GNSS satellite elastic power real-time detection method and system based on multi-frequency data

Abstract

The invention discloses a GNSS satellite elastic power real-time detection method and system based on multi-frequency data, and belongs to the technical field of global navigation satellites. The method comprises the following steps: acquiring satellite signal carrier-to-noise ratio data, satellite multi-frequency observation data and satellite ephemeris; calculating a satellite power adjustment monitoring index according to the satellite signal carrier-to-noise ratio data, judging whether the satellite power is adjusted or not according to the satellite power adjustment monitoring index and a preset threshold value, and obtaining the satellite power adjustment time when the satellite power is adjusted; calculating MP combined observation values of different observation codes according to the satellite multi-frequency observation data, and judging the type of satellite power adjustment according to the MP combined observation values when the satellite power is adjusted; and when the satellite power is adjusted, calculating the influence range of the satellite power adjustment according to the satellite ephemeris and the satellite power adjustment time.

Description

Technical Field

[0001] The present invention relates to the field of global navigation satellite technology, and in particular to a method and system for real-time detection of GNSS satellite elastic power based on multi-frequency data. Background Art

[0002] Infrastructure demands extremely high positioning, navigation, and timing services, and GNSS is the core of the Positioning, Navigation, and Timing (PNT) system. With the development of modern society, applications such as autonomous driving, transportation, precision agriculture, and disaster monitoring are becoming increasingly commonplace, placing ever-higher demands on the accuracy, timeliness, and stability of PNT services. Currently, GNSS construction and upgrades are ongoing, and the deployment of ground reference station networks is steadily progressing. The increasing abundance of observation signals is helping to further enhance GNSS PNT accuracy and availability.

[0003] On the one hand, the diverse range of application scenarios has driven the continuous development of global navigation satellite systems, evolving from a single system to multiple systems, signal frequencies from dual-frequency to multi-frequency, and observation types from a few to dozens. Furthermore, the next-generation global navigation satellite system has begun deploying new satellites and developing and testing new technologies to meet modern demands, resulting in an extremely rich supply of available signals. On the other hand, to meet the demands for high-precision positioning services and geodetic surveying, countries are also continuously advancing the construction of GNSS ground tracking station networks. Currently, GNSS tracking stations cover every corner of the globe, accumulating a wealth of valuable information through continuous observation and data recording. This data provides reliable support and assurance for GNSS technology in various application scenarios, ensuring system stability and accuracy.

[0004] With the modernization of the Global Positioning System, Block IIR-M, Block IIF, and Block III satellites now feature programmable power output, known as flexible power. These three satellite types facilitate control of the L1 (1575.42 MHz) and L2 (1227.60 MHz) signal power, adjusting the boost and service coverage. While individual power levels may exceed the specified maximum, they will never exceed -150 dBW. Enabling or disabling flexible power significantly impacts GNSS signal strength and pseudorange measurements, impacting all GNSS applications using pseudoranges to varying degrees. The average impact of flexible power on GPS intra-frequency differential code deviation is approximately 0.4 ns. For BeiDou-2 and BeiDou-3, the short-term deviation variation can reach tens of nanoseconds. Furthermore, due to the global distribution of GNSS satellites, power adjustments significantly impact the quality of PNT services worldwide.

[0005] Therefore, there is an urgent need for a method and system that can reflect satellite power adjustments in real time, detect and classify satellite elastic power adjustments, so that related GNSS applications can make adjustments accordingly and improve the accuracy and stability of PNT applications. Summary of the Invention

[0006] The purpose of the present invention is to overcome the deficiencies in the prior art and provide a real-time detection method and system for GNSS satellite elastic power based on multi-frequency data, which fully utilizes GNSS multi-frequency observation data to construct satellite power monitoring indicators, and reflects the time, range, and type of satellite power adjustment in real time, thereby improving the accuracy and stability of related GNSS applications.

