Method and device for monitoring integrity of satellite navigation ranging link, and electronic equipment

Abstract

The embodiment of the invention provides a satellite navigation ranging link integrity monitoring method and device, a computer readable storage medium, an electronic device and a computer program product, and the method comprises the steps: screening out at least one first satellite meeting a preset monitoring condition from a preset satellite set according to satellite data broadcasted by a satellite-based augmentation system; calculating a first deviation of a satellite signal of the first satellite at the first site according to the satellite data; calculating a second deviation of the satellite signal of the first satellite at the first station according to the actual observation data of the first station; and determining a consistency index of the first satellite according to the first deviation and the second deviation, and determining whether the integrity of the navigation ranging link of the first satellite reaches the standard based on the consistency index. Therefore, signal anomalies are captured on different scales, limitation of a single monitoring method is avoided, monitoring precision is improved, and accurate monitoring of integrity of a satellite navigation ranging link is realized.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the field of communication, and in particular, to a satellite navigation ranging link integrity monitoring method and device, electronic equipment, computer readable storage medium, and computer program product. BACKGROUND

[0002] Satellite navigation systems have become an indispensable part of modern society and are widely used in transportation, field operations, emergency rescue, and other fields. With the increasing demand for satellite positioning accuracy, augmentation systems such as Satellite-Based Augmentation Systems (SBAS) and Ground-Based Augmentation Systems (GBAS) have emerged. These systems calculate the integrity and correction data of GNSS through observation stations and broadcast integrity information and correction information (including ephemeris error, satellite clock error, ionospheric delay, etc.) to users, while providing ranging signal enhancement satellite signals to improve the positioning accuracy of the navigation system.

[0003] However, the integrity monitoring results of the augmentation system in the related art are not accurate enough. SUMMARY

[0004] The present application provides a satellite navigation ranging link integrity monitoring method, device, electronic equipment, computer readable storage medium, and computer program product to at least solve the problem of inaccurate satellite navigation ranging link integrity monitoring in the related art.

[0005] The present application provides a satellite navigation ranging link integrity monitoring method, comprising: selecting at least one first satellite that meets a preset monitoring condition from a preset satellite set according to satellite data broadcast by a satellite-based augmentation system; calculating a first deviation of a satellite signal of the first satellite at a first station according to the satellite data; calculating a second deviation of the satellite signal of the first satellite at the first station according to actual observation data of the first station; determining a consistency index of the first satellite according to the first deviation and the second deviation, and determining whether the integrity of the navigation ranging link of the first satellite meets the standard based on the consistency index.

[0006] In an example embodiment, the first bias of the satellite signal of the first satellite at the first station is calculated according to the satellite data, including: determining a first distance between the first satellite and the first station according to a position coordinate of the first satellite and a position coordinate of the first station, wherein the position coordinate of the first satellite is determined based on ephemeris of the first satellite included in the satellite data; determining a clock bias between the first satellite and the first station according to a satellite clock of the first satellite and a reference clock of the first station, wherein the satellite clock of the first satellite is included in the satellite data; determining a transmission bias based on an atmospheric effect in a transmission process of the satellite signal, wherein the atmospheric effect includes a tropospheric effect and an ionospheric effect, and the atmospheric effect is determined based on an atmospheric state parameter included in the satellite data; and determining the first bias according to the first distance, the clock bias, the transmission bias, and a corrected distance corrected by slow-varying parameters included in the satellite data.

[0007] In an example embodiment, the second bias of the satellite signal of the first satellite at the first station is calculated according to actual observation data of the first station, including: determining an observation distance between the first satellite and the first station according to a propagation time and a carrier phase of the satellite signal of the first satellite included in the actual observation data; determining a second distance between the first satellite and the first station according to ephemeris parameters in satellite ephemeris of the first satellite included in the actual observation data; determining a clock bias between a satellite clock of the first satellite and a reference clock of the first station according to satellite clock parameters in the satellite ephemeris of the first satellite included in the actual observation data; and determining the second bias according to the observation distance, the second distance, and the clock bias.

[0008] In an example embodiment, a consistency index of the first satellite is determined according to the first bias and the second bias, and whether the integrity of the navigation ranging link of the first satellite meets a standard is determined based on the consistency index, including: obtaining the consistency index of the first satellite according to a difference between the first bias and the second bias; obtaining the consistency indexes of the first satellite calculated by a plurality of other stations within a first preset range of the first station, wherein the plurality of other stations include physical stations and virtual stations generated based on data of the plurality of physical stations; determining a dispersion degree of the consistency index of the first satellite according to the consistency indexes of the first satellite calculated by the first station and the plurality of other stations respectively; determining that the integrity of the navigation ranging link of the first satellite does not meet the standard in a case where the dispersion degree of the consistency index of the first satellite exceeds a preset threshold value; and determining that the integrity of the navigation ranging link of the first satellite meets the standard in a case where the dispersion degree of the consistency index of the first satellite does not exceed the preset threshold value.

[0009] In an example embodiment, the method further comprises: determining a first correction quantity of the second satellite according to the first bias of the second satellite and a first correction weight, wherein the second satellite is a first satellite of the navigation ranging link that meets the integrity requirement, and the first correction weight is used to indicate a contribution degree of the satellite data to the first correction quantity; determining a second correction quantity of the second satellite according to the second bias of the second satellite and a second correction weight, wherein the second correction weight is used to indicate a contribution degree of the actual observation data to the correction quantity; and determining a fusion correction quantity of the second satellite according to the first correction quantity, the second correction quantity, the first correction weight and the second correction weight calculated by the first station and the plurality of other stations respectively.

[0010] In an example embodiment, the method further comprises: calculating a first standard deviation of a first bias data set of the second satellite, wherein the first bias data set comprises the first bias of the second satellite calculated by the first station and the plurality of other stations respectively; determining the first correction weight according to the first standard deviation; calculating a second standard deviation of a second bias data set of the second satellite, wherein the second bias data set comprises the second bias of the second satellite calculated by the first station and the plurality of other stations respectively; and determining the second correction weight according to the second standard deviation.

[0011] In an example embodiment, the method of screening at least one first satellite meeting a preset monitoring condition from a preset satellite set according to satellite data broadcast by the satellite-based augmentation system comprises: excluding satellites in the satellite set that are marked as unavailable or for which monitoring data is not acquired to obtain a first satellite sub-set according to integrity information of each satellite in the preset satellite set included in the satellite data; determining ionospheric pierce point positions of each satellite in the first satellite sub-set according to the satellite data; determining ionospheric vertical delays of each satellite in the first satellite sub-set and a number of grid points of the satellite-based augmentation system within a second preset range of the pierce point of each satellite according to the ionospheric pierce point positions of each satellite in the first satellite sub-set; excluding satellites in the first satellite sub-set whose ionospheric vertical delays are greater than a first threshold value or whose numbers of grid points of the satellite-based augmentation system within the second preset range of the pierce point are less than a second threshold value to obtain a second satellite sub-set; and wherein the satellites in the second satellite sub-set are the first satellites meeting the preset monitoring condition.

[0012] The application also provides a satellite navigation ranging link integrity monitoring device, comprising:

[0013] A screening module is configured to screen at least one first satellite meeting a preset monitoring condition from a preset satellite set according to satellite data broadcast by a satellite-based augmentation system.

[0014] A first bias determination module is configured to calculate a first bias of a satellite signal of the first satellite at a first station according to the satellite data.

[0015] a second bias determination module, configured to calculate a second bias of the satellite signal of the first satellite at the first station according to actual observation data of the first station;

[0016] a monitoring module, configured to determine a consistency index of the first satellite according to the first bias and the second bias, and determine whether integrity of a navigation ranging link of the first satellite meets a requirement based on the consistency index.

[0017] The application further provides an electronic device, comprising a memory configured to store a computer program, and a processor configured to execute the computer program to implement the steps of the satellite navigation ranging link integrity monitoring method.

[0018] The application further provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the steps of the satellite navigation ranging link integrity monitoring method.

[0019] The application further provides a computer program product, which comprises a computer program, and the computer program is executed by a processor to implement the steps of the satellite navigation ranging link integrity monitoring method.

