Simulation method and simulation system for simulating harsh environment errors in satellite navigation positioning

Abstract

The present application provides a simulation method for simulating harsh environment errors in satellite navigation positioning, comprising: obtaining original observation data of a reference station; generating correction numbers based on the original observation data of the reference station; determining the type of correction number to be adjusted based on the type of harsh environment simulation; injecting errors into the correction numbers of the correction number type; obtaining an error-containing positioning result of a terminal based on the error-injected correction numbers and the original observation data of the terminal; and comparing the error-containing positioning result of the terminal with the position of the terminal and performing deviation analysis.

Description

Technical Field

[0001] This specification generally relates to the field of navigation and positioning technology, and more particularly to a simulation method and simulation system for simulating harsh environment errors in satellite navigation and positioning. Background Art

[0002] The use of GNSS positioning in autonomous vehicles, drones, and other mobile devices is becoming a trend. However, most devices, especially those related to life safety (autonomous vehicles, aircraft, and automated trains), lack effective testing methods to verify the performance of SSR algorithm corrections in extreme environments. This is partly because SSR (State Space Representation) technology is relatively new and has yet to fully penetrate the industry. Furthermore, most industry applications are non-life safety-related (such as automated mining machines and docks), lacking sufficient demand. Consequently, this demand is gradually increasing with the development of autonomous vehicles and aerospace. Summary of the Invention

[0003] In order to solve the technical problems in the prior art, the present application provides a simulation method for simulating harsh environment errors in satellite navigation positioning, which can inject errors into the correction numbers generated by the reference station and / or the polynomial coefficients of the positioning equation to achieve harsh environment error simulation.

[0004] This application discloses a simulation method for simulating harsh environment errors in satellite navigation positioning, comprising:

[0005] Obtain the original observation data of the reference station;

[0006] Generating corrections based on the raw observation data of the reference station;

[0007] Determine the type of correction number to be adjusted based on the harsh environment simulation type;

[0008] Performing error injection on the correction number of the correction number type;

[0009] Obtaining an error-corrected positioning result of the terminal according to the correction number after the error injection and the original observation data of the terminal;

[0010] The errored positioning result of the terminal is compared with the position of the terminal and a deviation analysis is performed.

[0011] In a preferred embodiment, the step of determining the type of correction number to be adjusted according to the harsh environment simulation type further includes:

[0012] When the severe environment type is an ionospheric storm, an ionospheric MSTID-mesoscale mobile ionospheric disturbance, or an ionospheric disturbance and an abnormal ionospheric correction number under normal ionosphere conditions, the corresponding correction number types include the ionospheric vertical total electron content and the ionospheric oblique total electron content;

[0013] or

[0014] When the severe environment type is a tropospheric weather event, the corresponding correction number type includes tropospheric delay;

[0015] or

[0016] When the harsh environment types include movement of a single GNSS reference station, irregular movement of multiple GNSS reference stations in different directions in a region, regular movement of multiple GNSS reference stations in the same direction in a region, failure of a single / multiple GNSS reference stations, satellite ephemeris error - single satellite ephemeris error, satellite ephemeris error - single or multiple system errors, and erroneous geodetic coordinate system information, the corresponding correction number types include clock error, orbit, bit deviation, phase deviation, ionospheric vertical total electron content, ionospheric oblique total electron content, and tropospheric delay;

[0017] or

[0018] When the harsh environment type is abnormal GNSS satellite clock error, the corresponding correction number type includes clock error.

[0019] In a preferred embodiment, before the step of injecting errors into the correction number of the correction number type, the method further comprises:

[0020] Obtaining a positioning result of the reference station according to the original observation data of the reference station and the correction number;

[0021] When the difference between the positioning result of the reference station and the position of the reference station is smaller than a threshold, error injection is performed on the correction number of the correction number type.

[0022] This application also discloses a simulation method for simulating harsh environment errors in satellite navigation positioning, comprising:

[0023] Obtain the original observation data of the reference station;

[0024] Generating corrections based on the raw observation data of the reference station;

[0025] Establishing a positioning equation based on the correction number and the original observation data of the terminal;

[0026] Determine the type of correction number to be adjusted based on the harsh environment simulation type;

[0027] Performing error injection on polynomial coefficients corresponding to the correction number type in the positioning equation;

[0028] Obtaining an error-containing positioning result of the terminal according to the positioning equation after the error injection;

[0029] The errored positioning result of the terminal is compared with the position of the terminal and a deviation analysis is performed.

[0030] In a preferred embodiment, the step of determining the type of correction number to be adjusted according to the harsh environment simulation type further includes:

[0031] When the severe environment type is an ionospheric storm, an ionospheric MSTID-mesoscale mobile ionospheric disturbance, or an ionospheric disturbance and an abnormal ionospheric correction number under normal ionosphere conditions, the corresponding correction number types include the ionospheric vertical total electron content and the ionospheric oblique total electron content;

[0032] or

[0033] When the severe environment type is a tropospheric weather event, the corresponding correction number type includes tropospheric delay;

[0034] or

[0035] When the harsh environment types include movement of a single GNSS reference station, irregular movement of multiple GNSS reference stations in different directions in a region, regular movement of multiple GNSS reference stations in the same direction in a region, failure of a single / multiple GNSS reference stations, satellite ephemeris error - single satellite ephemeris error, satellite ephemeris error - single or multiple system errors, and erroneous geodetic coordinate system information, the corresponding correction number types include clock error, orbit, bit deviation, phase deviation, ionospheric vertical total electron content, ionospheric oblique total electron content, and tropospheric delay;

[0036] or

[0037] When the harsh environment type is abnormal GNSS satellite clock error, the corresponding correction number type includes clock error.