[0007] To achieve the above object, the present invention is implemented by adopting the following technical solutions:

[0008] In one aspect, the present invention provides a real-time detection method for GNSS satellite elastic power based on multi-frequency data, comprising:

[0009] Obtain satellite signal carrier-to-noise ratio data, satellite multi-frequency observation data and satellite ephemeris;

[0010] Calculating a satellite power adjustment monitoring index based on the satellite signal carrier-to-noise ratio data, determining whether satellite power adjustment occurs based on the satellite power adjustment monitoring index and a preset threshold, and obtaining a satellite power adjustment time when adjustment occurs;

[0011] Calculating MP combined observation values ​​of different observation codes based on satellite multi-frequency observation data, and determining the type of satellite power adjustment based on the MP combined observation values ​​when satellite power adjustment occurs;

[0012] When the satellite power is adjusted, the influence range of the satellite power adjustment is calculated according to the satellite ephemeris and the satellite power adjustment time.

[0013] Optionally, also include:

[0014] According to the satellite ephemeris and the obtained observation station position, the satellite elevation angle is obtained;

[0015] If the satellite elevation angle is less than the preset angle, the satellite signal carrier-to-noise ratio data and satellite observation data are deleted; otherwise, they are not deleted.

[0016] Optionally, the calculation formula for the satellite elevation angle is:

[0017] ;

[0018] in, Indicates the satellite altitude angle; They respectively represent the north coordinate component, east coordinate component, and sky coordinate component of the satellite in the observation station center coordinate system.

[0019] Optionally, calculating a satellite power adjustment monitoring indicator based on the satellite signal carrier-to-noise ratio data includes:

[0020] ;

[0021] ;

[0022] in, represents the inter-epoch difference of the signal carrier-to-noise ratio of satellite s received by observation station r; 、 They represent the signal carrier-to-noise ratio of satellite s received by observation station r at the current moment and the moment before the current moment respectively; Indicates the satellite power adjustment monitoring index; Represents the total number of observation stations.

[0023] Optionally, judging whether satellite power adjustment occurs according to the satellite power adjustment monitoring indicator and a preset threshold value includes:

[0024] ;

[0025] in, Indicates the satellite power adjustment monitoring index; 、 Represent the upper threshold and lower threshold respectively.

[0026] Optionally, the calculation formula of the MP combination observation value is:

[0027] ;

[0028] in, represents the MP combined observation value of the i-th signal from observation station r to satellite s; represents the pseudorange of the i-th signal from the observation station r to the satellite s; 、 They represent the carrier phases of the i-th signal and the j-th signal from the observation station r to the satellite s respectively; 、 Represent the frequencies of the i-th signal and the j-th signal respectively; represents the pseudorange hardware delay of the i-th signal from the observation station r to the satellite s; 、 Represent the wavelengths of the i-th signal and the j-th signal respectively; 、 They represent the floating point ambiguities of the i-th signal and the j-th signal from the observation station r to the satellite s respectively; represents the noise of the MP combined observations.

[0029] Optionally, when satellite power is adjusted, determining the type of satellite power adjustment based on the MP combined observation value includes:

[0030] ;

[0031] ;

[0032] ;

[0033] in, represents the MP combined difference sequence; 、 They represent the MP combined observation values ​​of the i-th signal and the j-th signal from the observation station r to the satellite s respectively; 、 Represent the power of I branch and Q branch respectively; represents the modulation factor; 、 、 、 Represent the power of C / A code, P(Y) code, M code, and IM code respectively; represents the total power of the combined signal;

[0034] The power changes of the C / A code and the P(Y) code are determined based on the MP combined differential sequence, and the type of satellite power adjustment is determined based on the power changes of the C / A code and the P(Y) code. When the satellite power is adjusted, the power of the M code and the IM code is used to ensure the total power of the combined signal. constant.

[0035] Optionally, determining the power change of the observation code according to the MP combined differential sequence, and judging the type of satellite power adjustment according to the power change of the observation code, include:

[0036] If the MP combination differential sequence of the C / A code jumps, the power of the C / A code If the MP combination differential sequence of the P(Y) code jumps, the power of the P(Y) code rise;

[0037] The types of satellite power adjustment include the power of C / A code Rising, P(Y) code power Rise and power of C / A code and the power of the P(Y) code Rising at the same time.