[0020] By pre-screening the first satellite meeting the monitoring condition, the quality basis of subsequent data processing and positioning calculation is ensured. Then, the comparison between the first bias obtained by theoretical calculation and the second bias obtained by actual observation forms an intuitive evaluation of the satellite signal integrity, i.e. the consistency index, which is compared and judged by the satellite data of the SBAS and the local monitoring data / regional monitoring data of the first station, so as to capture signal abnormalities in different scales, avoid the limitations of a single monitoring method, improve the monitoring accuracy, and realize the accurate monitoring of the satellite navigation ranging link integrity. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is a hardware structure block diagram of a server device of a satellite navigation ranging link integrity monitoring method according to an embodiment of the application;

[0022] Figure 2 is one of flowcharts of a satellite navigation ranging link integrity monitoring method according to an embodiment of the application;

[0023] Figure 3 is the second of flowcharts of a satellite navigation ranging link integrity monitoring method according to an embodiment of the application;

[0024] Figure 4 is the third of flowcharts of a satellite navigation ranging link integrity monitoring method according to an embodiment of the application;

[0025] Figure 5 This is the fourth flowchart of a satellite navigation ranging link integrity monitoring method according to an embodiment of this application;

[0026] Figure 6 This is the fifth flowchart of a satellite navigation ranging link integrity monitoring method according to an embodiment of this application;

[0027] Figure 7 This is a flowchart of a method for monitoring the integrity of a satellite navigation ranging link according to an embodiment of this application;

[0028] Figure 8 This is the seventh flowchart of a satellite navigation ranging link integrity monitoring method according to an embodiment of this application;

[0029] Figure 9 This is a structural block diagram of a satellite navigation ranging link integrity monitoring device according to an embodiment of this application. Detailed Implementation

[0030] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this application.

[0031] It should be noted that, in the description of this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. The terms "first," "second," etc., in this application are used to distinguish similar objects and are not used to describe a specific order or sequence.

[0032] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] The specific application environment architecture or specific hardware architecture on which the monitoring method for the integrity of the satellite navigation ranging link depends is described here.

[0034] According to one aspect of the embodiments of this application, a method for monitoring the integrity of a satellite navigation ranging link is provided. Optionally, in this embodiment, the above-described method for monitoring the integrity of a satellite navigation ranging link can be applied, but is not limited to, to applications such as...Figure 1 The diagram shows the architecture of a satellite communication system. This satellite communication system may include a satellite 101, a terminal 102, and a gateway station 103.

[0035] In this disclosure, satellite 101 is an entity used for transmitting or receiving signals, and there can be multiple satellites. This disclosure does not limit the specific technology or equipment form used in the satellites.

[0036] In this disclosure, terminal 102 refers to a processing device within the satellite coverage beam range for communicating with a satellite. For example, the terminal can be a car, smart car, mobile phone, wearable device, tablet computer, etc., equipped with satellite communication capabilities. This disclosure does not limit the specific technology or device form used in the terminal. It should be noted that... Figure 1 The example uses two terminal devices 102.

[0037] In one embodiment of this disclosure, gateway station 103 is connected to satellite 101.

[0038] In this embodiment, the gateway station 103 is a ground-based node in a satellite communication system used for transmitting and receiving data. This embodiment does not limit the specific technology or equipment form employed by the gateway station.

[0039] It is understood that the satellite communication system described in this disclosure is for the purpose of more clearly illustrating the technical solutions of this disclosure, and does not constitute a limitation on the technical solutions provided in this disclosure. As those skilled in the art will know, with the evolution of system architecture and the emergence of new business scenarios, the technical solutions provided in this disclosure are also applicable to similar technical problems.

[0040] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in one or more embodiments of this specification are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of related data must comply with relevant laws, regulations and standards, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0041] This application provides a method for monitoring the integrity of a satellite navigation ranging link, applied to the aforementioned satellite communication system. The method is described in detail below, following its execution flow. Figure 2 As shown, the method includes the following steps S200-230:

[0042] Step S200: Based on the satellite data broadcast by the satellite-based augmentation system, select at least one first satellite that meets the preset monitoring conditions from the preset satellite set.

[0043] Specifically, based on satellite data from the Satellite-Based Augmentation System (SBAS), satellites that meet specific monitoring conditions are identified and selected from a pre-defined set of satellites, namely the "first satellite," which serves as the basis for subsequent monitoring and positioning calculations.

[0044] For example, the system receives message information from wide-area satellite data broadcast by the SBAS system. This message information includes parameters such as the User Differential Range Error Indicator (UDREI) and Grid Ionospheric Vertical Error Indicator (GIVEI) for each satellite, used to assess the integrity of the satellite signal. Predefined monitoring conditions are set, such as the UDRIE being less than a specific threshold and the GIVEI being within an acceptable range. The system checks the UDRIE and GIVEI values ​​of each satellite, discarding those exceeding the set ranges and retaining only those meeting the conditions as the "first satellite." By pre-screening the "first satellite," satellites with poor signal quality or integrity risks can be initially excluded, ensuring that subsequent data processing and positioning calculations are based on high-quality satellite signals, thereby improving positioning accuracy and system reliability.

[0045] Among them, the Satellite-Based Augmentation System (SBAS) is used to enhance the positioning accuracy and integrity of global navigation satellite systems (such as GPS, BeiDou, etc.).

[0046] The User Differential Range Error Indicator (UDREI) is used to assess the error of differential information received by the user. The smaller the value, the higher the reliability of the differential information.

[0047] The Grid Ionospheric Vertical Error Indicator (GIVEI) is used to indicate the vertical error at ionospheric grid points, and the value reflects the accuracy of the ionospheric model.

[0048] Step S210: Calculate the first deviation of the satellite signal of the first satellite at the first station based on the satellite data.

[0049] Specifically, after identifying the "first satellite," the theoretical deviation of these satellite signals at a specific monitoring station (i.e., the "first station") is calculated based on the satellite data. This is the first step in assessing the integrity of the signal.

[0050] For example, using wide-area satellite data provided by the "first satellite" through the SBAS system, including satellite orbit information, clock deviation, ionospheric delay, etc., the theoretical deviation of the satellite signal at the first station, i.e., the "first deviation," is calculated. By using the satellite's orbital parameters, clock parameters, and ionospheric model, the theoretical time or distance for the satellite signal to propagate to the monitoring station is calculated, and then compared with the known propagation time or distance of the satellite signal to obtain the deviation.

[0051] Step S220: Calculate the second deviation of the satellite signal of the first satellite at the first station based on the actual observation data of the first station.

[0052] Specifically, the actual observation deviation of the satellite signal of the "first satellite" at the first station is calculated using the actual observation data from the first station. This deviation is the source of field data for assessing the integrity of the signal.

[0053] For example, at the first station, a GNSS receiver is used to collect actual observation data of the "first satellite," including pseudorange measurements and phase measurements. The actual observation data is compared with the theoretical position information to calculate the actual observation deviation of the "first satellite" signal at the first station, i.e., the "second deviation."

[0054] The pseudorange is a distance estimate obtained by multiplying the time from satellite signal transmission to reception by the speed of light, which includes signal propagation time error.

[0055] Step S230: Determine the consistency index of the first satellite based on the first deviation and the second deviation, and determine whether the integrity of the navigation ranging link of the first satellite meets the standard based on the consistency index.

[0056] Specifically, by comparing the "first deviation" and "second deviation" obtained in the first two steps, a consistency index is calculated to assess whether the integrity of the navigation and ranging link of the "first satellite" at the first station meets the standard.

[0057] For example, the difference or ratio between the "first deviation" and the "second deviation" is calculated to form a "consistency index." This index reflects the degree of consistency between the theoretical and actual observed signals. A threshold can be set for the consistency index. If the calculated consistency index is less than or equal to the threshold, it indicates that the integrity of the satellite signal at the monitoring point meets the standard; conversely, if the index exceeds the threshold, it indicates that there is an integrity risk, which needs to be further eliminated or measures taken.

[0058] Among them, the consistency index is a quantitative indicator used to evaluate the degree of agreement between the theoretical deviation and the actual observation deviation of satellite signals.

[0059] In this embodiment, by pre-screening the first satellite that meets the monitoring conditions, the quality foundation for subsequent data processing and positioning calculations is ensured. Next, by comparing the theoretically calculated first deviation with the actual observed second deviation, an intuitive assessment of the satellite signal integrity, namely the consistency index, is formed. This index is determined by comparing SBAS satellite data with local / regional monitoring data from the first station, thereby capturing signal anomalies at different scales. This avoids the limitations of a single monitoring method, improves monitoring accuracy, and achieves precise monitoring of the integrity of the satellite navigation ranging link.

[0060] In one embodiment, such as Figure 3 As shown, step S210 calculates the first deviation of the satellite signal of the first satellite at the first station based on satellite data. This includes steps S300-S330:

[0061] Step S300: Determine the first distance between the first satellite and the first station based on the position coordinates of the first satellite and the position coordinates of the first station.

[0062] The position coordinates of the first satellite are determined based on the ephemeris of the first satellite included in the satellite data.

[0063] Specifically, the direct distance between the satellite and the ground monitoring station is calculated, which is the basis for assessing the satellite signal propagation time.