[0038] In a preferred embodiment, before the step of injecting errors into the polynomial coefficients corresponding to the correction number type in the positioning equation, the method further comprises:

[0039] Obtaining a positioning result of the reference station according to the original observation data of the reference station and the correction number;

[0040] When the difference between the positioning result of the reference station and the position of the reference station is less than a threshold, error injection is performed on the polynomial coefficients corresponding to the correction number type in the positioning equation.

[0041] This application also discloses a simulation method for simulating harsh environment errors in satellite navigation positioning, comprising:

[0042] Obtain the original observation data of the reference station;

[0043] Generating corrections based on the raw observation data of the reference station;

[0044] Determining a correction number type to be adjusted according to a harsh environment simulation type, wherein there are multiple correction number types;

[0045] performing error injection on a first portion of correction numbers among the plurality of correction number types;

[0046] Establishing a positioning equation based on the correction number after the error injection and the original observation data of the terminal;

[0047] performing error injection on polynomial coefficients in the positioning equation corresponding to the second part of the correction numbers in the multiple correction number types;

[0048] Obtaining an error-containing positioning result of the terminal according to the positioning equation after the polynomial coefficient error injection;

[0049] The errored positioning result of the terminal is compared with the position of the terminal and a deviation analysis is performed.

[0050] In a preferred embodiment, the step of determining the type of correction number to be adjusted according to the harsh environment simulation type further includes:

[0051] When the severe environment type is an ionospheric storm, an ionospheric MSTID-mesoscale mobile ionospheric disturbance, or an ionospheric disturbance and an abnormal ionospheric correction number under normal ionosphere conditions, the corresponding correction number types include the ionospheric vertical total electron content and the ionospheric oblique total electron content;

[0052] or

[0053] When the types of harsh environments include movement of a single GNSS reference station, irregular movement of multiple GNSS reference stations in different directions in a region, regular movement of multiple GNSS reference stations in the same direction in a region, failure of a single / multiple GNSS reference stations, satellite ephemeris error - single satellite ephemeris error, satellite ephemeris error - single or multiple system errors and erroneous geodetic coordinate system information, the corresponding correction number types include clock error, orbit, bit deviation, phase deviation, ionospheric vertical total electron content and ionospheric oblique total electron content and tropospheric delay.

[0054] In a preferred embodiment, before the step of injecting errors into the polynomial coefficients corresponding to the correction number type in the positioning equation, the method further comprises:

[0055] Obtaining a positioning result of the reference station according to the original observation data of the reference station and the correction number;

[0056] When the difference between the positioning result of the reference station and the position of the reference station is less than a threshold, error injection is performed on the polynomial coefficients corresponding to the correction number type in the positioning equation.

[0057] The present application also discloses a simulation system for simulating the harsh environment error in satellite navigation positioning, comprising:

[0058] The correction number generation module is used to obtain the original observation data of the reference station and generate the correction number based on the original observation data provided by the reference station;

[0059] An error injection module is used to determine the type of correction number to be adjusted according to the type of harsh environment simulation, and perform error injection on the correction number of the correction number type;

[0060] A positioning solution module, configured to obtain an error-containing positioning result of the terminal according to the positioning equation after the error injection;

[0061] The error analysis module is used to compare the error-containing positioning result of the terminal with the position of the terminal and perform deviation analysis.

[0062] The present application also discloses a simulation system for simulating the harsh environment error in satellite navigation positioning, comprising:

[0063] A correction number generation module is used to obtain the original observation data of the reference station and generate correction numbers based on the original observation data of the reference station;

[0064] A positioning solution module, configured to establish a positioning equation based on the correction number and the original observation data of the terminal;

[0065] An error injection module is used to determine the type of correction number to be adjusted according to the harsh environment simulation type, and to perform error injection on the polynomial coefficients corresponding to the correction number type in the positioning equation;

[0066] The positioning solution module is further configured to obtain an error-containing positioning result of the terminal according to the positioning equation after the error injection;

[0067] The error analysis module is used to compare the error-containing positioning result of the terminal with the position of the terminal and perform deviation analysis.

[0068] The present application also discloses a simulation system for simulating the harsh environment error in satellite navigation positioning, comprising:

[0069] A correction number generation module is used to obtain the original observation data of the reference station and generate correction numbers based on the original observation data of the reference station;

[0070] An error injection module is used to determine the type of correction number to be adjusted according to the harsh environment simulation type, where there are multiple types of correction numbers, and perform error injection on the first part of the multiple types of correction numbers;

[0071] A positioning solution module is configured to establish a positioning equation based on the error-injected corrections and the original observation data of the terminal; the error injection module is further configured to inject errors into the polynomial coefficients in the positioning equation corresponding to the second part of the corrections of the multiple correction number types; the positioning solution module obtains an error-containing positioning result of the terminal based on the positioning equation after the polynomial coefficient errors are injected;

[0072] The error analysis module is used to compare the error-containing positioning result of the terminal with the position of the terminal and perform deviation analysis.

[0073] Compared with the prior art, this application has the following beneficial effects:

[0074] In the present invention, based on the possible impact on SSR correction numbers in harsh environments, errors are injected into the correction numbers, and their performance in harsh environments is simulated, so that they can be used to simulate the impact of harsh environments on positioning results in terminals using SSR correction numbers for GNSS positioning.