[0038] Optionally, when the satellite power is adjusted, calculating the impact range of the satellite power adjustment according to the satellite ephemeris and the satellite power adjustment time includes:

[0039] The satellite position is obtained according to the satellite ephemeris, and the radius of the satellite power adjustment influence range is calculated according to the satellite position. The radius of the satellite power adjustment influence range is expressed as:

[0040] ;

[0041] in, Indicates the radius of the influence range of satellite power adjustment; represents the radius of the Earth; Indicates the altitude of the satellite;

[0042] The satellite trajectory within the satellite power adjustment time is cut out from the satellite trajectory, and the influence range of the satellite power adjustment is obtained according to the satellite trajectory within the satellite power adjustment time and the radius of the satellite power adjustment influence range.

[0043] On the other hand, the present invention provides a GNSS satellite elastic power real-time detection system based on multi-frequency data, comprising:

[0044] Data acquisition module, which obtains satellite signal carrier-to-noise ratio data, satellite observation data and satellite ephemeris;

[0045] a satellite power adjustment judgment module, which calculates a satellite power adjustment monitoring index based on the satellite signal carrier-to-noise ratio data, and judges whether the satellite power has been adjusted based on the satellite power adjustment monitoring index and a preset threshold, and obtains the satellite power adjustment time when the adjustment occurs;

[0046] A satellite power adjustment type judgment module calculates MP combined observation values ​​of different observation codes based on satellite observation data, and judges the type of satellite power adjustment based on the MP combined observation values ​​when the satellite power is adjusted;

[0047] The satellite power adjustment influence range calculation module calculates the influence range of the satellite power adjustment according to the satellite ephemeris and the satellite power adjustment time when the satellite power is adjusted.

[0048] Compared with the prior art, the present invention has the following beneficial effects:

[0049] The present invention uses GNSS multi-frequency observation data to calculate satellite power adjustment monitoring indicators, providing a basis for detecting satellite power adjustments and the time when they occur. Satellite power adjustment typing detection based on MP combination can distinguish the type of affected code observation values ​​among multiple observation values ​​of the same frequency, and calculate the impact range of satellite power adjustment using satellite ephemeris and the time when satellite power adjustment occurs. It reflects the time, type, and range of satellite power adjustment in real time, enables a more comprehensive analysis of satellite power adjustment, and improves the accuracy and stability of related GNSS applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 FIG2 is a flow chart of a method for real-time detection of GNSS satellite elastic power based on multi-frequency data in one embodiment of the present invention;

[0051] Figure 2 FIG2 is a flow chart of another embodiment of a method for real-time detection of GNSS satellite elastic power based on multi-frequency data according to the present invention;

[0052] Figure 3 FIG2 is a sequence diagram of GNSS satellite elastic power detection values ​​in one embodiment of the present invention;

[0053] Figure 4 FIG2 is a sequence diagram of GNSS satellite elastic power detection values ​​in a second embodiment of the present invention;

[0054] Figure 5 FIG2 is a sequence diagram of GNSS satellite elastic power detection values ​​in a third embodiment of the present invention;

[0055] Figure 6 FIG. 1 is a sequence diagram of GNSS satellite elastic power detection values ​​in a fourth embodiment of the present invention. DETAILED DESCRIPTION

[0056] The technical solution of the present invention is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical solution of the present invention, rather than limitations on the technical solution of the present invention. In the absence of conflict, the embodiments of the present invention and the technical features in the embodiments can be combined with each other.

[0057] The term "and / or" simply describes a relationship between related objects, indicating that three possible relationships exist. For example, "A and / or B" can mean: A exists alone, A and B exist simultaneously, or B exists alone. Additionally, the character " / " generally indicates an "or" relationship between the related objects.