[0064] For example, firstly, the system extracts the position coordinates of a first satellite from satellite data (provided by a satellite-based augmentation system), which typically includes the satellite's orbital parameters. Simultaneously, it obtains the precise position coordinates of a first site, which may have been preset or determined otherwise. Using the satellite's orbital parameters and the coordinates of the first site, the straight-line distance between the first satellite and the first site is calculated using a distance-based geometric formula. This distance provides a basic estimate of the signal propagation time, as the signal propagation speed is known.

[0065] Ephemeris parameters describe a satellite's orbital position and velocity, typically provided by a satellite navigation system. Satellite position coordinates, calculated based on ephemeris, indicate the satellite's location in space and are used for subsequent distance and time calculations.

[0066] Step S310: Determine the clock deviation between the first satellite and the first station based on the satellite clock of the first satellite and the reference clock of the first station.

[0067] The satellite data includes the satellite clock of the first satellite.

[0068] Specifically, assessing the time synchronization differences between the satellite and the monitoring station is a significant source of error in calculating signal propagation time.

[0069] For example, the satellite clock information of the first satellite obtained from satellite data is synchronized with a high-precision reference clock equipped at the first site. The time difference between the satellite clock and the site reference clock is compared to determine the clock deviation between them. This deviation typically requires special processing to eliminate relativistic effects and other systematic biases.

[0070] The satellite clock is an internal clock used to synchronize satellite signals. Due to the satellite's position in Earth's gravitational field and its high-speed motion, its clock is affected by relativistic effects. The reference clock is a high-precision clock located at a ground monitoring station, used for time synchronization with the satellite clock.

[0071] Step S320: Determine the transmission deviation based on the atmospheric effect during satellite signal transmission.

[0072] The atmospheric effects include tropospheric and ionospheric effects, and are determined based on atmospheric state parameters included in satellite data.

[0073] Specifically, atmospheric effects, especially the influence of the troposphere and ionosphere, are important sources of error in satellite signal propagation.

[0074] For example, atmospheric state parameters are extracted from satellite data to determine the state parameters of the troposphere and ionosphere. These parameters typically include atmospheric density, temperature, and humidity. Based on these atmospheric state parameters, the effects of the troposphere and ionosphere on signal propagation time, i.e., transmission bias, are calculated. Ionospheric effects are assessed by resolving ionospheric vertical delay and GIVEI (Grid Ionospheric Vertical Error Indicator) information; tropospheric effects are estimated based on atmospheric models.

[0075] The tropospheric effect refers to the change in signal propagation speed caused by variations in temperature, pressure, and humidity in the atmosphere, thus affecting propagation time. The ionospheric effect is the signal delay caused by the refraction of electromagnetic waves by charged particles.

[0076] Step S330: Determine the first deviation based on the first distance, clock deviation, transmission deviation, and the corrected distance using slowly varying parameters included in the satellite data.

[0077] Specifically, after obtaining the first distance, clock offset, and transmission offset, the purpose of this step is to synthesize this information and calculate the first offset of the first satellite signal at the first station, which is the theoretical signal propagation error.

[0078] For example, the first distance, clock offset, and transmission offset are combined with a corrected distance using a slowly varying parameter, and the first offset is calculated using a specific formula or algorithm.

[0079] Slowly varying parameters refer to parameters that do not change significantly over a short period of time, and are typically used to correct for long-term trends in the ionosphere and troposphere. Corrected distance is the difference between the theoretical signal propagation distance and the actual distance after correction using slowly varying parameters; it is used to reduce errors caused by atmospheric effects.

[0080] For example, the first deviation is calculated using the following formula:

[0081]

[0082] in, The first deviation refers to the smoothed pseudorange observation residual of the i-th satellite at station S (the first station). The smoothed pseudorange observation residual is the difference between the pseudorange observation value after smoothing by filtering technology and the theoretical value. It reflects the error of the signal during propagation and is one of the key indicators for evaluating signal quality. It is the geometric distance of the i-th satellite at station S (the first station), which is the direct distance between the satellite and the monitoring station calculated based on the ephemeris parameters in the satellite message. It is the time difference between the satellite clock and the ground station clock. This is tropospheric correction, which compensates for the influence of the troposphere on the propagation time of satellite signals. Factors such as humidity and temperature in the troposphere affect the propagation speed of electromagnetic waves, thus introducing additional propagation time errors. The aim is to eliminate this part of the error. This is ionospheric correction, which compensates for the ionosphere's influence on satellite signal propagation time. The density of free electrons in the ionosphere affects the propagation speed of electromagnetic waves, introducing propagation delay. This is addressed through ionospheric models or differential correction techniques. This delay is used to correct for the delay, thereby improving positioning accuracy. It is the geometric distance of the i-th satellite at the first site, after SBAS differential correction. It is... The true distance value after applying the rapidly changing (slowly changing) correction parameters provided by the SBAS system is the distance between the satellite and the station after considering the orbital and clock errors, ionospheric and tropospheric corrections provided by SBAS.

[0083] This formula describes how to calculate the smoothed pseudorange observation residual of a specific satellite (the i-th satellite) at a monitoring station (station S (the first station)) after correction by a satellite-based augmentation system (SBAS). This formula is used to evaluate the difference between the actual performance of the satellite signal at the monitoring station and the theoretical expectation, and is the basis for satellite signal integrity monitoring and differential correction.

[0084] In this embodiment, firstly, the straight-line distance between the first satellite and the first station is accurately calculated from satellite data acquired by the satellite-based augmentation system. Next, the clock deviation between the satellite clock and the ground reference clock, as well as atmospheric effects, particularly the influence of the troposphere and ionosphere on signal transmission time, are evaluated. These steps collectively provide the necessary input for calculating the first deviation, which is a comprehensive reflection of theoretical deviations in satellite signal propagation.

[0085] In one embodiment, such as Figure 4 As shown, step S220 calculates the second deviation of the satellite signal of the first satellite at the first station based on the actual observation data of the first station. This includes steps S400-S430:

[0086] Step S400: Calculate the observation distance between the first satellite and the first station based on the propagation time and carrier phase of the satellite signal of the first satellite included in the actual observation data.

[0087] Specifically, the actual observation distance between the first satellite and the first station is calculated using the satellite signal propagation time and carrier phase data of the first satellite. This calculation is based on the data of the actual received signals.

[0088] For example, actual observation data is acquired from a GNSS receiver at a first site. This data includes the propagation time of the first satellite signal (i.e., the time difference between the received and transmitted signals) and carrier phase information. The actual distance the first satellite signal travels to the first site is calculated using the speed of light (or the speed of electromagnetic waves) and the propagation time. The carrier phase information can help correct for distance estimation errors caused by the asynchrony between the satellite clock and the receiver clock.

[0089] The observed distance is an estimate of the distance between the satellite and the receiver, obtained based on measurements of the satellite signal propagation time and carrier phase. Carrier phase is the phase information of the carrier band of the satellite signal, used to more accurately measure signal propagation time, thereby improving the accuracy of distance calculations.

[0090] Step S410: Determine the second distance between the first satellite and the first station based on the ephemeris parameters in the satellite message of the first satellite included in the actual observation data.

[0091] Specifically, based on the ephemeris parameters contained in the satellite message of the first satellite, the theoretical distance between the first satellite and the first station is estimated, that is, the theoretical distance unaffected by signal propagation time error.

[0092] For example, ephemeris data is parsed from the satellite message of the first satellite, which typically includes descriptive parameters of the satellite's orbit. The precise position of the first satellite is calculated based on the ephemeris parameters, and then the straight-line distance between the two is calculated using the coordinates of the first station, resulting in the second distance.

[0093] The second distance is the theoretical distance between the satellite and the receiver, calculated based on ephemeris parameters and the receiver's position.

[0094] Step S420: Determine the clock deviation between the satellite clock of the first satellite and the reference clock of the first station based on the satellite clock parameters in the satellite message of the first satellite included in the actual observation data.

[0095] Specifically, by analyzing the satellite clock parameters in the satellite message and comparing the time difference between the satellite clock and the ground reference clock, the clock deviation between the two can be determined, which is the key to correcting signal propagation time errors.

[0096] For example, satellite clock parameters, including satellite clock offset and relativistic corrections, are parsed from the satellite message of the first satellite. The satellite clock is then compared with a high-precision reference clock at the first station to determine the time deviation between them.

[0097] Among them, the satellite clock parameters describe the satellite clock offset and relativistic effect correction parameters, used to correct the difference between the satellite clock and the ground reference clock. The reference clock is a high-precision clock located at a ground station, used for time synchronization with the satellite clock.

[0098] Step S430: Determine the second deviation based on the observation distance, the second distance, and the clock deviation.

