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公开(公告)号：US11014576B2
公开(公告)日：2021-05-25
申请号：US16058063
申请日：2018-08-08
申请人： Beihang University
发明人： Zhipeng Wang , Yanbo Zhu , Yuan Liu , Jingtian Du
摘要： The present invention provides a BeiDou-based grid augmentation autonomous driving multi-level warning system comprising a Beidou Satellite Ground-based Augmentation system, user terminals and a Vehicles internet system, wherein the Beidou Satellite Ground-based Augmentation system comprises Beidou grid reference stations, a data processing system and a data broadcast system; the user terminal comprises an in-vehicle receiver and a calculating chips. The present invention can reduce the occurrence of traffic accidents and reduce the loss of life and property.
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2.发明授权公开(公告)号：US10473791B1
公开(公告)日：2019-11-12
申请号：US16430847
申请日：2019-06-04
申请人： Beihang University
发明人： Zhipeng Wang , Yanbo Zhu , Ludan Song
摘要： The present invention provides a ground-based augmentation system (GBAS) integrity performance evaluation method based on a pseudorange error distribution model, including: an airborne receiver terminal performing GBAS integrity performance evaluation by acquiring pseudorange error sample data, including the following method steps: a) grouping the pseudorange error sample data; b) building a distribution model having a Gaussian kernel and quadratic Gaussian polynomial tails for each group of pseudorange error samples; c) calculating a weighted sum of the distribution model of each group of pseudorange errors, to obtain an overall pseudorange error distribution model; d) projecting the pseudorange errors to position domain errors; e) calculating a probability that a position domain error is greater than an alarm limit, to obtain an integrity risk probability value; and f) evaluating GBAS integrity performance. The method improves the calculation accuracy of the integrity risk probability value and enhances the effectiveness of integrity evaluation.
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3.发明授权公开(公告)号：US12061277B1
公开(公告)日：2024-08-13
申请号：US18383524
申请日：2023-10-25
申请人： Beihang University
发明人： Kun Fang , Zhipeng Wang , Xiaopeng Hou , Zhiqiang Dan , Jinqi Li
CPC分类号： G01S19/47 , G01S5/0264 , G01S5/0244 , G01S5/0294 , G01S19/49 , G01S2205/03
摘要： The present application discloses an airborne positioning method and system for an aviation navigation network, and relates to the technical field of satellite navigation. The airborne positioning method for an aviation navigation network is applied to an omnisource navigation system, and comprises the following steps: acquiring the original observation data of the omnisource navigation system; Filtering the original observation data based on dead reckoning to obtain filtered observation data; Unify that filtered observation data in time and space to obtain observation data to be fused; The adaptive fusion algorithm of omnisource navigation based on variance optimization is adopted to fuse the observation data to be fused to obtain the fused data; the fused data is used to characterize the position of the target aircraft at the current moment. The present application can improve the accuracy of the positioning result.
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4.发明授权公开(公告)号：US11978350B2
公开(公告)日：2024-05-07
申请号：US17677296
申请日：2022-02-22
申请人： BEIHANG UNIVERSITY
发明人： Yanbo Zhu , Xiaofeng Shi , Zhipeng Wang
CPC分类号： G08G5/0069 , G01S19/02 , G01S19/15 , G01S19/23 , G01S19/37 , G08G5/0013
摘要： The present disclosure relates to a technical field for airborne navigation and discloses a data acquisition system and method for airborne navigation devices based on unmanned aerial vehicle. The system includes an unmanned aerial vehicle flight control system, a navigation devices test antenna array, a multi-channel signal processing module, a signal acquisition module, an ADS-B transmitting module, a GNSS receiver, a UHF data link receiver, a power module and a ground station. The unmanned aerial vehicle is equipped with corresponding modules to receive signals from ground navigation devices, perform corresponding processing and storage, and transmit data to the ground, at the same time, receive control instructions sent by the ground to complete corresponding monitoring, analysis and inspection.
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公开(公告)号：US11747482B2
公开(公告)日：2023-09-05
申请号：US18099332
申请日：2023-01-20
申请人： Beihang University
发明人： Zhipeng Wang , Yanbo Zhu , Siqi Huang , Kun Fang
CPC分类号： G01S19/14 , G01S19/08 , G01S19/396
摘要： The present invention discloses a APNT service positioning and integrity monitoring method and system. The method includes the following steps: determining a positioning accuracy requirement in a target scene; when the positioning accuracy requirement is high-accuracy positioning, determining a position of an aircraft by adopting a combined positioning algorithm, and monitoring the integrity of a combined positioning by adopting a multi-solution separation mode; when the positioning accuracy requirement is low-accuracy positioning, judging whether the aircraft is a high-altitude user; if not, adopting an air-to-air positioning algorithm for a high-altitude user and a low-altitude user based on LDACS to determine the position of the aircraft, and adopting a least square residual method to monitor the integrity of the air-to-air positioning. According to different requirements of users on positioning accuracy and actual application conditions, the present invention can provide a variety of APNT alternative solutions for an aircraft.
