

This paper examines how to evaluate observed instantaneous signal-in-space errors and determine suitable upper bounds on their likely distribution. We compare this performance against the commitments and broadcast values from the satellites to determine whether the provided values are sufficient or not. An important aspect is to characterize the errors in light of known or predictable characteristics. Oftentimes, errors are grouped together to create a single averaged distribution. However, there may be times and conditions where performance is notably worse. We need to separate out such conditions and evaluate the distributions individually so as not to form overly optimistic estimates of the error bounds. Further, we must ensure that these parameters will continue to bound future fault-free behavior. We will describe the conservative steps taken in the estimation process and the validation effort, both with the real data and versus the stated commitments from the constellation service providers.

3.《ARAIM Ground architecture based on GNSS monitoring infrastructures》

Proceedings of the 30th International Technical Meeting of The Satellite Division of the Institute of Navigation
2017年
Perea S, Meurer M, Martini I, et al
德国航空航天中心DLR

This paper presents a methodology to validate Multi-GNSS Experiment (MGEX) precise products applied in the characterization of the GPS and Galileo constellation performance and fault detection. First this methodology compares precise orbits coming from four different MGEX analysis centers and contrasts the level of agreement among them. The validated orbits are used along with the code and phase observations collected by a set of ground stations to simultaneously estimate receiver biases and satellite time offsets. Once the network is synchronized, the retrieval of the missing orbit and clock products is attempted. Results will show that with a simple snapshot based model, orbit and clock products can be validated to centimeter level. The ultimate goal of this methodology is to serve as an integrity layer between the MEGX products and the Integrity Support Message (ISM) generation.

4.《Impact of sample correlation on SISRE overbound for ARAIM》

This paper analyzes the effect of error correlation on the Signal-in-Space Range Error (SISRE) bounding for GPS and Galileo satellites. For a given period of data collection, it computes the effective number of independent samples contained in a dataset applying an estimation variance analyses. Results show that the time between effective independent samples is highly dependent on the constellation and onboard clock type. On one hand, GPS satellites equipped with Rubidium clocks exhibit longer error correlation that those with onboard Cesium clocks (50-60 hours versus 5-6 hours). On the other hand, Galileo satellites show a significantly shorter correlation among samples with less variability on a monthly basis (2.5-3.5 hours for PHM-equipped satellites versus 4-5 hours for RAFS clocks). This paper also introduces a methodology to compute SISRE bounding accounting for the limited number of independent samples. Using a Bayesian approach, it computes the so-called inflation factor that a Gaussian overbound needs to be expanded with in order to account for the uncertainty within the observation data.

5.《URA/SISA analysis for GPS and Galileo to support ARAIM》

2017年
德国航空航天中心DLR

This paper presents a User Range Accuracy (URA)/Signal-in-Space Accuracy (SISA) analysis to support ARAIM based on a time-dependent statistical characterization of orbit and clock error observations. By comparing precise orbits to broadcast ephemeris for each individual GPS and Galileo satellite, this work computes the Signal-in-Space Range Error (SISRE) that needs to be overbounded by the URA/SISA value included in the Integrity Support Message (ISM). Service data from January 2008 to February 2015 for GPS and from March to June 2015 for Galileo are processed, showing that range error is mainly driven by satellite’s clock performance. In order for the ISM generation to account for the variation in error biases and standard deviation, GPS service history is broken down into monthly, quarterly, and yearly datasets. Results reveal that orbit and clock error distributions are non-zero mean on a monthly basis, although biases tend to reduce as sample set size increases.

6.《Characterizing BDS Signal-in-Space Performance from Integrity Perspective》

The full deployment of China’s BeiDou navigation satellite System (BDS) has been finalized in June 2020. To support safety-critical applications, the system must provide assured Signal-In-Space (SIS) performance. As one of the key steps forward for BDS, this paper characterizes the SIS Range Errors (SISREs) for both the regional (BDS-2) and the global (BDS-3) systems from integrity perspective. Following the well-acknowledged safety standards in aviation, a data-driven SISRE evaluation scheme is established in this work. And this scheme outputs the overbounding User Range Accuracy (URA) and the prior fault probability to respectively capture the nominal and anomalous SIS behaviors. By processing the 4.5-year ephemerides starting from 2016 for BDS-2 and the recent 1.5-year data from 2019 for BDS-3, we preliminarily provide an overall picture of the BDS SIS characteristics and reveal the significant performance variation among different satellites.

7.《Characterization of GNSS clock and ephemeris errors to support ARAIM》

Proceedings of the ION 2015 Pacific PNT Meeting
2015年
斯坦福大学

GPS is widely used in aviation for lateral navigation via receiver autonomous integrity monitoring (RAIM). New methodologies are currently being investigated to create an advanced form of RAIM, called ARAIM that would also be capable of supporting vertical navigation. The vertical operations being targeted have tighter integrity requirements than those supported by RAIM. Consequently, more stringent evaluations of GNSS performance are required to demonstrate the safety of ARAIM.

ARAIM considers the possibility of two classes of satellite fault: those that affect each satellite independently and those that can affect multiple satellites simultaneously. These faults can lead to different safety comparisons in the aircraft. The likelihood of each fault type occurring can have a significant impact on the resulting ARAIM performance. Therefore, it is important to distinguish between such fault types and to determine appropriate models of their behavior and likelihood.

This paper examines the last seven years of GPS clock and ephemeris errors to determine appropriate estimates for the probability of independent satellite failures $P_{sat}$, and the probability of simultaneous satellite failures $P_{const}$. Even more importantly, it evaluates performance when there are no failures present. Nominal signal accuracy is characterized by a conservative one-sigma parameter called user range accuracy (URA). This paper examines how well the true error distribution for each satellite is individually described by the broadcast URA value. It further examines how the errors across all satellites are correlated and could combine to create user-positioning errors.

8.《Determination of fault probabilities for ARAIM》

IEEE Transactions on Aerospace and Electronic Systems
2019年
Walter T, Blanch J, Gunning K, et al.
斯坦福大学

Two critical parameters for advanced receiver autonomous integrity monitoring are the probability of satellite fault and the probability of constellation fault. This paper provides specific definitions for each of these fault types. We describe how these faults are evaluated and how to estimate their probability occurrence. Providing a precise definition of what constitutes a fault is essential so that all observers are able to agree on whether or not one has occurred.

下一节提供了每个故障类型具体的定义。
A与B一致。
Our goal is to create requirements and fault rates that can be mutually agreed upon.
本文的目的是提出确定的关键定义和声明，它们是ARAIM框架设计、算法和完好性支持信息的基础。
integrity support message是指user range accuracy和fault probability。
下一节提供了精密的空间信号故障定义和它们相关联的出现概率。
我们选择对故障的确定性定义以便对是否存在故障没有歧义。
不幸的是，这样的定义是大大地不符合实际的。
正常的误差满足零均值方差为${\sigma }^2$的正态分布。
故障发生的概率并不会随时间发生改变。
Time ranges from six months to ten years on the x-axis.
GPS性能标准至今没有提供星座故障率，但它提供了每个卫星总的故障率。
这些年来，这个数字一直在上升和下降，在所评估的时间段内，总体呈下降趋势。
The integrity measures the degree of trust that we can put on the navigation system. (完好性的定义：完好性测量的是我们对导航系统的可信度。)