[0099] Specifically, based on the observation distance, the second distance, and the clock deviation, the second deviation of the first satellite signal at the first station is calculated and determined, which is the difference between the actual propagation path and the theoretical propagation path of the signal. This is an important step in assessing the integrity of the signal.

[0100] For example, the observed distance is compared with the second distance, while taking into account the effect of clock deviation on signal propagation time, and the difference between the actual propagation path and the theoretical path of the signal is calculated, i.e., the second deviation.

[0101] The second deviation is the difference between the actual observed distance of the satellite signal at the first station and the theoretical distance calculated based on ephemeris parameters, reflecting the error situation during signal propagation.

[0102] For example, the second deviation is calculated using the following formula:

[0103]

[0104] in, The second bias represents the smoothed pseudorange observation residual of the i-th satellite at the j-th receiving station (the first station). This is the difference between the observed value and the theoretical expected value of the satellite signal at the receiving station, and is used to monitor the quality of the satellite signal and the integrity of the positioning service. This is the second distance, representing the geometric distance from the i-th satellite to the j-th station, calculated using the ephemeris parameters in the satellite message. This value is the direct distance calculated based on the satellite's position in space and the actual position of the receiving station. This is the carrier-smoothed pseudorange (PS) received by the i-th satellite at the j-th station. Carrier-smoothed pseudorange is a more accurate pseudorange observation obtained by combining the pseudorange with the carrier phase through filtering techniques. It can eliminate or reduce short-period measurement noise and provide more stable positioning data. This is the clock bias correction (B) for the j-th station. This correction eliminates the deviation of the satellite clock relative to the receiving station's clock, ensuring more accurate calculation of the distance between the satellite and the receiving station. The satellite clock bias correction typically includes considerations for relativistic effects and corrections for Earth's rotation.

[0105] In this embodiment, firstly, the observation distance is calculated by directly measuring the signal propagation time and carrier phase, providing actual observation data for subsequent deviation analysis. Then, a second distance is calculated based on ephemeris parameters, providing a theoretical reference for assessing signal integrity. By analyzing the satellite clock parameters, the clock deviation between the satellite clock and the ground reference clock is determined, correcting the signal propagation time error and improving positioning accuracy. Finally, by combining the observation distance, the second distance, and the clock deviation, the second deviation during signal propagation is determined, reflecting the state of signal integrity.

[0106] In one embodiment, such as Figure 5 As shown, step S230 involves determining the consistency index of the first satellite based on the first deviation and the second deviation, and then determining whether the integrity of the navigation and ranging link of the first satellite meets the standard based on the consistency index. This includes steps S500-S540:

[0107] Step S500: Obtain the consistency index of the first satellite based on the difference between the first deviation and the second deviation.

[0108] Specifically, based on the previously calculated first and second deviations, the consistency index of the first satellite's signal at the monitoring station is determined, which is an important step in assessing the quality and integrity of the satellite signal.

[0109] For example, the difference between the first deviation (theoretical deviation) and the second deviation (actual observation deviation) is calculated, reflecting the degree of deviation between the theoretical value and the actual observation value. Based on the magnitude of the deviation difference, the consistency index of the first satellite is calculated. The smaller the consistency index value, the smaller the deviation and the better the consistency of the satellite signal.

[0110] Among them, the consistency index is a quantitative indicator used to evaluate the degree of consistency between the theoretical deviation and the actual observation deviation of satellite signals at a certain receiving station.

[0111] Step S510: Obtain the consistency index of the first satellite calculated by multiple other stations within the first preset range of the first station.

[0112] Among these, several other types of sites include physical sites and virtual sites generated based on data from multiple physical sites.

[0113] Specifically, to further confirm the performance of the satellite signal, this step collects consistency index data of the first satellite from multiple stations within a first preset range around the first station, which covers both physical and virtual stations.

[0114] For example, the data collection site can be an actual deployed physical site or a virtual site synthesized from data from multiple physical sites. Consistency metrics for the first satellite, calculated from these sites, are collected automatically or manually via a network or other means for subsequent dispersion analysis.

[0115] Among them, virtual sites (digital reference stations) are not real monitoring stations, but are generated based on data from multiple physical sites through mathematical models or algorithms, and are used to expand the monitoring scope and improve data quality.

[0116] Step S520: Determine the dispersion of the consistency index of the first satellite based on the consistency index calculated by the first station and multiple other stations respectively.

[0117] Specifically, statistical analysis is used to measure whether the distribution of consistency indicators between the first station and its surrounding stations is concentrated, and the degree of dispersion is a key indicator for evaluating satellite signal consistency.

[0118] For example, standard statistical methods, such as mean, standard deviation, or interquartile range, are used to calculate the dispersion of the first satellite's consistency index between the first station and its surrounding stations. The magnitude of the dispersion is analyzed to determine whether the satellite signal performance is consistent and stable within the monitoring area.

[0119] The degree of dispersion refers to the degree of individual differences in the dataset; the larger the value, the greater the difference between data points.

[0120] For example, the consistency index and dispersion are calculated using the following formula:

[0121]

[0122] in, It is a consistency index, representing the difference between the corrected residuals calculated by satellite i based on wide-area SBAS and the observation residuals calculated by satellite i based on the first station j. This is the first deviation. This is the second deviation.

[0123]

[0124] Where K is the total number of satellites observed at station j. To achieve a consistency index after eliminating common clock bias at stations, for a fixed station j, the original residual differences of all K satellites observed are used. The arithmetic mean is calculated by subtracting the average of the consistency indices of the station for K satellites from the consistency index of each satellite, thus eliminating the common error of station j. Since receiver clock bias, multipath environment, etc. are common biases of a single station for all satellites, the common error of the station can be accurately deducted by the "single station multi-satellite average". The pure spatial gradient information is retained to reflect only the inconsistency between the wide-area SBAS correction of satellite i and the real spatial observation of local station j.

[0125] Finally, for satellite i, the dispersion of the consistency index for satellite i from multiple different stations is calculated:

[0126]

[0127] in, M represents the dispersion of the consistency index for satellite i across multiple different stations, where M is the total number of stations. The consistency index of the j-th station for satellite i after eliminating the common clock bias of the stations. Characterizes the degree of spatial inconsistency between wide-area and local areas for satellite i after excluding common errors among stations. If the difference is large, the satellite's SBAS wide-area correction will differ significantly from the multi-station local observations, posing risks to its integrity such as ionospheric gradient anomalies and local ephemeris errors. The smaller the value, the more consistent the wide-area correction is with the local observation, and the more reliable the integrity of satellite i.

[0128] In step S530, if the dispersion of the consistency index of the first satellite exceeds the preset threshold, it is determined that the integrity of the navigation ranging link of the first satellite has not met the standard.

[0129] In step S540, if the dispersion of the consistency index of the first satellite does not exceed the preset threshold, then the integrity of the navigation ranging link of the first satellite is determined to be up to standard.

[0130] Specifically, the integrity of the first satellite's signal in the first site and its surrounding monitoring network is judged based on whether the dispersion of the first satellite's consistency index exceeds a preset threshold.

[0131] For example, a preset threshold is set to determine whether the degree of dispersion is within an acceptable range. If the dispersion of the consistency index is less than or equal to the preset threshold, the navigation and ranging link integrity of the first satellite is determined to be up to standard; otherwise, it is considered not up to standard, and there may be signal anomalies or errors.

[0132] In this embodiment, firstly, a preliminary quantitative assessment of signal integrity is provided by calculating the consistency index of the first satellite signal at a specific station. Subsequently, by collecting consistency indices from multiple stations surrounding the first station, the monitoring perspective is broadened, ensuring that the system does not miss signal problems due to the limitations of single-point observation. Next, the dispersion of these station consistency indices is determined, providing a solid statistical basis for subsequent integrity judgments. Finally, a judgment is made based on whether the dispersion exceeds a preset threshold. This step not only verifies the local integrity of the signal but also ensures the consistency of signal performance throughout the entire monitoring area. By calculating the consistency index, collecting and analyzing consistency index data from multiple monitoring points, determining the dispersion, and assessing the integrity status of the satellite signal based on a preset threshold, a comprehensive assessment of satellite signal quality and consistency is achieved.

[0133] In one embodiment, such as Figure 6 As shown, the method further includes steps S600-S620:

[0134] Step S600: Determine the first correction amount of the second satellite based on the first deviation and the first correction weight of the second satellite.

[0135] Among them, the second satellite is the first satellite whose navigation ranging link meets the integrity standard, and the first correction weight is used to indicate the contribution of satellite data to the first correction amount.

[0136] Specifically, the first correction for a satellite is calculated based on the first deviation of the second satellite (i.e., those first satellites that meet the integrity monitoring criteria of the navigation ranging link), combined with the contribution of satellite data to this correction (the first correction weight). This is a key step in differentially correcting satellite signals to improve positioning accuracy.