[0075] This specification records a large number of technical features, which are distributed in various technical solutions. If all possible combinations of technical features of this application (i.e., technical solutions) are to be listed, the specification will be too lengthy. In order to avoid this problem, the various technical features disclosed in the above invention content of this specification, the various technical features disclosed in the various embodiments and examples below, and the various technical features disclosed in the accompanying drawings can be freely combined with each other to form various new technical solutions (these technical solutions should all be deemed to have been recorded in this specification), unless such a combination of technical features is technically infeasible. For example, in one example, feature A+B+C is disclosed, and in another example, feature A+B+D+E is disclosed. Features C and D are equivalent technical means that play the same role. Technically, only one of them can be used, and it is impossible to use them at the same time. Feature E can be technically combined with feature C. Then, the solution of A+B+C+D should not be deemed to have been recorded because it is technically infeasible, while the solution of A+B+C+E should be deemed to have been recorded. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] Non-limiting and non-exhaustive embodiments of the present application are described with reference to the following figures, wherein like reference numerals refer to like parts throughout the various views unless otherwise specified.

[0077] Figure 1This is a flow chart of a simulation method for simulating harsh environment errors in satellite navigation positioning according to one embodiment of this specification.

[0078] Figure 2 This is a flow chart of a simulation method for simulating harsh environment errors in satellite navigation positioning according to another embodiment of this specification.

[0079] Figure 3 This is a flow chart of a simulation method for simulating harsh environment errors in satellite navigation positioning according to another embodiment of this specification.

[0080] Figure 4 FIG. 1 is a schematic diagram of error injection in a GNSS system according to an embodiment of the present invention.

[0081] Figure 5 4 is a framework diagram of a simulation system for harsh environment errors in one embodiment of the present invention.

[0082] Figure 6 FIG. 4 is a schematic diagram of a simulation process of a harsh environment error in one embodiment of the present invention. DETAILED DESCRIPTION

[0083] In the following description, many technical details are provided to help readers better understand this application. However, those skilled in the art will understand that even without these technical details and various changes and modifications based on the following embodiments, the technical solutions claimed in this application can be implemented.

[0084] Some of the innovations of this application are:

[0085] The correction numbers generated by the satellite positioning SSR algorithm are correction numbers for satellite positioning generated on the basis of observation value files collected by reference stations distributed around the world / region, and broadcast to users. Therefore, in a normal test system, it is difficult to generate SSR correction numbers in harsh environments (for example, ionospheric interference, tropospheric interference and other events), because the reference station only collects the state of the real earth environment. Therefore, users can only wait for the conditions of the harsh environment to occur and then conduct tests for a fixed time period. The cycle time of this harsh environment is uncertain. Taking the ionospheric time as an example, its cycle is eleven years, and it is extremely difficult to obtain historical data. Therefore, a simulation method for simulating harsh environment errors is needed.

[0086] A GNSS positioning system typically includes three parts: a reference station, an algorithm side, and a terminal side. The positioning results undergo three internal logic complexes in the reference station, the algorithm side, and the terminal side, respectively. In the present invention, error injection is performed on the algorithm side, or on the terminal side, or on both the algorithm side and the terminal side based on the type of harsh environment. Error injection corrects the correction number. For example, the absolute value of the original correction number is corrected to generate a new correction number, thereby reducing the complex internal logic, increasing the ease of use on the terminal side, and more accurately reflecting the impact of the algorithm side on the correction number in harsh environments.

[0087] Based on this condition, the present invention uses a pure software simulation method, combined with the correction number generated by the SSR algorithm as an error-free benchmark, injects errors into the correction number according to the possible impact on the SSR correction number in a harsh environment, and simulates its performance in a harsh environment, so that it can be used to simulate the impact of harsh environments on positioning results in terminals that use SSR correction numbers for GNSS positioning.

[0088] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0089] Example 1

[0090] Embodiment 1 of the present application discloses a simulation method for simulating harsh environment errors in satellite navigation positioning. Figure 1 A flow chart of a method for simulating the harsh environment error in satellite navigation positioning is shown. The method comprises the following steps:

[0091] Step 101: Obtain original observation data of the reference station.

[0092] Step 102: Generate corrections based on the original observation data of the reference station.

[0093] Step 103: Determine the type of correction number to be adjusted according to the harsh environment simulation type.

[0094] Step 104: perform error injection on the correction number of the correction number type.

[0095] Step 105 : Obtain an error-containing positioning result of the terminal according to the correction value after the error injection and the original observation data of the terminal.

[0096] Step 106: Compare the terminal's positioning result with the terminal's position and perform deviation analysis. The terminal's position can be an absolute position or a fixed long-term smoothed position.

[0097] In one embodiment, the step of determining the type of correction number to be adjusted according to the harsh environment simulation type further includes:

[0098] When the severe environment type is an ionospheric storm, an ionospheric MSTID-mesoscale mobile ionospheric disturbance, or an ionospheric disturbance and an abnormal ionospheric correction number under normal ionosphere conditions, the corresponding correction number types include the ionospheric vertical total electron content and the ionospheric oblique total electron content;

[0099] or

[0100] When the severe environment type is a tropospheric weather event, the corresponding correction number type includes tropospheric delay;

[0101] or

[0102] When the harsh environment types include movement of a single GNSS reference station, irregular movement of multiple GNSS reference stations in different directions in a region, regular movement of multiple GNSS reference stations in the same direction in a region, failure of a single / multiple GNSS reference stations, satellite ephemeris error - single satellite ephemeris error, satellite ephemeris error - single or multiple system errors, and erroneous geodetic coordinate system information, the corresponding correction number types include clock error, orbit, bit deviation, phase deviation, ionospheric vertical total electron content, ionospheric oblique total electron content, and tropospheric delay;

[0103] or

[0104] When the harsh environment type is abnormal GNSS satellite clock error, the corresponding correction number type includes clock error.