[0058] Example 1

[0059] like Figure 1As shown, this embodiment introduces a real-time detection method for GNSS satellite elastic power based on multi-frequency data, which specifically includes the following steps:

[0060] Step 1: Obtain satellite signal carrier-to-noise ratio data, satellite multi-frequency observation data and satellite ephemeris.

[0061] Step 2: Determine whether satellite power has been adjusted: Calculate the satellite power adjustment monitoring index using the satellite signal carrier-to-noise ratio data observed by globally distributed GNSS reference stations, i.e., observation stations. Determine whether satellite power has been adjusted based on the satellite power adjustment monitoring index and a preset threshold, and obtain the satellite power adjustment time when adjustment occurs. Specifically,

[0062] like Figure 2 As shown, for observation station r and satellite s, the satellite signal CNR data is differentiated between the previous and next epochs to obtain the CNR difference sequence of a single observation station. , expressed as:

[0063] ;

[0064] in, 、 They represent the signal carrier-to-noise ratio of satellite s received by observation station r at the current moment and the moment before the current moment respectively;

[0065] Repeat this step until the C / N ratio difference sequences of all observation stations are obtained.

[0066] The average value of the carrier-to-noise ratio difference series of all observation stations is taken. The globally distributed observation stations make up for the shortcomings of insufficient carrier-to-noise ratio of satellite signals observed by a single observation station, and finally the average carrier-to-noise ratio change value of the satellite is obtained. , which is the satellite power adjustment monitoring index , expressed as:

[0067] ;

[0068] in, Represents the total number of observation stations.

[0069] Detect whether the satellite power adjustment monitoring indicator exceeds the preset threshold, namely:

[0070] ;

[0071] in, 、 They represent the upper threshold and the lower threshold respectively. In this embodiment, the preset threshold is ±2.5dB-Hz.

[0072] Step 3: Determine the type of satellite power adjustment: Calculate the multi-path (MP) combined observation values ​​of different observation codes based on the satellite multi-frequency observation data observed by the GNSS base station network. When the satellite power is adjusted, further determine the type of satellite power adjustment based on the MP combined observation values. Specifically:

[0073] like Figure 2 As shown in FIG, for two code observation values ​​at the same frequency, such as C1C and C1W, the dual-frequency carrier phase observation values ​​are respectively combined to obtain MP combination observation values ​​of different observation codes for elastic power variation analysis. Each pseudorange observation value at different frequencies can be characterized according to the MP combination observation value. The calculation formula of the MP combination observation value is:

[0074] ;

[0075] in, represents the MP combined observation value of the i-th signal from observation station r to satellite s; represents the pseudorange of the i-th signal from the observation station r to the satellite s; 、 They represent the carrier phases of the i-th signal and the j-th signal from the observation station r to the satellite s respectively; 、 Represent the frequencies of the i-th signal and the j-th signal respectively; represents the pseudorange hardware delay of the i-th signal from the observation station r to the satellite s; 、 Represent the wavelengths of the i-th signal and the j-th signal respectively; 、 They represent the floating point ambiguities of the i-th signal and the j-th signal from the observation station r to the satellite s respectively; represents the noise of the MP combined observations.

[0076] MP combining eliminates ionospheric and tropospheric errors, as well as all geometry-related errors such as satellite orbits, clock errors, etc., leaving only ambiguities, hardware delay biases, and noise.

[0077] Perform inter-epoch differences on two different MP combination observations to obtain MP combination difference sequences :

[0078] ;

[0079] in, represents the MP combined observation value of the jth signal from observation station r to satellite s;

[0080] The specific type of satellite power adjustment is determined by analyzing the MP differential sequence. The satellite can broadcast C / A code, P(Y) code, and M code on the same frequency. The theoretical analytical form of the combined baseband signal is expressed as follows:

[0081] ;