[0137] For example, firstly, a first deviation of the second satellite is determined, which is the difference between the previously calculated satellite data and the actual performance of the second satellite at the monitoring station. Then, a first correction is calculated based on a first correction weight, i.e., the proportion of the satellite data's contribution to the correction. The first correction can be calculated using a weighted average method, where the deviation and the weight jointly determine the final correction magnitude.

[0138] The first correction is a correction to the second satellite signal calculated using a first correction weight, based on satellite data and a first deviation, to improve positioning accuracy. The first correction weight is the weight of the satellite data in calculating the first correction, reflecting its importance to the correction.

[0139] Step S610: Determine the second correction amount of the second satellite based on the second deviation and the second correction weight of the second satellite.

[0140] The second correction weight is used to indicate the contribution of the actual observation data to the correction amount.

[0141] Specifically, based on the second deviation of the second satellite at the first station, and combined with the contribution of actual observation data to the correction (the second correction weight), the second correction of the second satellite is calculated. This is a process of locally optimizing the signal using local monitoring data.

[0142] For example, the second bias is extracted from the actual observation data of the first station, reflecting the real-time performance of the satellite signal at that station. The second correction weight reflects the importance of the actual observation data in calculating the correction amount.

[0143] The second correction is calculated using the second correction weight, based on the actual observation data and the second deviation from the first station, to correct the second satellite signal and improve local positioning accuracy. The second correction weight emphasizes the immediacy and relevance of the local data in the correction calculation.

[0144] Step S620: Determine the fusion correction amount of the second satellite based on the first correction amount, second correction amount, first correction weight, and second correction weight calculated by the first station and multiple other stations respectively.

[0145] Specifically, the first and second corrections from the second satellite, along with their corresponding correction weights, are combined to calculate the final fused correction. This is a step in achieving complementarity between wide-area and local data, thereby improving the overall positioning service quality.

[0146] For example, a weighted fusion algorithm is used to calculate the fused correction for the second satellite by combining the first and second corrections calculated by the first station and multiple other stations, along with their respective correction weights. The formula is as follows:

[0147]

[0148] in, This is the fusion correction amount for the second satellite. As the first correction weight, This is the first correction amount. As the second correction weight, The second correction is given by M, which represents the total number of stations. A weighted average was used to fuse corrected pseudorange observations from different data sources, ensuring that the fused corrected data considered both wide-area stability (SBAS data) and local and regional immediacy (physical station and digital reference station data).

[0149] Specifically, the fusion of satellite data, local satellite data, and regional satellite data aims to optimize the accuracy and integrity of satellite navigation and positioning services. Satellite data: Data from Space-Based Augmentation Systems (SBAS) covers a wide geographical area and is primarily used to provide extensive correction information for satellite orbits, satellite clocks, ionosphere, and troposphere. Local satellite data: Actual observation data from physical stations reflects the real-time performance of satellite signals at specific receiving stations and is used to capture signal variations in local environments, such as ionospheric scintillation and multipath effects. Regional satellite data: Digital reference station correction data synthesized from data from multiple physical stations, used to provide satellite signal correction information covering a specific area, enhancing the coverage and stability of local correction data.

[0150] Wide-area satellite data is obtained through SBAS, or Satellite-Based Augmentation System, a technology that enhances the signal accuracy and integrity of Global Navigation Satellite Systems (GNSS) such as GPS, GLONASS, Galileo, and BeiDou. SBAS typically consists of a group of ground monitoring stations, a ground control center, and augmentation satellites in geostationary orbit. The ground monitoring stations continuously receive signals from multiple GNSS satellites, assess signal quality, and detect factors affecting positioning accuracy such as orbital deviations, clock errors, and atmospheric delays (ionospheric and tropospheric). Based on the data from the monitoring stations, the ground control center calculates correction information, including corrections to satellite orbits and clocks, and corrections for ionospheric delays. This augmentation information is transmitted to user receivers via geostationary satellites. This information can be used to correct GNSS signals, improving positioning accuracy and reliability. The goal of SBAS is to improve the performance of GNSS over a wide area, particularly for aviation navigation, as it provides essential integrity information to ensure aviation safety.

[0151] Local satellite data is obtained through physical stations, which typically refer to GNSS ground stations. These are GNSS receivers and antennas actually deployed on the ground to receive and monitor GNSS satellite signals. The main functions of physical stations are: receiving satellite signals: Physical stations receive GNSS satellite signals and generate observation data, including pseudorange, carrier phase, and signal strength. Monitoring and recording: They monitor signal quality and record observation data, which can be used to analyze positioning errors, assess signal coverage and quality, and perform integrity monitoring. Participation in correction calculations: In some systems, physical station data is used to calculate local or regional correction information to improve positioning accuracy and consistency. Physical stations are crucial for signal monitoring and correction based on local or regional conditions; they play a vital role in Ground-Based Augmentation Systems (GBAS), providing local or near-field signal monitoring and correction data.

[0152] Regional satellite data originates from digital reference stations (virtual stations), which are virtual ground reference stations that generate correction information using data from a set of remote GNSS ground stations based on network communication. The main advantages of digital reference stations include: receiving observation data from multiple remote physical stations via a network, and performing data fusion and processing. Digital reference stations are not limited by geographical location, allowing for flexible selection of data sources and adjustment of the number of participating physical stations as needed to adapt to the positioning requirements of different regions. Compared to deploying multiple physical stations, digital reference stations can more effectively utilize existing ground station networks, reduce the construction costs of physical stations, and provide correction information that is similar to or better than that of physical stations. Digital reference stations are specifically designed to enhance the quality of satellite navigation signals within a 10-kilometer radius of the user, improving the accuracy and integrity of positioning services. By aggregating and processing data from multiple physical stations located within a 10-200-kilometer range, it can provide more detailed and broader-coverage monitoring information, overcoming the limited monitoring range of a single physical station. First, the digital reference station acquires real-time GNSS observation data from three or more physical stations distributed within a 10-200-kilometer range. These physical stations form a stable network capable of detecting subtle changes and anomalies in satellite signals within the coverage area. The digital reference station then processes the collected physical station data, using mathematical analysis and algorithmic fusion techniques to generate digital reference station data covering a 10-kilometer radius around the user. This process includes correction for tropospheric and ionospheric effects, adjustments for satellite trajectory and clock deviations, and elimination of multipath effects and signal interference. The processed digital reference station data is promptly transmitted to the information processing module, where it is further fused with SBAS data and local physical station data to generate more accurate positioning correction information, which is then sent to the user's receiving and processing equipment via the information broadcasting module.

[0153] Unlike traditional physical stations, digital reference stations do not occupy physical space. They are data products based on algorithmic processing, and therefore do not incur the costs or limitations of physical construction. Digital reference stations connect the wide-area SBAS monitoring capabilities with local physical station monitoring information, bridging the gap between the two. They can provide more refined regional monitoring information than SBAS, while offering wider coverage and higher data stability than a single physical station. By fusing data from multiple physical stations, digital reference stations can more effectively detect and correct signal anomalies, especially in areas with frequent ionospheric activity or rapid tropospheric changes. They can provide more timely and accurate correction information, thereby improving the integrity of positioning services. To ensure optimal data fusion, digital reference stations are typically located at the center of a triangle formed by three physical stations. This layout promotes balanced data distribution, reduces edge effects, and ensures the consistency and accuracy of the generated digital reference station data within the coverage area.

[0154] For example, to implement the above steps of this method, the apparatus of this method comprises at least one SBAS receiving module, one GNSS receiving module, one digital base station receiving module, one information processing module, and one information broadcasting module. Wherein:

[0155] The SBAS receiver module is a key device for receiving and processing Satellite-Based Augmentation System (SBAS) information. It is designed to provide additional information and services to enhance the performance of the Global Navigation Satellite System (GNSS), particularly in terms of satellite signal integrity, accuracy, and continuity. The SBAS receiver module receives augmentation signals from SBAS satellites, which contain corrections for satellite orbital speed variations, clock deviations, and ionospheric errors. The module decodes this information for further processing and use. Utilizing received Grid Ionospheric Vertical Error Indicator (GIVEI) information and User Differential Range Error Indicator (UDREI) information, the SBAS receiver module performs a wide-area assessment of satellite health and ionospheric conditions. By eliminating satellites that fail monitoring and puncture points with poor ionospheric conditions, the SBAS receiver module ensures the quality of data entering the fusion processing stage. The processed SBAS data will be transmitted to the information processing module and fused with data from other sources, such as physical station and digital reference station data, to generate the final enhancement and integrity information.