[0105] The step of determining the type of correction number to be adjusted according to the harsh environment simulation type can refer to the corresponding relationship between the harsh environment type and the correction number type in Table 1.

[0106] In one embodiment, before the step of injecting errors into the correction number of the correction number type, the method further comprises:

[0107] Obtaining a positioning result of the reference station according to the original observation data of the reference station and the correction number;

[0108] When the difference between the positioning result of the reference station and the position of the reference station is smaller than a threshold, error injection is performed on the correction number of the correction number type.

[0109] It should be understood that when the difference between the positioning result of the reference station and the position of the reference station is less than a threshold, the original observation data and correction numbers of the reference station can be considered to be error-free.

[0110] Example 2

[0111] A second embodiment of the present application discloses a simulation method for simulating errors in harsh environments in satellite navigation positioning.

[0112] Figure 2 A flow chart of a method for simulating the harsh environment error in satellite navigation positioning is shown. The method comprises the following steps:

[0113] Step 201: Obtain original observation data of the reference station.

[0114] Step 202: Generate corrections based on the original observation data of the reference station.

[0115] Step 203: Establish a positioning equation based on the correction value and the original observation data of the terminal.

[0116] Step 204: Determine the type of correction number to be adjusted according to the harsh environment simulation type.

[0117] Step 205: Perform error injection on the polynomial coefficients corresponding to the correction number type in the positioning equation.

[0118] Step 206: Obtain an error-containing positioning result of the terminal according to the positioning equation after the error injection.

[0119] Step 207: Compare the terminal's positioning result with the error with the terminal's position and perform deviation analysis. The terminal's position can be an absolute position or a fixed long-term smoothed position.

[0120] In one embodiment, the step of determining the type of correction number to be adjusted according to the harsh environment simulation type further includes:

[0121] When the severe environment type is an ionospheric storm, an ionospheric MSTID-mesoscale mobile ionospheric disturbance, or an ionospheric disturbance and an abnormal ionospheric correction number under normal ionosphere conditions, the corresponding correction number types include the ionospheric vertical total electron content and the ionospheric oblique total electron content;

[0122] or

[0123] When the severe environment type is a tropospheric weather event, the corresponding correction number type includes tropospheric delay;

[0124] or

[0125] When the harsh environment types include movement of a single GNSS reference station, irregular movement of multiple GNSS reference stations in a region in different directions, regular movement of multiple GNSS reference stations in a region in the same direction, failure of a single / multiple GNSS reference stations, satellite ephemeris error - single satellite ephemeris error, satellite ephemeris error - single or multiple system errors, and erroneous geodetic coordinate system information, the corresponding correction types include clock error, orbit, code bias, phase bias, ionospheric vertical total electron content (VTEC), ionospheric slant total electron content (STEC), and tropospheric delay (ZTD);

[0126] or

[0127] When the harsh environment type is abnormal GNSS satellite clock error, the corresponding correction number type includes clock error.

[0128] The steps for determining the type of correction number to be adjusted according to the harsh environment simulation type can refer to the corresponding relationship between the harsh environment type and the correction number type in Table 1.

[0129] In one embodiment, before the step of injecting errors into the polynomial coefficients corresponding to the correction number type in the positioning equation, the method further comprises:

[0130] Obtaining a positioning result of the reference station according to the original observation data of the reference station and the correction number;

[0131] When the difference between the positioning result of the reference station and the position of the reference station is less than a threshold, error injection is performed on the polynomial coefficients corresponding to the correction number type in the positioning equation.

[0132] The difference between Example 2 and Example 1 is that in Example 1, error injection is performed on the algorithm side, while in Example 2, error injection is performed on the terminal side. However, the final result of the error injection is reflected in the error positioning result on the terminal side.

[0133] Example 3

[0134] Embodiment 3 of the present application discloses a simulation method for simulating harsh environment errors in satellite navigation positioning. Figure 3 A flow chart of a method for simulating the harsh environment error in satellite navigation positioning is shown. The method comprises the following steps:

[0135] Step 301: Obtain original observation data of the reference station.

[0136] Step 302: Generate corrections based on the original observation data of the reference station.

[0137] Step 303: Determine the type of correction number to be adjusted according to the harsh environment simulation type, where there are multiple types of correction numbers.

[0138] Step 304: Perform error injection on a first portion of correction numbers among the multiple correction number types.

[0139] Step 305: Establish a positioning equation based on the correction value after the error injection and the original observation data of the terminal.

[0140] Step 306: Perform error injection on the polynomial coefficients in the positioning equation corresponding to the second part of the correction numbers in the multiple correction number types.

[0141] Step 307: Obtain an error-containing positioning result of the terminal according to the positioning equation after the polynomial coefficient error is injected.

[0142] Step 308: Compare the terminal's positioning result with the error with the terminal's position and perform deviation analysis. The terminal's position can be an absolute position or a fixed long-term smoothed position.

[0143] In one embodiment, the step of determining the type of correction number to be adjusted according to the harsh environment simulation type further includes:

[0144] When the severe environment type is an ionospheric storm, an ionospheric MSTID-mesoscale mobile ionospheric disturbance, or an ionospheric disturbance and an abnormal ionospheric correction number under normal ionosphere conditions, the corresponding correction number types include the ionospheric vertical total electron content and the ionospheric oblique total electron content;

[0145] or

[0146] When the types of harsh environments include movement of a single GNSS reference station, irregular movement of multiple GNSS reference stations in different directions in a region, regular movement of multiple GNSS reference stations in the same direction in a region, failure of a single / multiple GNSS reference stations, satellite ephemeris error - single satellite ephemeris error, satellite ephemeris error - single or multiple system errors and erroneous geodetic coordinate system information, the corresponding correction number types include clock error, orbit, bit deviation, phase deviation, ionospheric vertical total electron content and ionospheric oblique total electron content and tropospheric delay.