[0082] in, 、 Respectively represent the in-phase component and quadrature component at time t; 、 Represent the power of I branch and Q branch respectively; 、 、 、 Respectively represent the levels of P(Y) code, C / A code, M code and IM code; represents the modulation factor; Represents the square wave of the fundamental frequency (10.23 MHz) used for spread spectrum modulation of the M-code signal; 、 Respectively represent NAV data code and MNAV data code;

[0083] The relationship between the power of each code is:

[0084] ;

[0085] in, 、 、 、 Represent the power of C / A code, P(Y) code, M code, and IM code respectively;

[0086] The total power of the combined signal Expressed as:

[0087] ;

[0088] It follows that by adjusting the modulation factor , the power of branch I; and the power of the Q branch; , the power of each code can be flexibly adjusted; however, when the satellite power is adjusted, the power of the M code and IM code is used to ensure the total power of the combined signal constant;

[0089] The MP combined observation value can reflect the changes in different pseudorange observation values ​​caused by changes in signal power. The satellite signal carrier-to-noise ratio can also reflect the change in satellite power based on the received signal strength. Therefore, based on the MP combined differential sequence, the power changes of the C / A code and the P(Y) code are determined to determine the type of satellite power adjustment. The types of satellite power adjustment include:

[0090] If the MP combination differential sequence of the C / A code jumps, the power of the C / A code If the MP combination differential sequence of the P(Y) code jumps, the power of the P(Y) code rise;

[0091] The types of satellite power adjustment include increasing the power of one observation code and increasing the power of two observation codes at the same time, that is, the power of C / A code Rising, P(Y) code power Rise and power of C / A code and the power of the P(Y) code Rising at the same time.

[0092] Step 4: Calculate the impact range of satellite power adjustment: When satellite power is adjusted, based on the satellite ephemeris and satellite power adjustment time, on the one hand, eliminate the low altitude angle data that affects the detection method, and on the other hand, confirm the impact range of the satellite power adjustment, specifically:

[0093] like Figure 2 As shown, the satellite position information of satellite s is obtained by using the satellite ephemeris, and the satellite elevation angle is calculated in combination with the coordinate information of the observation station r. The satellite signal carrier-to-noise ratio data and satellite observation data below the preset angle are removed according to the elevation angle. In this embodiment, the preset angle is 15°. The calculation formula is:

[0094] ;

[0095] Among them, n, e, and u represent the north coordinate component, east coordinate component, and sky coordinate component of the satellite in the observation station center coordinate system, respectively.

[0096] The radius of the satellite power adjustment influence range is calculated based on the satellite position. Expressed as:

[0097] ;

[0098] in, represents the radius of the Earth; Indicates the altitude of the satellite;

[0099] Since the satellite trajectory is a continuous trajectory, the satellite trajectory within the satellite power adjustment time is cut out from the satellite trajectory, and the influence range of the satellite power adjustment is obtained according to the satellite trajectory within the satellite power adjustment time and the radius of the satellite power adjustment influence range.

[0100] Example 2

[0101] Based on Example 1, this example introduces an experimental example of a method for real-time detection of GNSS satellite elastic power based on multi-frequency data:

[0102] Figure 3-6 A specific example is given. The area covered by the gray rectangle represents the detection threshold of the elastic power. It can be seen that before and after the elastic power is enabled, the detection value is relatively small. The average values ​​of C1C, C1W, C2X, and C2W are 0.16 dB•Hz, 0.20 dB•Hz, 0.20dB•Hz, and 0.17dB•Hz, respectively, and the maximum values ​​do not exceed 1.21 dB•Hz, 1.90 dB•Hz, 1.57 dB•Hz, and 1.42dB•Hz. When the elastic power enhancement is enabled, as indicated by the red dotted box, the detection values ​​of C1W and C2W will jump significantly, while C1C and C2X will not. Figure 3 is the elastic power detection value sequence diagram of C1C, Figure 4 This is the elastic power detection value sequence diagram of C2X. Figure 5 is the elastic power detection value sequence diagram of C1W, Figure 6 Figure 2 shows the sequence of C2W power detection values. The jumps in C1W and C2W can reach 10.78dB·Hz and 10.77dB·Hz, respectively. Therefore, once the detection value exceeds the threshold, it can be determined that the satellite has adjusted its power.