[0156] A GNSS receiver module is a device used to receive and process signals from Global Navigation Satellite Systems (GNSS). It plays a crucial role in monitoring satellite signal quality within a local area and generating local observation data. Equipped with a GNSS antenna and receiver, a GNSS receiver module can receive satellite signals from various GNSS systems (such as GPS, BeiDou, GLONASS, and Galileo). It is typically deployed near the center of the service area to minimize signal obstruction and interference, providing a stable receiving environment. The GNSS receiver module not only generates raw observation data of satellite signals, including carrier phase and pseudorange, but also calculates the geometric distance between the satellite position and the receiving station by processing ephemeris data. This data is essential for assessing signal quality and integrity within the local area. While a GNSS receiver module does not need all the advanced functions of a dedicated integrity monitoring receiver (such as signal distortion monitoring based on multiple correlation values), it provides basic signal quality indicators to assist the information processing module in detecting signal anomalies.

[0157] The digital reference station receiving module is the component in this scheme used to receive and process digital reference station data generated from multiple physical stations. It fuses physical station data through software or algorithms to generate additional error correction and integrity information for users within the local area. A digital reference station requires at least three physical stations arranged in a triangular layout, with these stations located between 10 and 200 kilometers from the receiving module. The receiving module receives data from these physical stations and fuses it using algorithms to generate observational data for the digital reference station. This data reflects the signal environment surrounding the service area, including ionospheric and tropospheric errors and their spatial gradient variations. The combined use of data from the digital reference station receiving module and physical station data effectively monitors potential spatial gradient errors and signal anomalies, thereby avoiding integrity risks in the region. It complements the physical stations in signal quality monitoring and correction, enhancing signal integrity within the local area.

[0158] The information processing module receives data from the SBAS receiving module, GNSS receiving module, and digital reference station receiving module, integrates the above data to carry out GNSS enhancement and integrity monitoring processing, generates fused enhancement information, and transmits it to the information broadcasting module.

[0159] The information broadcasting module receives and enhances the information from the information processing module, and then transmits it to the user's receiving and processing equipment via a communication link.

[0160] In this embodiment, firstly, initial differential correction is performed on the signal using satellite data, improving the robustness of positioning accuracy. Then, based on real-time observation data from the first station and multiple surrounding stations, localized refinement correction is performed on the signal, capturing subtle changes in the local environment. Finally, through fusion calculation, the advantages of wide-area and local corrections are combined to form the final fused correction, greatly improving the accuracy and reliability of the positioning service. This series of correction calculations not only improves positioning accuracy but also enhances the monitoring of satellite signal integrity, ensuring safer and more stable positioning services for applications in unmanned equipment, low-altitude economy, and other fields. Especially when facing complex and changing environments, this fusion of wide-area and local data allows for more flexible and targeted responses to signal anomalies, reducing positioning errors.

[0161] In one embodiment, such as Figure 7 As shown, the method further includes steps S700-S730:

[0162] Step S700: Calculate the first standard deviation of the first bias dataset of the second satellite.

[0163] The first deviation dataset includes the first deviation of the second satellite calculated by the first station and multiple other stations respectively.

[0164] Specifically, a statistical analysis is performed on the first deviation calculated by the second satellite at the first site and all other relevant sites (including physical and virtual sites) to determine the degree of data dispersion, i.e., the first standard deviation.

[0165] For example, first deviation data for the second satellite is collected from all relevant sites (the first site and multiple other sites within its first preset range). Statistical methods, such as the standard deviation formula, are used to calculate the first standard deviation of the aforementioned first deviation dataset to quantify the degree of fluctuation in the deviation data.

[0166] The first deviation is the difference between the theoretical calculation and the actual observation of the satellite signal propagation time or distance, reflecting the discrepancy between the theoretical and actual signal propagation. The first deviation dataset contains the first deviation data of the second satellite calculated by all monitoring stations (the first station and other surrounding stations). The first standard deviation is an index of the dispersion of the deviation data in the first deviation dataset; a larger value indicates a greater difference between data points, while a smaller value indicates a more concentrated data point distribution.

[0167] Step S710: Determine the first correction weight based on the first standard deviation.

[0168] Specifically, the weight of satellite data in calculating the correction is determined based on the magnitude of the first standard deviation; this is known as the first correction weight. This is to take into account the stability of wide-area data during signal data fusion.

[0169] For example, the first correction weight is determined based on the magnitude of the first standard deviation using a preset function or rule. For instance, the smaller the first standard deviation, the higher the first correction weight may be, which means that the stability of the wide-area data is better, and its proportion in the correction calculation should be larger.

[0170] Step S720: Calculate the second standard deviation of the second bias dataset of the second satellite.

[0171] The second deviation dataset includes the second deviation of the second satellite calculated by the first station and multiple other stations respectively.

[0172] Specifically, a statistical analysis is performed on the second deviation calculated for the second satellite at the first site and all other relevant sites to determine the second standard deviation, which reflects the stability of the signal within the local area.

[0173] For example, second bias data for the second satellite are collected from all relevant stations (the first station and other surrounding stations). Using statistical methods, the second standard deviation of the aforementioned second bias dataset is calculated to measure the dispersion of the bias data.

[0174] The second deviation is similar to the first deviation, but based on actual observation data, it reflects the difference between the actual performance of signal propagation and theoretical expectations. The second deviation data includes the second satellite's second deviation data calculated from all monitoring stations (the first station and other surrounding stations). The second standard deviation is an indicator of the dispersion of the deviation data in the second deviation dataset, reflecting the signal's stability within a local area.

[0175] Step S730: Determine the second correction weight based on the second standard deviation.

[0176] Specifically, based on the magnitude of the second standard deviation, the weight of the actual observed data in calculating the correction is determined, i.e., the second correction weight. This ensures that the immediacy and specificity of local data are appropriately reflected in signal data fusion.

[0177] For example, the second correction weight is determined based on the magnitude of the second standard deviation using a preset function or rule. For instance, the smaller the second standard deviation, the higher the second correction weight may be, which means that the consistency and timeliness of the local data are better, and its proportion in the correction calculation should be larger.

[0178] In this embodiment, the stability of wide-area and local data is first quantified by calculating the first and second standard deviations, which forms the basis for determining the weights. Then, based on these standard deviations, the first and second correction weights are determined, ensuring that data consistency is considered during data fusion in both wide-area and local environments. Dynamic weight adjustment of the wide-area and local data from the second satellite signal is implemented, optimally fusing these two data sources and improving the overall accuracy and reliability of the positioning service. Signal data with higher stability (smaller first and second standard deviations) has a greater weight in the fusion calculation (larger first and second correction weights), because this data is more reliable and consistent. The system dynamically adjusts the first and second correction weights based on the stability of the signal data. This means that wide-area data has a larger weight when signal propagation consistency and stability are high, while the weight of local data increases when signal propagation consistency or stability varies significantly locally. This dynamic weight adjustment ensures that the positioning service can adapt to signal changes in different environments, guaranteeing consistency in large-scale positioning while improving positioning accuracy in local environments, thereby optimizing the overall quality of the positioning service.

[0179] In one embodiment, such as Figure 8 As shown, step S200 involves selecting at least one first satellite that meets preset monitoring conditions from a preset satellite set based on satellite data broadcast by the satellite-based augmentation system. This includes steps S800-S830:

[0180] Step S800: Based on the integrity information of each satellite in the preset satellite set contained in the satellite data, satellites marked as unusable or marked as not having acquired monitoring data are filtered out from the satellite set to obtain the first satellite subset.

[0181] Specifically, from a pre-defined set of satellites, based on the integrity information provided by the Satellite-Based Augmentation System (SBAS), currently available satellites are selected for subsequent monitoring and correction calculations.

[0182] For example, SBAS data is parsed to obtain the integrity information of each satellite in a preset satellite set. This typically includes whether a satellite is marked as unavailable and whether a satellite is marked as not acquiring monitoring data. Based on the obtained integrity information, satellites marked as unavailable or with missing monitoring data are filtered out to obtain a first satellite subset.

[0183] Integrity information indicates the quality of satellite signals and is used to determine whether satellite signals are suitable for positioning or navigation. The preset satellite set is a pre-determined list of satellites that may be used for positioning.

[0184] Step S810: Determine the location of the ionospheric puncture point for each satellite in the first satellite subset based on satellite data.

[0185] Specifically, the system determines the location of the ionospheric puncture point for each satellite in the first satellite subset, which is a key step in monitoring the effects of ionospheric delay.

[0186] For example, using satellite position coordinates and the geographical location of the receiving station, the location of the ionospheric point through which the satellite signal passes in the atmosphere is calculated. Satellite position information is parsed from satellite data to calculate the puncture point coordinates for each satellite.

[0187] The ionospheric puncture point is the point where a satellite signal passes through the ionosphere in its propagation path, and the signal will be affected by the ionospheric effect at this point.