[0147] The steps for determining the type of correction number to be adjusted according to the harsh environment simulation type can refer to the corresponding relationship between the harsh environment type and the correction number type in Table 1.

[0148] In one embodiment, before the step of injecting errors into the polynomial coefficients corresponding to the correction number type in the positioning equation, the method further comprises:

[0149] Obtaining a positioning result of the reference station according to the original observation data of the reference station and the correction number;

[0150] When the difference between the positioning result of the reference station and the position of the reference station is less than a threshold, error injection is performed on the polynomial coefficients corresponding to the correction number type in the positioning equation.

[0151] The difference between Example 3 and Example 1 and Example 2 is that in Example 3, error injection is performed on both the algorithm side and the terminal side. Similarly, the final results of error injection on the algorithm side and the terminal side are simultaneously reflected in the error positioning results on the terminal side.

[0152] Example 4

[0153] The present application also discloses a simulation system for simulating the harsh environment error in satellite navigation positioning, comprising:

[0154] The correction number generation module is used to obtain the original observation data of the reference station and generate the correction number based on the original observation data provided by the reference station;

[0155] An error injection module is used to determine the type of correction number to be adjusted according to the type of harsh environment simulation, and perform error injection on the correction number of the correction number type;

[0156] A positioning solution module, configured to obtain an error-containing positioning result of the terminal according to the positioning equation after the error injection;

[0157] The error analysis module is used to compare the error-containing positioning result of the terminal with the position of the terminal and perform deviation analysis.

[0158] The fourth embodiment can be obtained based on the specific details of the first embodiment, which will not be described in detail.

[0159] Example 5

[0160] The present application also discloses a simulation system for simulating the harsh environment error in satellite navigation positioning, comprising:

[0161] A correction number generation module is used to obtain the original observation data of the reference station and generate correction numbers based on the original observation data of the reference station;

[0162] A positioning solution module, configured to establish a positioning equation based on the correction number and the original observation data of the terminal;

[0163] An error injection module is used to determine the type of correction number to be adjusted according to the harsh environment simulation type, and to perform error injection on the polynomial coefficients corresponding to the correction number type in the positioning equation;

[0164] The positioning solution module is further configured to obtain an error-containing positioning result of the terminal according to the positioning equation after the error injection;

[0165] The error analysis module is used to compare the error-containing positioning result of the terminal with the position of the terminal and perform deviation analysis.

[0166] The fifth embodiment can be obtained based on the specific details of the second embodiment, which will not be described in detail.

[0167] Example 6

[0168] The present application also discloses a simulation system for simulating the harsh environment error in satellite navigation positioning, comprising:

[0169] A correction number generation module is used to obtain the original observation data of the reference station and generate correction numbers based on the original observation data of the reference station;

[0170] An error injection module is used to determine the type of correction number to be adjusted according to the harsh environment simulation type, where there are multiple types of correction numbers, and perform error injection on the first part of the multiple types of correction numbers;

[0171] A positioning solution module is configured to establish a positioning equation based on the error-injected corrections and the original observation data of the terminal; the error injection module is further configured to inject errors into the polynomial coefficients in the positioning equation corresponding to the second part of the corrections of the multiple correction number types; the positioning solution module obtains an error-containing positioning result of the terminal based on the positioning equation after the polynomial coefficient errors are injected;

[0172] The error analysis module is used to compare the error-containing positioning result of the terminal with the position of the terminal and perform deviation analysis.

[0173] The sixth embodiment can be obtained based on the specific details of the third embodiment, which will not be described in detail.

[0174] In order to better understand the technical solution of this specification, a specific example is used below for illustration. The details listed in this example are mainly for ease of understanding and are not intended to limit the scope of protection of this application.

[0175] like Figure 4As shown, the GNSS positioning system consists of three parts: the reference station, the algorithm side, and the terminal side. The reference station obtains observation files from GNSS satellites, inputs the algorithm model, and calculates corrections. The terminal side generates a positioning result based on the original observation files and corrections. This positioning result undergoes three internal logical combinations in the reference station, the algorithm side, and the terminal side, which is equivalent to three sets of logical combinations in the final positioning result. If error injection starts from the observation file of the reference station, the input value in the final positioning result is very unintuitive and difficult to adjust, which greatly complicates the verification of the positioning result. If the simulation focuses on the terminal side, this simulation model will be extremely difficult to use and the simulation boundary is very narrow, which cannot meet the simulation requirements of the terminal side in various harsh environments.

[0176] Therefore, the present invention performs error injection on the algorithm side, i.e., correcting the correction factor. This reduces complex internal logic, increases terminal-side usability, and more accurately reflects the impact of the algorithm on the correction factor in harsh environments. Similarly, the present invention can also perform error injection on the terminal side.

[0177] There are two types of correction numbers used by the terminal side to verify the positioning results: error-free SSR correction numbers and error-containing SSR correction numbers. Among them, the error-free SSR correction numbers are error-free SSR correction numbers generated by the algorithm side based on the error-free observation value file obtained from the GNSS satellite. This generation method follows the well-known SSR correction number generation method and will not be repeated here. During the simulation process, it should first be determined that the positioning result generated based on the error-free SSR correction number is consistent with the position of the reference station (such as less than a threshold), so as to determine that there are no other interferences and errors in the error-free SSR correction number. Subsequently, errors are introduced into the error-free SSR correction number, and a harsh environment simulation is performed according to the type of error introduced. The simulated positioning results generated based on the error-containing SSR correction number are compared and analyzed with the positioning results generated by the error-free SSR correction number.