[0103] Table 1 The time when different satellites start and stop flexible power on January 1, 2023

[0104]

[0105] Table 1 shows the activation and deactivation times for flexible power on January 1, 2023, for 12 BLOCKIIF and 7 BLOCK IIR-M satellites. As can be seen, the flexible power activation and deactivation times for these 19 satellites vary, but the duration is approximately 12 hours.

[0106] Example 3

[0107] Based on the same inventive concept as Example 1, this embodiment introduces a GNSS satellite elastic power real-time detection system, including:

[0108] Data acquisition module, which obtains satellite signal carrier-to-noise ratio data, satellite observation data and satellite ephemeris;

[0109] a satellite power adjustment judgment module, which calculates a satellite power adjustment monitoring index based on the satellite signal carrier-to-noise ratio data, and judges whether the satellite power has been adjusted based on the satellite power adjustment monitoring index and a preset threshold, and obtains the satellite power adjustment time when the adjustment occurs;

[0110] A satellite power adjustment type judgment module calculates MP combined observation values ​​of different observation codes based on satellite observation data, and judges the type of satellite power adjustment based on the MP combined observation values ​​when the satellite power is adjusted;

[0111] The satellite power adjustment influence range calculation module calculates the influence range of the satellite power adjustment according to the satellite ephemeris and the satellite power adjustment time when the satellite power is adjusted.

[0112] The specific functional implementation of each of the above modules can be found in the relevant content of the method in Example 1 and will not be elaborated on here.

[0113] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0114] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0115] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0116] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0117] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which are all protected by the present invention.

Claims

1. A real-time detection method for GNSS satellite elastic power based on multi-frequency data, characterized in that: include: Obtain satellite signal carrier-to-noise ratio data, satellite multi-frequency observation data and satellite ephemeris; Calculating a satellite power adjustment monitoring index based on the satellite signal carrier-to-noise ratio data, determining whether satellite power adjustment occurs based on the satellite power adjustment monitoring index and a preset threshold, and obtaining a satellite power adjustment time when adjustment occurs; Calculating MP combined observation values ​​of different observation codes based on satellite multi-frequency observation data, and determining the type of satellite power adjustment based on the MP combined observation values ​​when satellite power adjustment occurs; When the satellite power is adjusted, the influence range of the satellite power adjustment is calculated according to the satellite ephemeris and the satellite power adjustment time.

2. The method for real-time detection of GNSS satellite elastic power based on multi-frequency data according to claim 1, characterized in that: Also includes: According to the satellite ephemeris and the obtained observation station position, the satellite elevation angle is obtained; If the satellite elevation angle is less than the preset angle, the satellite signal carrier-to-noise ratio data and satellite observation data are deleted; Otherwise, do not delete.

3. The method for real-time detection of GNSS satellite elastic power based on multi-frequency data according to claim 2, characterized in that: The calculation formula of the satellite elevation angle is: ; in, Indicates the satellite altitude angle; They respectively represent the north coordinate component, east coordinate component, and sky coordinate component of the satellite in the observation station center coordinate system.

4. The method for real-time detection of GNSS satellite elastic power based on multi-frequency data according to claim 1, characterized in that: Calculating a satellite power adjustment monitoring index according to the satellite signal carrier-to-noise ratio data, including: ； ； in, represents the inter-epoch difference of the signal carrier-to-noise ratio of satellite s received by observation station r; 、 They represent the signal carrier-to-noise ratio of satellite s received by observation station r at the current moment and the moment before the current moment respectively; Indicates the satellite power adjustment monitoring index; Represents the total number of observation stations.

5. The method for real-time detection of GNSS satellite elastic power based on multi-frequency data according to claim 1, characterized in that: Determining whether satellite power adjustment occurs based on the satellite power adjustment monitoring indicator and a preset threshold value includes: ； in, Indicates the satellite power adjustment monitoring index; 、 Represent the upper threshold and lower threshold respectively.