[0188] Step S820: Based on the ionospheric puncture point locations of each satellite in the first satellite subset, determine the ionospheric vertical delay of each satellite in the first satellite subset, and the number of grid points of the satellite-based augmentation system within the second preset range of the puncture point of each satellite.

[0189] Specifically, based on the coordinates of the ionospheric puncture points of the satellites in the first satellite subset, the vertical delay of the ionosphere and the number of SBAS grid points within the second preset range of the puncture points are determined. This is an important basis for assessing the degree of impact on satellite signals.

[0190] For example, based on the puncture point location, the ionospheric vertical delay data provided by SBAS is queried to obtain the ionospheric vertical delay for each satellite. The number of SBAS grid points within a second preset range of the puncture point is counted to evaluate the accuracy of the ionospheric model within the monitoring range.

[0191] The vertical ionospheric delay is the amount of time the satellite signal is delayed due to ionospheric effects, reflecting the reduced propagation speed of the signal as it passes through the ionosphere. The second preset range is used to determine the spatial extent of the ionospheric model's effectiveness, typically surrounding the puncture point.

[0192] Step S830: Remove satellites in the first satellite subset whose ionospheric vertical delay is greater than the first threshold, or whose number of grid points of the satellite-based augmentation system within the second preset range of the puncture point is less than the second threshold, to obtain the second satellite subset.

[0193] Among them, the satellites in the second satellite subset are designated as the first satellites that meet the preset monitoring conditions. The satellites in the second satellite subset are determined to be the first satellites that meet the preset monitoring conditions, meaning that these satellites have good signal quality, are not significantly affected by ionospheric effects, and can serve as the basis for subsequent position calculations and monitoring.

[0194] Specifically, the system further filters the first satellite subset, excluding satellites whose ionospheric vertical delay is greater than the first threshold or whose number of SBAS grid points within the second preset range of the puncture point is less than the second threshold, thus obtaining the second satellite subset.

[0195] For example, a first threshold is set for ionospheric vertical delay, and a second threshold is set for the number of SBAS grid points near the puncture point. By comparing the ionospheric vertical delay and the number of grid points for each satellite, satellites that do not meet the criteria are removed, resulting in the final second subset of satellites.

[0196] The first threshold is the maximum allowable value for ionospheric vertical delay, used to exclude satellites excessively affected by ionospheric effects. The second threshold is the minimum number of valid SBAS grid points required near the puncture point, used to ensure the accuracy of the ionospheric model.

[0197] In this embodiment, firstly, by filtering out satellites with poor signal quality, the sources of positioning errors are reduced, improving the accuracy of subsequent calculations. Next, through the location of ionospheric puncture points and ionospheric effect analysis, the reliability of satellite signals propagating in the atmosphere is further ensured. Subsequently, by setting thresholds for ionospheric vertical delay and the number of grid points, satellites significantly affected by the ionosphere are excluded, reducing uncertainties in positioning calculations. Finally, the filtered satellites are confirmed as the primary satellites, ensuring that their signals can serve as high-quality signal sources for positioning and monitoring, thus improving the accuracy and reliability of the positioning service.

[0198] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods of the various embodiments of the present invention.

[0199] Embodiments of this application also provide a device for monitoring the integrity of a satellite navigation ranging link. Figure 9 This is a structural block diagram of a satellite navigation ranging link integrity monitoring device according to an embodiment of this application. The device includes:

[0200] The filtering module 901 is used to filter at least one first satellite that meets the preset monitoring conditions from a preset set of satellites based on satellite data broadcast by the satellite-based augmentation system.

[0201] The first deviation determination module 902 is used to calculate the first deviation of the satellite signal of the first satellite at the first station based on the satellite data.

[0202] The second deviation determination module 903 is used to calculate the second deviation of the satellite signal of the first satellite at the first station based on the actual observation data of the first station.

[0203] The monitoring module 904 is used to determine the consistency index of the first satellite based on the first deviation and the second deviation, and to determine whether the integrity of the navigation ranging link of the first satellite meets the standard based on the consistency index.

[0204] In one exemplary embodiment, the apparatus is further configured to: calculate a first deviation of the satellite signal of the first satellite at the first station based on satellite data, including: determining a first distance between the first satellite and the first station based on the position coordinates of the first satellite and the position coordinates of the first station, wherein the position coordinates of the first satellite are determined based on the ephemeris of the first satellite included in the satellite data; determining a clock deviation between the first satellite and the first station based on the satellite clock of the first satellite and a reference clock of the first station, wherein the satellite data includes the satellite clock of the first satellite; determining a transmission deviation based on atmospheric effects during satellite signal transmission, wherein the atmospheric effects include tropospheric effects and ionospheric effects, and the atmospheric effects are determined based on atmospheric state parameters included in the satellite data; and determining the first deviation based on the first distance, the clock deviation, the transmission deviation, and a correction distance using slowly varying parameters included in the satellite data.

[0205] In one exemplary embodiment, the apparatus is further configured to: calculate a second deviation of the satellite signal of the first satellite at the first station based on actual observation data from the first station, including: calculating the observation distance between the first satellite and the first station based on the propagation time and carrier phase of the satellite signal of the first satellite included in the actual observation data; determining the second distance between the first satellite and the first station based on ephemeris parameters in the satellite message of the first satellite included in the actual observation data; determining the clock deviation between the satellite clock of the first satellite and the reference clock of the first station based on the satellite clock parameters in the satellite message of the first satellite included in the actual observation data; and determining the second deviation based on the observation distance, the second distance, and the clock deviation.

[0206] In an exemplary embodiment, the apparatus is further configured to: determine a consistency index of a first satellite based on a first deviation and a second deviation, and determine whether the integrity of the navigation and ranging link of the first satellite meets the standard based on the consistency index, including: obtaining the consistency index of the first satellite based on the difference between the first deviation and the second deviation; acquiring the consistency index of the first satellite calculated by multiple other stations within a first preset range of the first station, wherein the types of multiple other stations include physical stations and virtual stations generated based on data from multiple physical stations; determining the dispersion of the consistency index of the first satellite based on the consistency index of the first satellite calculated by the first station and the multiple other stations respectively; if the dispersion of the consistency index of the first satellite exceeds a preset threshold, then determining that the integrity of the navigation and ranging link of the first satellite does not meet the standard; if the dispersion of the consistency index of the first satellite does not exceed the preset threshold, then determining that the integrity of the navigation and ranging link of the first satellite meets the standard.

[0207] In one exemplary embodiment, the apparatus is further configured to: The method further includes: determining a first correction amount for the second satellite based on a first deviation and a first correction weight, wherein the second satellite is a first satellite for which the integrity of the navigation ranging link meets the requirements, and the first correction weight is used to indicate the contribution of satellite data to the first correction amount; determining a second correction amount for the second satellite based on a second deviation and a second correction weight, wherein the second correction weight is used to indicate the contribution of actual observation data to the correction amount; and determining a fused correction amount for the second satellite based on the first correction amount, the second correction amount, the first correction weight, and the second correction weight calculated by the first station and multiple other stations respectively.

[0208] In one exemplary embodiment, the apparatus is further configured to: The method further includes: calculating a first standard deviation of a first bias dataset of the second satellite, wherein the first bias dataset includes first biases of the second satellite calculated by the first station and a plurality of other stations respectively; determining a first correction weight based on the first standard deviation; calculating a second standard deviation of a second bias dataset of the second satellite, wherein the second bias dataset includes second biases of the second satellite calculated by the first station and a plurality of other stations respectively; and determining a second correction weight based on the second standard deviation.

[0209] In an exemplary embodiment, the apparatus is further configured to: select at least one first satellite that meets preset monitoring conditions from a preset satellite set based on satellite data broadcast by the satellite-based augmentation system, including: filtering out satellites marked as unavailable or marked as not acquiring monitoring data from the satellite set based on the integrity information of each satellite in the preset satellite set contained in the satellite data, thereby obtaining a first satellite subset; determining the ionospheric puncture point location of each satellite in the first satellite subset based on the satellite data; determining the ionospheric vertical delay of each satellite in the first satellite subset and the number of grid points of the satellite-based augmentation system within a second preset range of the puncture point of each satellite based on the ionospheric puncture point location of each satellite in the first satellite subset; filtering out satellites in the first satellite subset whose ionospheric vertical delay is greater than a first threshold or whose number of grid points of the satellite-based augmentation system within the second preset range of the puncture point is less than a second threshold, thereby obtaining a second satellite subset. The satellites in the second satellite subset serve as the first satellites that meet the preset monitoring conditions.

[0210] For a description of the features in the embodiment corresponding to the satellite navigation ranging link integrity monitoring device, please refer to the relevant description of the embodiment corresponding to the satellite navigation ranging link integrity monitoring method, which will not be repeated here.