[0178] Specifically, the algorithm and terminal side each inject errors based on error-free SSR corrections generated from error-free observation files obtained from GNSS satellites, using error models designed for each correction. Table 1 shows the correspondence between harsh environment types and correction types. The errors injected on the terminal side and the algorithm side use the same model. The difference is that the errors injected on the terminal side take effect directly on the results after the positioning is verified, while the errors on the algorithm side affect the logic of the terminal side during the calculation and verification of the positioning results.

[0179] Table 1 Correspondence between types of harsh environments and types of correction numbers

[0180]

[0181]

[0182] like Figure 5 As shown, the simulation system architecture of an embodiment of the present invention is composed of the following parts:

[0183] 1. SSR correction data: This refers to terminal positioning calibration data calculated from raw observations from various GNSS systems (GPS, Galileo, GLONASS, BeiDou, and other satellite navigation systems). This data is used to correct for errors introduced by the hardware and software of the GNSS satellites themselves. As mentioned above, SSR correction data is divided into two categories: error-free (used to generate a simulation comparison baseline) and error-enhanced (generated SSR correction data affected by harsh environments and subsequently used in Rover solutions to obtain error-enhanced results). Comparing the positioning results from these two scenarios (Driving Paths 1 and 2) clearly demonstrates the impact of the current harsh environment on the GNSS positioning results.

[0184] 2. Simulation Tools

[0185] a) Rover: Rover is the terminal side, that is, a simulation module that imitates the behavior of a mobile terminal. It can be roughly understood as various mobile / stationary terminals that can simultaneously receive GNSS signals and SSR correction data, such as self-driving cars, drones, fixed terminals, bicycles, etc.

[0186] b) Client Library (CL): This module is a communication and signal transfer module. It simulates the signal translation, interpretation, and authentication required when a service provider broadcasts SSR correction data to various users (rovers) via terrestrial cellular networks, satellites, or other communication methods in a display environment. In this invention, this module primarily helps rovers adapt to SSR correction data services in various wireless communication scenarios.

[0187] c) RINEX / Correction Data: Unlike methods a) and b), which both involve physical interaction between software and hardware, this module is purely software-based and can be adapted to any computing platform, such as a chip, computer, or circuit board. It does not require any hardware. This module's primary function is to process the Rover observation file (RINEX) and the correction data generated by CL to generate an error-free driving path.

[0188] 3. Driving path

[0189] a) Error-free driving path: A real acquisition path or a simulated path. This path is considered to be absolutely error-free and can be used to verify whether there is error injection in the SSR correction data.

[0190] b) Driving Path 1 / 2: Because one embodiment of the present invention primarily simulates the impact of harsh environments on SSR correction data, a comparison of the pre- and post-influence data is necessary to analyze the differences and draw conclusions. Path 1 represents the driving path under interference-free conditions. It generates an unaffected driving trajectory and positioning results by inputting error-free corrections to the Rover. However, after error injection, the SSR correction data undergoes changes in correction values ​​due to the harsh environment, impacting the positioning results. This results in Driving Path 2. Comparing the two reveals the quantifiable impact of SSR correction data in harsh environments on positioning results.

[0191] By processing the SSR corrections (e.g., data range, resolution, interval, relationships between corrections, etc.) and then inputting them into the terminal for processing, the previous situation where changes to observations affected all corrections was resolved without changing the interface, enabling simulation of quantitative changes to single or multiple corrections.

[0192] like Figure 6 As shown, the overall simulation process in one embodiment of the present invention includes:

[0193] Step 1: Generate an "error-free SSR" based on the base station's original observation file without introducing errors. Generate an error-free positioning result through the CL and Rover modules, and obtain driving path 1. This path 1 should be completely consistent with the "error-free driving path" (or the difference is less than the first threshold); otherwise, the simulation of step 1 is considered a failure.

[0194] Step 2: Generate a "Harsh Environment SSR" under the introduced error conditions. Using the CL and Rover modules, generate a harsh environment positioning result and obtain Path 2. This Path 2 should be inconsistent with the "Error-Free Path" (or the difference is greater than a second threshold) and positively correlated with the severity of the harsh environment. If the results are completely consistent, the simulation in Step 2 is considered a failure.

[0195] Step 3: Perform deviation analysis on the error-free driving path 1 and the error-containing driving path 2 to obtain a deviation analysis result.

[0196] It should be noted that in this patent application, relational terms such as first and second, etc., are used solely to distinguish one entity or operation from another, and do not necessarily require or imply any actual relationship or order between these entities or operations. Furthermore, the terms "comprise," "include," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. Without further limitation, an element specified by the phrase "comprising a" does not preclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element. In this patent application, reference to performing an action in accordance with an element means performing the action in accordance with at least that element, including two situations: performing the action in accordance with that element alone, and performing the action in accordance with that element and other elements. Expressions such as "plurality," "multiple times," and "many" include "two," "twice," "two kinds," and "more than two," "more than two times," and "more than two kinds."

[0197] All documents mentioned in this specification are considered to be included in their entirety in the disclosure of this specification so that they can be used as a basis for modification when necessary. In addition, it should be understood that the above description is only a preferred embodiment of this specification and is not intended to limit the scope of protection of this specification. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments of this specification shall be included in the scope of protection of one or more embodiments of this specification.