6. The method for real-time detection of GNSS satellite elastic power based on multi-frequency data according to claim 1, characterized in that: The calculation formula of the MP combination observation value is: ； in, represents the MP combined observation value of the i-th signal from observation station r to satellite s; represents the pseudorange of the i-th signal from the observation station r to the satellite s; 、 They represent the carrier phases of the i-th signal and the j-th signal from the observation station r to the satellite s respectively; 、 Represent the frequencies of the i-th signal and the j-th signal respectively; represents the pseudorange hardware delay of the i-th signal from the observation station r to the satellite s; 、 Represent the wavelengths of the i-th signal and the j-th signal respectively; 、 They represent the floating point ambiguities of the i-th signal and the j-th signal from the observation station r to the satellite s respectively; represents the noise of the MP combined observations.

7. The method for real-time detection of GNSS satellite elastic power based on multi-frequency data according to claim 1, characterized in that: When satellite power is adjusted, the type of satellite power adjustment is determined based on the MP combined observation value, including: ； ； ； in, represents the MP combined difference sequence; 、 They represent the MP combined observation values ​​of the i-th signal and the j-th signal from the observation station r to the satellite s respectively; 、 Represent the power of I branch and Q branch respectively; represents the modulation factor; 、 、 、 Represent the power of C / A code, P(Y) code, M code, and IM code respectively; represents the total power of the combined signal; The power changes of the C / A code and the P(Y) code are determined based on the MP combined differential sequence, and the type of satellite power adjustment is determined based on the power changes of the C / A code and the P(Y) code. When the satellite power is adjusted, the power of the M code and the IM code is used to ensure the total power of the combined signal. constant.

8. The method for real-time detection of GNSS satellite elastic power based on multi-frequency data according to claim 7, characterized in that: The power change of the observation code is determined based on the MP combined differential sequence, and the type of satellite power adjustment is determined based on the power change of the observation code, including: If the MP combination differential sequence of the C / A code jumps, the power of the C / A code If the MP combination differential sequence of the P(Y) code jumps, the power of the P(Y) code rise; The types of satellite power adjustment include the power of C / A code Rising, P(Y) code power Rise and power of C / A code and the power of the P(Y) code Rising at the same time.

9. The method for real-time detection of GNSS satellite elastic power based on multi-frequency data according to claim 1, characterized in that: When the satellite power is adjusted, the impact range of the satellite power adjustment is calculated according to the satellite ephemeris and the satellite power adjustment time, including: The satellite position is obtained according to the satellite ephemeris, and the radius of the satellite power adjustment influence range is calculated according to the satellite position. The radius of the satellite power adjustment influence range is expressed as: ； in, Indicates the radius of the influence range of satellite power adjustment; represents the radius of the Earth; Indicates the altitude of the satellite; The satellite trajectory within the satellite power adjustment time is cut out from the satellite trajectory, and the influence range of the satellite power adjustment is obtained according to the satellite trajectory within the satellite power adjustment time and the radius of the satellite power adjustment influence range.

10. A GNSS satellite elastic power real-time detection system based on multi-frequency data, characterized in that: include: Data acquisition module, which obtains satellite signal carrier-to-noise ratio data, satellite observation data and satellite ephemeris; a satellite power adjustment judgment module, which calculates a satellite power adjustment monitoring index based on the satellite signal carrier-to-noise ratio data, and judges whether the satellite power has been adjusted based on the satellite power adjustment monitoring index and a preset threshold, and obtains the satellite power adjustment time when the adjustment occurs; A satellite power adjustment type judgment module calculates MP combined observation values ​​of different observation codes based on satellite observation data, and judges the type of satellite power adjustment based on the MP combined observation values ​​when the satellite power is adjusted; The satellite power adjustment influence range calculation module calculates the influence range of the satellite power adjustment according to the satellite ephemeris and the satellite power adjustment time when the satellite power is adjusted.

Images