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公开(公告)号：US10969497B1
公开(公告)日：2021-04-06
申请号：US17012285
申请日：2020-09-04
申请人： Beihang University
发明人： Zhipeng Wang , Yanbo Zhu , Kai Kang , Kun Fang , Qiang Li
摘要： A dynamic baseline position domain monitoring system based on satellite navigation and inertial navigation is used to perform a method, including: a) determining a coordinate system and a transformation matrix; b) calculating a theoretical coordinate value of an antenna baseline vector in a earth-centered earth-fixed coordinate system during the movement of a base station carrier; c) determining the number of antenna baseline vectors to be monitored; d) solving the measurement values of the antenna baseline vectors; e) calculating the position domain error of an antenna baseline vector change rate in three directions of x, y and z at epoch k, and normalizing the position domain errors to obtain a normalized value of the position domain errors; f) obtaining the a cumulative sum; g) comparing the cumulative sum with an error monitoring threshold value, and issuing an integrity risk alarm.
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公开(公告)号：US10466362B1
公开(公告)日：2019-11-05
申请号：US16430614
申请日：2019-06-04
申请人： Beihang University
发明人： Zhipeng Wang , Yanbo Zhu , Wei Liu
摘要： The present disclosure provides an integrated navigation integrity monitoring system for unmanned aerial vehicles, comprising: an inertial measurement unit for providing a processor with zero offset values of different levels of inertial measurement units; a receiver for receiving signals from global satellite navigation and providing the processor with an integrity risk of a global satellite navigation system; and the processor for calculating a horizontal protection level of integrated navigation and a vertical protection level of integrated navigation, setting a horizontal alert limit and a vertical alert limit, comparing the horizontal protection level and the vertical protection level obtained by calculation with the corresponding horizontal alert limit and vertical alert limit respectively, and monitoring the integrity of the unmanned aerial vehicle. An inertial navigation system can be achieved without hardware redundancy, and the cost of integrated navigation integrity monitoring can be reduced.
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公开(公告)号：US10215863B1
公开(公告)日：2019-02-26
申请号：US16136531
申请日：2018-09-20
申请人： Beihang University
发明人： Zhipeng Wang , Yanbo Zhu , Yu Yin , Yuan Liu
摘要： A Beidou ground-based augmentation system integrity risk monitoring system includes a ground side and an on-board side. A processor of the on-board side receives a ground side monitoring statistical magnitude and an on-board side monitoring statistical magnitude to establish a threshold model, which is established by: recognizing a satellite number and inputting overall data on the monitoring statistical magnitude within one period of satellite; uniformly converting the inputted overall data from an initial equidistant measurement to an equal-ratio measurement; calculating a correlation coefficient between the two monitoring statistical magnitudes to determine a degree of freedom and a weight coefficient required for hypothesis testing; calculating an observed value of a Chi-square test statistical magnitude; deciding whether the observed value is within a rejection region; calculating a risk ratio and a reliability value; and obtaining the threshold model by utilizing an inverse transformation for converting a unified measurement.
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公开(公告)号：US10768312B1
公开(公告)日：2020-09-08
申请号：US16713322
申请日：2019-12-13
申请人： Beihang University
发明人： Zhipeng Wang , Yanbo Zhu , Xiaopeng Hou , Kun Fang
摘要： The present invention provides an integrity analysis method based on a kinematic-to-kinematic relative positioning scenario, including the following steps: a) establishing a kinematic-to-kinematic relative positioning model, and inputting navigation data; b) calculating a float solution of an integer ambiguity; c) detecting and correcting cycle slips based on a total electron content rate; d) calculating a probability of correct fix and a probability of incorrect fix for the integer ambiguity; e) determining a fault to be detected and a satellite fault probability; 0 calculating a standard deviation δ_(v|CF) and a position domain deviation b_m; and g) calculating an integrity risk value of a carrier phase. The present invention provides an integer ambiguity calculation algorithm for a kinematic-to-kinematic positioning system in the case of a long baseline, to calculate carrier phase integrity.
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10.发明授权公开(公告)号：US10436912B1
公开(公告)日：2019-10-08
申请号：US16430944
申请日：2019-06-04
申请人： Beihang University
发明人： Zhipeng Wang , Yanbo Zhu , Zhen Gao , Jisi Fang , Jingtian Du
摘要： The present disclosure provides a method for ARAIM fault detection based on extraction of characteristic value of pseudo-range measurement, comprising: calculating a sum of integrity risks of each of fault modes and a maximum value of the integrity risks of each of the fault modes, calculating a quantity of the fault modes by using a ratio of the sum of integrity risks of each of fault modes to an integrity risk of a largest fault, and using a sample quantity of corresponding pseudo-range measurement values as an effective sample quantity; using a ratio of a time duration T to the effective sample quantity as an effective sampling duration; sampling samples of pseudo-range measurement values that are gathered by a receiver within the effective sampling duration, to obtain an effective pseudo-range measurement set; and by using the effective pseudo-range measurement set, calculating a test statistic, and performing integrity fault detection.
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