[0198] In some cases, the actions or steps recited in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. Additionally, the processes depicted in the accompanying drawings do not necessarily require the particular order shown or sequential order to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

Claims

1. A simulation method for simulating the harsh environment error in satellite navigation positioning, characterized in that: include: Obtain the original observation data of the reference station; generating corrections based on raw observation data of the reference station; Determine the type of correction number to be adjusted based on the harsh environment simulation type; Performing error injection on the correction number of the correction number type; Obtaining an error-corrected positioning result of the terminal according to the correction number after the error injection and the original observation data of the terminal; Comparing the terminal's error-containing positioning result with the terminal's position and performing deviation analysis; When the severe environment type is an ionospheric storm, an ionospheric MSTID-mesoscale mobile ionospheric disturbance, or an ionospheric disturbance and an abnormal ionospheric correction number under normal ionosphere conditions, the corresponding correction number types include the ionospheric vertical total electron content and the ionospheric oblique total electron content; or: when the severe environment type is a tropospheric weather event, the corresponding correction number type includes tropospheric delay; Or: When the severe environment type is the movement of a single GNSS reference station, irregular movement of multiple GNSS reference stations in a region in different directions, regular movement of multiple GNSS reference stations in a region in the same direction, failure of a single / multiple GNSS reference stations, satellite ephemeris error - a single satellite ephemeris error, satellite ephemeris error - a single or multiple system error, and erroneous geodetic coordinate system information, the corresponding correction number types include clock error, orbit, bit deviation, phase deviation, ionospheric vertical total electron content, ionospheric oblique total electron content, and tropospheric delay; Or: When the severe environment type is abnormal GNSS satellite clock error, the corresponding correction number type includes clock error.

2. The method for simulating a harsh environment error according to claim 1, wherein: Before the step of injecting errors into the correction number of the correction number type, the method further comprises: Obtaining a positioning result of the reference station according to the original observation data of the reference station and the correction number; When the difference between the positioning result of the reference station and the position of the reference station is smaller than a threshold, error injection is performed on the correction number of the correction number type.

3. A simulation method for simulating the harsh environment error in satellite navigation positioning, characterized in that: include: Obtain the original observation data of the reference station; generating corrections based on raw observation data of the reference station; Establishing a positioning equation based on the correction number and the original observation data of the terminal; Determine the type of correction number to be adjusted based on the harsh environment simulation type; Performing error injection on polynomial coefficients corresponding to the correction number type in the positioning equation; Obtaining an error-containing positioning result of the terminal according to the positioning equation after the error injection; Comparing the terminal's error-containing positioning result with the terminal's position and performing deviation analysis; When the severe environment type is an ionospheric storm, an ionospheric MSTID (Mesoscale Moving Ionospheric Disturbance), or an ionospheric disturbance and an abnormal ionospheric correction number under normal ionosphere conditions, the corresponding correction number types include the ionospheric vertical total electron content and the ionospheric oblique total electron content; or: when the severe environment type is a tropospheric weather event, the corresponding correction number type includes tropospheric delay; Or: When the severe environment type is the movement of a single GNSS reference station, irregular movement of multiple GNSS reference stations in a region in different directions, regular movement of multiple GNSS reference stations in a region in the same direction, failure of a single / multiple GNSS reference stations, satellite ephemeris error - a single satellite ephemeris error, satellite ephemeris error - a single or multiple system error, and erroneous geodetic coordinate system information, the corresponding correction number types include clock error, orbit, bit deviation, phase deviation, ionospheric vertical total electron content, ionospheric oblique total electron content, and tropospheric delay; Or: When the severe environment type is abnormal GNSS satellite clock error, the corresponding correction number type includes clock error.

4. The method for simulating a harsh environment error according to claim 3, wherein: Before the step of injecting errors into the polynomial coefficients corresponding to the correction number type in the positioning equation, the method further includes: Obtaining a positioning result of the reference station according to the original observation data of the reference station and the correction number; When the difference between the positioning result of the reference station and the position of the reference station is less than a threshold, error injection is performed on the polynomial coefficients corresponding to the correction number type in the positioning equation.

5. A simulation method for simulating the harsh environment error in satellite navigation positioning, characterized in that: include: Obtain the original observation data of the reference station; generating corrections based on raw observation data of the reference station; Determining a correction number type to be adjusted according to a harsh environment simulation type, wherein there are multiple correction number types; performing error injection on a first portion of correction numbers among the plurality of correction number types; Establishing a positioning equation based on the correction number after the error injection and the original observation data of the terminal; performing error injection on polynomial coefficients in the positioning equation corresponding to the second part of the correction numbers in the multiple correction number types; Obtaining an error-containing positioning result of the terminal according to the positioning equation after the polynomial coefficient error injection; Comparing the terminal's error-containing positioning result with the terminal's position and performing deviation analysis; When the severe environment type is ionospheric storm, ionospheric MSTID-mesoscale mobile ionospheric disturbance, or ionospheric disturbance and abnormal ionospheric correction number under normal ionosphere conditions, the corresponding correction number types include ionospheric vertical total electron content and ionospheric oblique total electron content; Or: When the harsh environment types include movement of a single GNSS reference station, irregular movement of multiple GNSS reference stations in a region in different directions, regular movement of multiple GNSS reference stations in a region in the same direction, failure of a single / multiple GNSS reference stations, satellite ephemeris error - single satellite ephemeris error, satellite ephemeris error - single or multiple system errors, and erroneous geodetic coordinate system information, the corresponding correction number types include clock error, orbit, bit deviation, phase deviation, ionospheric vertical total electron content, ionospheric oblique total electron content, and tropospheric delay.