[0211] It should be noted that the above modules can be implemented by software or hardware. For the latter, they can be implemented in the following ways, but are not limited to: all the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0212] Embodiments of the present invention also provide a computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the steps of the method described in any of the preceding claims.

[0213] In one exemplary embodiment, the aforementioned computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard disk, magnetic disk, or optical disk.

[0214] Embodiments of the present invention also provide an electronic device including a memory and a processor, the memory storing a computer program and the processor being configured to run the computer program to perform the steps in any of the above method embodiments.

[0215] In one exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor and the input / output device is connected to the processor.

[0216] Specific examples in this embodiment can be found in the examples described in the above embodiments and exemplary implementations, and will not be repeated here.

[0217] Embodiments of the present invention also provide a computer program product, including a computer program that, when executed by a processor, implements the steps of the methods described in various embodiments of the present application.

[0218] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0219] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method of monitoring integrity of a satellite navigation ranging link, characterized by, The method comprises: According to the satellite data broadcast by the satellite-based augmentation system, at least one first satellite meeting the preset monitoring condition is selected from a preset satellite set; According to the satellite data, a first deviation of the satellite signal of the first satellite at a first station is calculated; According to the actual observation data of the first station, a second deviation of the satellite signal of the first satellite at the first station is calculated; According to the first deviation and the second deviation, a consistency index of the first satellite is determined, and whether the integrity of the navigation ranging link of the first satellite meets the standard is determined based on the consistency index.

2. The method of monitoring the integrity of a satellite navigation and ranging link according to claim 1, characterized in that, The first deviation of the satellite signal of the first satellite at the first station is calculated according to the satellite data, comprising: According to the position coordinates of the first satellite and the position coordinates of the first station, a first distance between the first satellite and the first station is determined, wherein the position coordinates of the first satellite are determined based on the ephemeris of the first satellite included in the satellite data; According to the satellite clock of the first satellite and the reference clock of the first station, a clock deviation between the first satellite and the first station is determined, wherein the satellite data includes the satellite clock of the first satellite; Based on the atmospheric effects in the satellite signal transmission process, a transmission deviation is determined, wherein the atmospheric effects include tropospheric effects and ionospheric effects, and the atmospheric effects are determined based on the atmospheric state parameters included in the satellite data; The first deviation is determined according to the first distance, the clock deviation, the transmission deviation, and the corrected distance corrected by slow-changing parameters included in the satellite data.

3. The method of monitoring the integrity of a satellite navigation ranging link according to claim 1, characterized in that, The second deviation of the satellite signal of the first satellite at the first station is calculated according to the actual observation data of the first station, comprising: According to the propagation time and carrier phase of the satellite signal of the first satellite included in the actual observation data, an observed distance between the first satellite and the first station is calculated; According to the ephemeris parameters in the satellite ephemeris of the first satellite included in the actual observation data, a second distance between the first satellite and the first station is determined; According to the satellite clock parameters in the satellite ephemeris of the first satellite included in the actual observation data, a clock deviation between the satellite clock of the first satellite and the reference clock of the first station is determined; The second deviation is determined according to the observed distance, the second distance, and the clock deviation.

4. The method of monitoring the integrity of a satellite navigation and ranging link according to any one of claims 1-3, characterized in that, According to the first deviation and the second deviation, a consistency index of the first satellite is determined, and whether the integrity of the navigation ranging link of the first satellite meets the standard is determined based on the consistency index, comprising: According to the difference between the first deviation and the second deviation, the consistency index of the first satellite is obtained; The consistency indexes of the first satellite calculated by a plurality of other stations within a first preset range of the first station are obtained, wherein the types of the plurality of other stations include physical stations and virtual stations generated based on the data of a plurality of physical stations; According to the consistency indicators of the first satellite calculated by the first station and the plurality of other stations respectively, a dispersion degree of the consistency indicators of the first satellite is determined; In a case where the dispersion degree of the consistency indicators of the first satellite exceeds a preset threshold value, it is determined that the integrity of the navigation ranging link of the first satellite is substandard; In a case where the dispersion degree of the consistency indicators of the first satellite does not exceed the preset threshold value, it is determined that the integrity of the navigation ranging link of the first satellite is standard.

5. The method of monitoring the integrity of a satellite navigation and ranging link according to claim 4, characterized in that, The method further comprises: According to the first bias of the second satellite and a first correction weight, a first correction quantity of the second satellite is determined, wherein the second satellite is the first satellite whose integrity of the navigation ranging link is standard, and the first correction weight is used to indicate a contribution degree of the satellite data to the first correction quantity; According to the second bias of the second satellite and a second correction weight, a second correction quantity of the second satellite is determined, wherein the second correction weight is used to indicate a contribution degree of the actual observation data to the correction quantity; According to the first correction quantity, the second correction quantity, the first correction weight and the second correction weight calculated by the first station and the plurality of other stations respectively, a fused correction quantity of the second satellite is determined.

6. The method of monitoring the integrity of a satellite navigation and ranging link according to claim 5, characterized in that, The method further comprises: A first standard deviation of a first bias data set of the second satellite is calculated, wherein the first bias data set comprises the first bias of the second satellite calculated by the first station and the plurality of other stations respectively; The first correction weight is determined according to the first standard deviation; A second standard deviation of a second bias data set of the second satellite is calculated, wherein the second bias data set comprises the second bias of the second satellite calculated by the first station and the plurality of other stations respectively; The second correction weight is determined according to the second standard deviation.

7. The method of monitoring the integrity of a satellite navigation and ranging link according to any one of claims 1-3, characterized in that, The method of screening at least one first satellite meeting a preset monitoring condition from a preset satellite set according to satellite data broadcast by a satellite-based augmentation system comprises: According to the integrity information of each satellite in the preset satellite set contained in the satellite data, satellites in the satellite set that are marked as unusable or for which monitoring data is not acquired are excluded, to obtain a first satellite sub-set; According to the satellite data, the ionospheric piercing point positions of each satellite in the first satellite sub-set are determined; According to the ionospheric piercing point positions of each satellite in the first satellite sub-set, the ionospheric vertical delay of each satellite in the first satellite sub-set and the number of grid points of the satellite-based augmentation system within a second preset range of the piercing point of each satellite are determined; Satellites in the first satellite sub-set whose ionospheric vertical delay is greater than a first threshold value or whose number of grid points of the satellite-based augmentation system within the second preset range of the piercing point is less than a second threshold value are excluded, to obtain a second satellite sub-set; The satellites in the second satellite sub-set are the first satellites meeting the preset monitoring condition.

8. A device for monitoring integrity of a satellite navigation ranging link, characterized in that The method comprises: The screening module is configured to screen at least one first satellite satisfying a preset monitoring condition from a preset satellite set according to satellite data broadcast by a satellite-based augmentation system; The first deviation determination module is configured to calculate a first deviation of a satellite signal of the first satellite at a first station according to the satellite data; The second deviation determination module is configured to calculate a second deviation of the satellite signal of the first satellite at the first station according to actual observation data of the first station; The monitoring module is configured to determine a consistency index of the first satellite according to the first deviation and the second deviation, and determine whether a navigation ranging link of the first satellite meets a requirement based on the consistency index.

9. An electronic device, comprising: The computer program is stored in the computer readable storage medium and includes a step of screening at least one first satellite satisfying a preset monitoring condition from a preset satellite set according to satellite data broadcast by a satellite-based augmentation system. The computer program is stored in the computer readable storage medium and includes a step of calculating a first deviation of a satellite signal of the first satellite at a first station according to the satellite data. The computer program is stored in the computer readable storage medium and includes a step of calculating a second deviation of the satellite signal of the first satellite at the first station according to actual observation data of the first station.

10. A computer-readable storage medium, characterized in that, The computer program is stored in the computer readable storage medium and includes a step of determining a consistency index of the first satellite according to the first deviation and the second deviation, and determining whether a navigation ranging link of the first satellite meets a requirement based on the consistency index.

11. A computer program product comprising a computer program, characterized in that, The computer program is stored in the computer readable storage medium and includes a step of screening at least one first satellite satisfying a preset monitoring condition from a preset satellite set according to satellite data broadcast by a satellite-based augmentation system. The computer program is stored in the computer readable storage medium and includes a step of calculating a first deviation of a satellite signal of the first satellite at a first station according to the satellite data. The computer program is stored in the computer readable storage medium and includes a step of calculating a second deviation of the satellite signal of the first satellite at the first station according to actual observation data of the first station. The computer program is stored in the computer readable storage medium and includes a step of determining a consistency index of the first satellite according to the first deviation and the second deviation, and determining whether a navigation ranging link of the first satellite meets a requirement based on the consistency index.

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