6. The method for simulating a harsh environment error according to claim 5, wherein: Before the step of injecting errors into the polynomial coefficients corresponding to the correction number type in the positioning equation, the method further includes: Obtaining a positioning result of the reference station according to the original observation data of the reference station and the correction number; When the difference between the positioning result of the reference station and the position of the reference station is less than a threshold, error injection is performed on the polynomial coefficients corresponding to the correction number type in the positioning equation.

7. A simulation system for simulating the harsh environment error in satellite navigation positioning, characterized in that: include: The correction number generation module is used to obtain the original observation data of the reference station and generate the correction number based on the original observation data provided by the reference station; An error injection module is used to determine the type of correction number to be adjusted according to the type of harsh environment simulation, and perform error injection on the correction number of the correction number type; A positioning solution module, configured to obtain an error-containing positioning result of the terminal according to the positioning equation after the error injection; an error analysis module, configured to compare the terminal's errored positioning result with the terminal's position and perform deviation analysis; When the severe environment type is an ionospheric storm, an ionospheric MSTID (Mesoscale Moving Ionospheric Disturbance), or an ionospheric disturbance and an abnormal ionospheric correction number under normal ionosphere conditions, the corresponding correction number types include the ionospheric vertical total electron content and the ionospheric oblique total electron content; or: when the severe environment type is a tropospheric weather event, the corresponding correction number type includes tropospheric delay; Or: When the severe environment type is the movement of a single GNSS reference station, irregular movement of multiple GNSS reference stations in a region in different directions, regular movement of multiple GNSS reference stations in a region in the same direction, failure of a single / multiple GNSS reference stations, satellite ephemeris error - a single satellite ephemeris error, satellite ephemeris error - a single or multiple system error, and erroneous geodetic coordinate system information, the corresponding correction number types include clock error, orbit, bit deviation, phase deviation, ionospheric vertical total electron content, ionospheric oblique total electron content, and tropospheric delay; Or: When the severe environment type is abnormal GNSS satellite clock error, the corresponding correction number type includes clock error.

8. A simulation system for simulating the harsh environment error in satellite navigation positioning, characterized in that: include: A correction number generation module is used to obtain the original observation data of the reference station and generate correction numbers based on the original observation data of the reference station; A positioning solution module, configured to establish a positioning equation based on the correction number and the original observation data of the terminal; An error injection module is used to determine the type of correction number to be adjusted according to the harsh environment simulation type, and to perform error injection on the polynomial coefficients corresponding to the correction number type in the positioning equation; The positioning solution module is further configured to obtain an error-containing positioning result of the terminal according to the positioning equation after the error injection; an error analysis module, configured to compare the terminal's errored positioning result with the terminal's position and perform deviation analysis; When the severe environment type is an ionospheric storm, an ionospheric MSTID (Mesoscale Moving Ionospheric Disturbance), or an ionospheric disturbance and an abnormal ionospheric correction number under normal ionosphere conditions, the corresponding correction number types include the ionospheric vertical total electron content and the ionospheric oblique total electron content; or: when the severe environment type is a tropospheric weather event, the corresponding correction number type includes tropospheric delay; Or: When the severe environment type is the movement of a single GNSS reference station, irregular movement of multiple GNSS reference stations in a region in different directions, regular movement of multiple GNSS reference stations in a region in the same direction, failure of a single / multiple GNSS reference stations, satellite ephemeris error - a single satellite ephemeris error, satellite ephemeris error - a single or multiple system error, and erroneous geodetic coordinate system information, the corresponding correction number types include clock error, orbit, bit deviation, phase deviation, ionospheric vertical total electron content, ionospheric oblique total electron content, and tropospheric delay; Or: When the severe environment type is abnormal GNSS satellite clock error, the corresponding correction number type includes clock error.

9. A simulation system for simulating the error in harsh environment in satellite navigation positioning, characterized in that: include: A correction number generation module is used to obtain the original observation data of the reference station and generate correction numbers based on the original observation data of the reference station; An error injection module is used to determine the type of correction number to be adjusted according to the harsh environment simulation type, where there are multiple types of correction numbers, and perform error injection on the first part of the multiple types of correction numbers; A positioning solution module is configured to establish a positioning equation based on the error-injected corrections and the original observation data of the terminal; the error injection module is further configured to inject errors into the polynomial coefficients in the positioning equation corresponding to the second part of the corrections of the multiple correction number types; the positioning solution module obtains an error-containing positioning result of the terminal based on the positioning equation after the polynomial coefficient errors are injected; an error analysis module, configured to compare the terminal's errored positioning result with the terminal's position and perform deviation analysis; When the severe environment type is ionospheric storm, ionospheric MSTID-mesoscale mobile ionospheric disturbance, or ionospheric disturbance and abnormal ionospheric correction number under normal ionosphere conditions, the corresponding correction number types include ionospheric vertical total electron content and ionospheric oblique total electron content; Or: When the harsh environment types include movement of a single GNSS reference station, irregular movement of multiple GNSS reference stations in a region in different directions, regular movement of multiple GNSS reference stations in a region in the same direction, failure of a single / multiple GNSS reference stations, satellite ephemeris error - single satellite ephemeris error, satellite ephemeris error - single or multiple system errors, and erroneous geodetic coordinate system information, the corresponding correction number types include clock error, orbit, bit deviation, phase deviation, ionospheric vertical total electron content, ionospheric oblique total electron content, and tropospheric delay.

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